Mode switching control method of autonomous vehicle and autonomous vehicle

Abstract

The invention provides a mode switching control method of an automatic driving vehicle and the automatic driving vehicle. The mode switching control method comprises the following steps: identifying whether a driver state belongs to an abnormal driving state or not, and identifying whether a relative distance between the vehicle and an obstacle outside the vehicle is smaller than a safe distance or not; therefore, the control right of the vehicle can be given to the automatic driving mode of the vehicle in time when the driver is in a poor state in an emergency, and the vehicle with the automatic driving mode can perform automatic intervention type switching control of the automatic driving mode according to the driving state of the driver and the relative distance between the vehicle and an obstacle outside the vehicle. Therefore, the vehicle can be switched from the manual driving mode to the automatic driving mode more intelligently, and the safety performance of the vehicle is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field related to autonomous vehicles, and particularly relates to a method for controlling mode switching of an autonomous vehicle and an autonomous vehicle. Background Art

[0002] The statements in this part only provide background technical information related to the present invention and do not necessarily constitute prior art.

[0003] With the continuous development of the automobile manufacturing industry and the continuous improvement of people's living standards, the demand for automobiles is no longer limited to daily travel. The driving requirements for automobiles tend to be more intelligent, comfortable, and safe. Currently, driving assistance functions have almost become standard configurations for new models of each vehicle factory. However, in the face of emergencies, the driver's poor state, or limited driving skills of the driver in the face of complex road environments, the driver may not respond in time. The driving assistance function can only achieve effective avoidance and reminder capabilities and cannot completely replace people to take over the entire vehicle, and cannot achieve safe and stable automatic intervention into the autonomous driving state. Summary of the Invention

[0004] The present invention provides a method for controlling mode switching of an autonomous vehicle and an autonomous vehicle to solve the problems in the related art. The technical solutions are as follows:

[0005] In a first aspect, a method for controlling mode switching of an autonomous vehicle is provided, including:

[0006] When the vehicle is in the manual driving mode, obtain the driver's state through the vehicle perception system and the relative distance between the vehicle and obstacles outside the vehicle;

[0007] Identify whether the driver's state belongs to an abnormal driving state and whether the relative distance between the vehicle and obstacles outside the vehicle is less than the safety distance;

[0008] If the driver's state belongs to an abnormal driving state, or / and, the relative distance between the vehicle and obstacles outside the vehicle is less than the safety distance, then switch from the manual driving mode to the autonomous driving mode.

[0009] In a possible implementation, the relative distance between the vehicle and obstacles outside the vehicle includes at least one of the relative distance between the vehicle head and other vehicles or pedestrians outside the vehicle and the relative distance between the side of the vehicle and other vehicles or pedestrians outside the vehicle;

[0010] The step of identifying whether the relative distance between the vehicle and obstacles outside the vehicle is less than the safety distance includes:

[0011] If the relative distance between the front of the vehicle and other vehicles or pedestrians outside the vehicle is less than the first distance threshold, it is determined that the relative distance between the vehicle and the obstacle outside the vehicle is less than the safety distance;

[0012] Or / and,

[0013] If the relative distance between the side of the vehicle and other vehicles or pedestrians outside the vehicle is less than the second distance threshold, it is determined that the relative distance between the vehicle and the obstacle outside the vehicle is less than the safety distance.

[0014] In a possible implementation, it further includes: obtaining driving behavior information through a vehicle perception system, and identifying whether the driving behavior information belongs to an abnormal driving behavior;

[0015] If the driving behavior information belongs to an abnormal driving behavior, switch from the manual driving mode to the automatic driving mode.

[0016] In a possible implementation, the driving behavior information includes the torque value of turning the steering wheel;

[0017] The identifying whether the driving behavior information belongs to an abnormal driving behavior includes:

[0018] If the torque value of turning the steering wheel is less than the first torque threshold and the duration is greater than the first time threshold, the driving behavior information belongs to an abnormal driving behavior.

[0019] In a possible implementation, it further includes: when the driver's state belongs to an abnormal driving state;

[0020] Or / and,

[0021] The relative distance between the vehicle and the obstacle outside the vehicle is less than the safety distance;

[0022] Or / and,

[0023] If the driving behavior information belongs to an abnormal driving behavior, the vehicle gives an alarm prompt.

[0024] In a possible implementation, it further includes: after the vehicle gives an alarm prompt, when the driver's state belongs to a normal driving state, the relative distance between the vehicle and the obstacle outside the vehicle is greater than the safety distance, and the driving behavior information belongs to a normal driving behavior, the vehicle alarm prompt is turned off.

[0025] In a possible implementation, it further includes: when the driver's state belongs to a normal driving state, the relative distance between the vehicle and the obstacle outside the vehicle is greater than the safety distance, and the driving behavior information belongs to a normal driving behavior, switch from the automatic driving mode to the manual driving mode.

[0026] In a possible implementation, the driver state includes at least one of facial features and body features;

[0027] Identifying whether the driver state belongs to an abnormal driving state includes:

[0028] Identifying whether the driver is in a drowsy state based on the facial features. If the driver is in a drowsy state, it is determined that the driver state belongs to an abnormal driving state;

[0029] Or / and,

[0030] Identifying whether the driver is in a distracted state based on the body features. If the driver is in a distracted state, it is determined that the driver state belongs to an abnormal driving state.

[0031] In a second aspect, a mode switching control system for an autonomous driving vehicle is provided, including: a vehicle perception system and an autonomous driving domain controller;

[0032] The vehicle perception system is configured to obtain the driver state and the relative distance between the vehicle and an external obstacle of the vehicle when the vehicle is in the manual driving mode;

[0033] The autonomous driving domain controller is configured to obtain the driver state collected by the vehicle perception system and the relative distance between the vehicle and an external obstacle of the vehicle; identify whether the driver state belongs to an abnormal driving state, and identify whether the relative distance between the vehicle and an external obstacle of the vehicle is less than a safety distance;

[0034] If the driver state belongs to an abnormal driving state, or / and, the relative distance between the vehicle and an external obstacle of the vehicle is less than the safety distance, then switch from the manual driving mode to the autonomous driving mode.

[0035] In a second aspect, an autonomous driving vehicle is provided. The autonomous driving vehicle includes one or more processors and one or more memories. At least one program code is stored in the one or more memories, and the at least one program code is loaded and executed by the one or more processors to implement the operations performed by a mode switching control of an autonomous driving vehicle as described in the first aspect.

[0036] The above one or more technical solutions have the following beneficial effects:

[0037] In the present invention, by identifying whether the driver's state belongs to an abnormal driving state and identifying whether the relative distance between the vehicle and an obstacle outside the vehicle is less than a safe distance, the vehicle's control right can be timely handed over to the vehicle's automatic driving mode when facing emergencies and the driver is in a poor state. The vehicle with an automatic driving mode can realize automatic intervention switching control of the automatic driving mode according to the driver's driving state and the relative distance between the vehicle and an obstacle outside the vehicle, making the vehicle switch from the manual driving mode to the automatic driving mode more intelligently and improving the safety performance of the vehicle.

[0038] Advantages of additional aspects of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings forming a part of this specification are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0040] Figure 1 It is an interaction diagram of the mode switching control system of an autonomous vehicle in an embodiment of the present invention;

[0041] Figure 2 It is a flowchart of the mode switching control of an autonomous vehicle in an embodiment of the present invention;

[0042] Figure 3 It is a schematic diagram of the alarm process in the mode switching control of an autonomous vehicle in an embodiment of the present invention;

[0043] Figure 4 It is a structure diagram of an autonomous vehicle in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0045] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention.

[0046] In the case of no conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0047] In the related art, in the face of emergencies, when the driver is in a poor state, or when the driver's technical level is limited in a complex road environment, the driver's reaction is not timely, and the assisted driving function cannot completely replace the driver to take over the whole vehicle. The vehicle cannot safely and smoothly intervene in the automatic driving mode automatically, thus putting the driver in danger. Based on this problem, the mode switching control method of an autonomous vehicle provided by the embodiments of the present invention provides the following technical solutions: When the vehicle is in the manual driving mode, the driver state and the relative distance between the vehicle and the obstacles outside the vehicle are obtained through the vehicle perception system; it is identified whether the driver state belongs to an abnormal driving state, and it is identified whether the relative distance between the vehicle and the obstacles outside the vehicle is less than the safety distance; if the driver state belongs to an abnormal driving state, or / and, the relative distance between the vehicle and the obstacles outside the vehicle is less than the safety distance, then the vehicle switches from the manual driving mode to the automatic driving mode.

[0048] The embodiments of the present invention identify whether the driver state belongs to an abnormal driving state, and identify whether the relative distance between the vehicle and the obstacles outside the vehicle is less than the safety distance; thus, in the face of emergencies and when the driver is in a poor state, the vehicle's control power can be timely handed over to the vehicle's automatic driving mode, realizing that a vehicle with an automatic driving mode can perform automatic intervention switching control of the automatic driving mode according to the driver's driving state and the relative distance between the vehicle and the obstacles outside the vehicle, making the vehicle switch from the manual driving mode to the automatic driving mode more intelligent and improving the safety performance of the vehicle.

[0049] An embodiment of the present invention provides an interaction schematic diagram of a vehicle control system, as Figure 1 shown, including an autonomous driving domain controller ADDC, an autonomous driving central controller CADC, an intelligent cockpit host controller, a vehicle perception system, and an emergency button. Communication connections are established between the autonomous driving central controller CADC and the intelligent cockpit host controller, between the vehicle perception system and the autonomous driving central controller CADC, between the autonomous driving central controller CADC and the emergency button, between the autonomous driving central controller CADC and the autonomous driving domain controller ADDC, and between the autonomous driving central controller CADC and the intelligent cockpit host controller in a wired or wireless manner. Among them, the vehicle perception system includes a camera located in the cab, a camera and a lidar located outside the vehicle, and an in-vehicle sensor assembly.

[0050] When the driver's state detected by the Autonomous Driving Domain Controller (ADDC) is an abnormal driving state; and / or, the relative distance between the vehicle and an external obstacle is less than the safe distance; and / or, the driver's control behavior information belongs to abnormal control behavior, the ADDC sends a request to the Central Autonomous Driving Controller (CADC). The CADC then sends an instruction to the Intelligent Cockpit Controller. When the alarm condition is met, an alarm signal is sent to the IDCU, and the HMI instrument displays (text prompt + audible alarm); when the non-alarm condition is met, the Intelligent Cockpit Controller sends a signal to the IDCU, and the alarm disappears.

[0051] When the driver's state detected by the Autonomous Driving Domain Controller (ADDC) is an abnormal driving state; and / or, the relative distance between the vehicle and an external obstacle is less than the safe distance; and / or, the driver's control behavior information belongs to abnormal control behavior, the ADDC sends a request to the Central Autonomous Driving Controller (CADC). The CADC then sends an instruction to the ADDC, and the ADDC controls controllers such as EPS, ESP, and EPB to enter the autonomous driving state.

[0052] When the driver's state detected by the Autonomous Driving Domain Controller (ADDC) is a normal driving state, the relative distance between the vehicle and an external obstacle is greater than the safe distance, and the control behavior information belongs to normal control behavior, the ADDC sends a request to the Central Autonomous Driving Controller (CADC). The CADC then sends an instruction to the ADDC, and the ADDC controls controllers such as EPS, ESP, and EPB to exit the autonomous driving state.

[0053] The vehicle perception system obtains the driver's driving state, the relative distance between the vehicle and an external obstacle, and the control behavior information through a cab camera, an external vehicle camera, lidar, and in-vehicle sensor components; and transmits the driver's driving state, the relative distance between the vehicle and an external obstacle, and the control behavior information to the vehicle control device; The emergency button has the highest authority. When the emergency button is pressed, the vehicle directly switches from the manual driving mode to the autonomous driving mode.

[0054] The control behavior information is the information generated by the driver's control behavior of the vehicle. The driver's control behavior of the vehicle can specifically be the torque of turning the steering wheel. Specifically, the in-vehicle perception system collects the control behavior information in the following way: measuring the torque value of the steering wheel when the driver turns the steering wheel through a torque sensor.

[0055] The emergency button is set at a position close to the vehicle gear lever. It is used to switch the vehicle from the manual driving mode to the autonomous driving mode after the driver presses the emergency button. For a vehicle with an autonomous driving mode, an emergency button with the highest priority authority needs to be set so that when the driver faces an emergency, is in a poor physical state, or has limited driving skills in a complex road environment, the driver can hand over the vehicle control to the vehicle's autonomous driving mode.

[0056] Please refer to Figure 2 , which shows a flowchart of a mode switching control method for an autonomous driving vehicle provided by an embodiment of the present invention. The method includes:

[0057] Step 201: When the vehicle is in the manual driving mode, obtain the driver's state, the relative distance between the vehicle and external obstacles outside the vehicle, and the control behavior information through the vehicle perception system.

[0058] In an alternative embodiment, the driver's state includes at least one of facial feature data and body feature data.

[0059] The facial feature data includes the eye closing condition and the head pose. By analyzing the eye closing condition and the head pose, determine whether the driver's current physical state is a drowsy state.

[0060] Based on the limb movement data and body posture data of the driver in the body feature data, determine whether the driver's current physical state is a distracted state.

[0061] In an alternative embodiment, the relative distance between the vehicle and external obstacles outside the vehicle includes at least one of the relative distance between the vehicle head and other vehicles or pedestrians outside the vehicle, and the relative distance between the vehicle side and other vehicles or pedestrians outside the vehicle.

[0062] Specifically, the relative distance between the vehicle head and other vehicles or pedestrians outside the vehicle specifically refers to the shortest distance between the vehicle head and other vehicles or pedestrians outside the vehicle. That is, the shortest distance among the distances from each point on the vehicle head to each point on other vehicles or pedestrians outside the vehicle is determined as the relative distance between the vehicle head and other vehicles or pedestrians outside the vehicle. In this way, it is possible to further avoid collisions between the vehicle head and other vehicles or pedestrians outside the vehicle.

[0063] Specifically, the relative distance between the vehicle side and other vehicles or pedestrians outside the vehicle specifically refers to the shortest distance between the vehicle side and other vehicles or pedestrians outside the vehicle. That is, the shortest distance among the distances from each point on both sides of the vehicle to each point on other vehicles or pedestrians outside the vehicle is determined as the relative distance between the vehicle side and other vehicles or pedestrians outside the vehicle. In this way, it is possible to further avoid collisions between the vehicle head and other vehicles or pedestrians outside the vehicle.

[0064] In an alternative embodiment, the driving behavior information includes the torque value of turning the steering wheel.

[0065] When the driver is in a poor state, it will cause the torque value of the steering wheel to be continuously lower than the first torque threshold, such as leaving the steering wheel with one hand or both hands for a long time, the steering wheel not returning to the straight position in time, fatigue driving, misusing the steering wheel, etc. By monitoring the torque value of the steering wheel, the driving state of the driver can be indirectly obtained, so that when the driver is in a poor state, the vehicle can be switched to the automatic driving mode in time to ensure driving safety.

[0066] Step 202: Identify whether the driver state belongs to an abnormal driving state, identify whether the relative distance between the vehicle and an obstacle outside the vehicle is less than the safety distance, and identify whether the driving behavior information belongs to abnormal driving behavior.

[0067] In an alternative embodiment, identifying whether the relative distance between the vehicle and an obstacle outside the vehicle is less than the safety distance includes:

[0068] If the relative distance between the front of the vehicle and other vehicles or pedestrians outside the vehicle is less than the first distance threshold, it is determined that the relative distance between the vehicle and the obstacle outside the vehicle is less than the safety distance;

[0069] Or / and,

[0070] If the relative distance between the side of the vehicle and other vehicles or pedestrians outside the vehicle is less than the second distance threshold, it is determined that the relative distance between the vehicle and the obstacle outside the vehicle is less than the safety distance.

[0071] In specific practice, if the shortest distance between the front of the vehicle and other vehicles or pedestrians outside the vehicle is less than the first distance threshold, it is determined that the relative distance between the vehicle and the obstacle outside the vehicle is less than the safety distance.

[0072] If the shortest distance between the side of the vehicle and other vehicles or pedestrians outside the vehicle is less than the second distance threshold, it is determined that the relative distance between the vehicle and the obstacle outside the vehicle is less than the safety distance.

[0073] In an alternative embodiment, identifying whether the driving behavior information belongs to abnormal driving behavior includes:

[0074] If the torque value of turning the steering wheel is less than the first torque threshold and the duration is greater than the first time threshold, the driving behavior information belongs to abnormal driving behavior.

[0075] In an alternative embodiment, according to the facial features, it is identified whether the driver is in a drowsy state. If the driver is in a drowsy state, it is determined that the driver state belongs to an abnormal driving state;

[0076] Or / and,

[0077] Identify whether the driver is in a distracted state according to the physical characteristics. If the driver is in a distracted state, determine that the driver's state belongs to an abnormal driving state.

[0078] Specifically, input the facial feature data into the abnormal behavior category recognition model for feature analysis. If it is recognized that the time interval between the driver's eye opening and closing within a unit time exceeds 2 seconds, or the driver's head posture is not correct, and the incorrect head posture includes: the number of rapid head nods of the driver within 10 seconds is greater than 2, or the driver's head is tilted to one side of the body, then it is determined that the driver is dozing off or mentally fatigued, and the driver's current physical state is the dozing state; if it is recognized that the time for the driver's eyes to close and open within a unit time is 2 seconds and the driver's head posture is correct, then it is determined that the driver is in good spirits and the driver's current physical state is not the dozing state.

[0079] Specifically, when the driver's limb movement data indicates that the driver's limb movement is operating the steering wheel with one hand, determine that the current physical state is a distracted state; when the driver's limb movement data indicates that the driver's limb movement is both hands leaving the steering wheel, and the body posture data indicates that the driver's body posture is not an abnormal posture, determine that the current physical state is a distracted state, where the abnormal posture is the posture that the driver's body leans forward, both hands droop and lie on the steering wheel, or the driver's body slumps back in the seat and both hands droop.

[0080] In specific practice, when the driver is distracted, there will be corresponding limb movements at the same time, and the corresponding limb movement data in this embodiment specifically refers to the movements of the driver's hands, and the movements of the hands specifically include: both hands tightly holding the steering wheel, operating the steering wheel with one hand, and both hands leaving the steering wheel.

[0081] When determining whether the driver's current physical state is a distracted state according to the driver's limb movements and body postures, specifically, input the driver's limb movements and body postures into the abnormal behavior category recognition model for feature analysis. If it is recognized that the driver is operating the steering wheel with one hand, then it is determined that the driver is inattentive and the driver's current physical state is a distracted state; if it is recognized that the driver's both hands leave the steering wheel and the body posture is not an abnormal posture, then it is determined that the driver is inattentive and the driver's current physical state is a distracted state; if it is recognized that the driver is tightly holding the steering wheel with both hands, then it is determined that the driver's physical state is good.

[0082] Step 203: If the driver's state belongs to an abnormal driving state, or / and, the relative distance between the vehicle and the obstacle outside the vehicle is less than the safe distance, or / and, the control behavior information belongs to an abnormal control behavior, then switch from the manual driving mode to the automatic driving mode.

[0083] As Figure 3 shown, in an optional embodiment, it further includes: when the driver state belongs to an abnormal driving state, and / or, the relative distance between the vehicle and an external obstacle of the vehicle is less than a safety distance, and / or, the control behavior information belongs to abnormal control behavior, the vehicle gives an alarm prompt.

[0084] In an optional embodiment, it further includes: after the vehicle gives an alarm prompt, when the driver state belongs to a normal driving state, the relative distance between the vehicle and an external obstacle of the vehicle is greater than the safety distance, and the control behavior information belongs to normal control behavior, the vehicle alarm prompt is turned off.

[0085] In an optional embodiment, it further includes: when the vehicle is in an autonomous driving state, when the driver state belongs to a normal driving state, the relative distance between the vehicle and an external obstacle of the vehicle is greater than the safety distance, and the control behavior information belongs to normal control behavior, then it switches from the autonomous driving mode to the manual driving mode.

[0086] An embodiment of the present invention provides a mode switching control system for an autonomous driving vehicle, including: a vehicle perception system and an autonomous driving domain controller;

[0087] The vehicle perception system is used to obtain the driver state and the relative distance between the vehicle and an external obstacle of the vehicle when the vehicle is in the manual driving mode;

[0088] The autonomous driving domain controller is used to obtain the driver state and the relative distance between the vehicle and an external obstacle of the vehicle collected by the vehicle perception system; identify whether the driver state belongs to an abnormal driving state, and identify whether the relative distance between the vehicle and an external obstacle of the vehicle is less than the safety distance;

[0089] If the driver state belongs to an abnormal driving state, and / or, the relative distance between the vehicle and an external obstacle of the vehicle is less than the safety distance, then it switches from the manual driving mode to the autonomous driving mode.

[0090] As Figure 4 is a structural block diagram of an autonomous driving vehicle provided by an embodiment of the present application. Generally, an autonomous driving vehicle includes: a processor and a memory.

[0091] The processor may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor may also include a main processor and a coprocessor. The main processor is a processor used to process data in the wake state, also known as the CPU (Central Processing Unit); the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor may be integrated with a GPU (Graphics Processing Unit), and the GPU is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor may also include an AI (Artificial Intelligence) processor, and the AI processor is used to process computational operations related to machine learning.

[0092] The memory may include one or more computer-readable storage media, and the computer-readable storage media may be non-transitory. The memory may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash storage devices. In some embodiments, the non-transitory computer-readable storage media in the memory is used to store at least one instruction, and the at least one instruction is used to be executed by the processor to implement a mode switching control method for an autonomous driving vehicle provided in the method embodiments of the present application.

[0093] In some embodiments, the autonomous driving vehicle may also optionally include: a peripheral device interface and at least one peripheral device. The processor, the memory, and the peripheral device interface may be connected through a bus or signal lines. Each peripheral device may be connected to the peripheral device interface through a bus, signal lines, or a circuit board. Specifically, the peripheral device includes at least one of a radio frequency circuit, a touch display screen, a camera, an audio circuit, a positioning component, and a power supply.

[0094] The peripheral device interface may be used to connect at least one peripheral device related to I / O (Input / Output) to the processor and the memory. In some embodiments, the processor, the memory, and the peripheral device interface are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor, the memory, and the peripheral device interface may be implemented on a separate chip or circuit board, and the present embodiment does not limit this.

[0095] The radio frequency circuit is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit communicates with the communication network and other communication devices through electromagnetic signals. The radio frequency circuit converts electrical signals into electromagnetic signals for transmission, or converts the received electromagnetic signals into electrical signals. Optionally, the radio frequency circuit includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, and so on. The radio frequency circuit 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 may further include a circuit related to NFC (Near Field Communication), which is not limited in this application.

[0096] The display screen is used to display the UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen is a touch display screen, the display screen also has the ability to collect touch signals on or above the surface of the display screen. The touch signal can be input as a control signal to the processor for processing. At this time, the display screen can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there may be one display screen, which is set on the front panel of the vehicle; in other embodiments, there may be at least two display screens, which are respectively set on different surfaces of the autonomous vehicle or are in a folded design; in still other embodiments, the display screen may be a flexible display screen, which is set on the curved surface or the folding surface of the vehicle. Even, the display screen can be set to an irregular non-rectangular shape, that is, a special-shaped screen. The display screen can be prepared from materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0097] The camera component is used to collect images or videos. Optionally, the camera component includes any one of a main camera, a depth camera, a wide-angle camera, and a telephoto camera to achieve functions such as background blurring by fusing the main camera and the depth camera, panoramic shooting by fusing the main camera and the wide-angle camera, and VR (Virtual Reality) shooting function or other fusion shooting functions. In some embodiments, the camera component may further include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation under different color temperatures.

[0098] The audio circuit may 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 electrical signals for input to the processor for processing, or input to the radio frequency circuit to achieve voice communication. For the purpose of stereo collection or noise reduction, there may be multiple microphones, which are respectively arranged at different parts of the vehicle. 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 or the radio frequency circuit into sound waves. The speaker can be a traditional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into sound waves audible to humans, but also convert the electrical signal into sound waves inaudible to humans for uses such as ranging. In some embodiments, the audio circuit may further include a headphone jack.

[0099] The positioning component is used to locate the current geographical location of the vehicle to achieve navigation or LBS (Location Based Service). The positioning component can be a positioning component based on the US GPS (Global Positioning System), China's Beidou system, or Russia's Galileo system.

[0100] The power supply is used to supply power to each component in the autonomous vehicle. The power supply can be alternating current, direct current, a disposable battery, or a rechargeable battery. When the power supply includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery charged through a wired line, and a wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0101] In some embodiments, the autonomous vehicle further includes one or more sensors.

[0102] Those skilled in the art can understand that the structures shown above do not constitute a limitation to the vehicle, and it may include more or fewer components than shown in the figure, or combine certain components, or adopt different component arrangements.

[0103] In some embodiments, a computer-readable storage medium is further provided. A computer program is stored in the storage medium. When the computer program is executed by a processor, the steps of a curve speed limit method based on the prediction of the trajectory of the vehicle ahead in the above embodiments are implemented. For example, the computer-readable storage medium may be a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0104] It should be noted that the computer-readable storage medium mentioned in the present application may be a non-volatile storage medium, in other words, it may be a non-transitory storage medium.

[0105] It should be understood that all or part of the steps of implementing the above embodiments can be realized by software, hardware, firmware, or any combination thereof. When implemented by software, it can be realized in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions can be stored in the above computer-readable storage medium.

[0106] That is to say, in some embodiments, a computer program product containing instructions is further provided. When it runs on a computer, it causes the computer to execute the steps of a curve speed limit method based on the prediction of the trajectory of the vehicle ahead described above.

[0107] The above are the embodiments provided by the present application, which are not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A mode switching control method for an automatic driving vehicle, characterized in that: include: When the vehicle is in manual driving mode, the driver's status and the relative distance between the vehicle and obstacles outside the vehicle are obtained through the vehicle perception system; Identifying whether the driver's state is an abnormal driving state, and identifying whether the relative distance between the vehicle and an obstacle outside the vehicle is less than a safe distance; If the driver state is an abnormal driving state, and / or the relative distance between the vehicle and an obstacle outside the vehicle is less than a safe distance, the manual driving mode is switched to the automatic driving mode.

2. A mode switching control method for an automatic driving vehicle according to any one of claim 1, characterized in that: The relative distance between the vehicle and the obstacle outside the vehicle includes at least one of the relative distance between the front of the vehicle and other vehicles or pedestrians outside the vehicle, and the relative distance between the side of the vehicle and other vehicles or pedestrians outside the vehicle; The identifying whether the relative distance between the vehicle and the obstacle outside the vehicle is less than the safety distance includes: If the relative distance between the front of the vehicle and other vehicles or pedestrians outside the vehicle is less than a first distance threshold, it is determined that the relative distance between the vehicle and the obstacle outside the vehicle is less than a safe distance; or / and, If the relative distance between the vehicle and other vehicles or pedestrians outside the vehicle is less than a second distance threshold, it is determined that the relative distance between the vehicle and the obstacle outside the vehicle is less than a safety distance.

3. The mode switching control method of an automatic driving vehicle according to claim 1, characterized in that: Also includes: Acquiring control behavior information through a vehicle perception system, and identifying whether the control behavior information is abnormal control behavior; If the control behavior information belongs to abnormal control behavior, the manual driving mode is switched to the automatic driving mode.

4. The mode switching control method of an automatic driving vehicle according to claim 3, characterized in that: The control behavior information includes a torque value for turning the steering wheel; The identifying whether the manipulation behavior information belongs to abnormal manipulation behavior includes: If the torque value of turning the steering wheel is less than a first torque threshold and the duration is greater than a first time threshold, the control behavior information belongs to abnormal control behavior.

5. The mode switching control method of an automatic driving vehicle according to claim 3, characterized in that: Also includes: When the driver's state is an abnormal driving state; or / and, The relative distance between the vehicle and the obstacle outside the vehicle is less than the safety distance; or / and, If the control behavior information belongs to abnormal control behavior, the vehicle will issue an alarm prompt.

6. A mode switching control method for an automatic driving vehicle according to claim 5, characterized in that: Also includes: After the vehicle issues an alarm prompt, when the driver is in a normal driving state, the relative distance between the vehicle and an obstacle outside the vehicle is greater than a safe distance, and the control behavior information belongs to a normal control behavior, the vehicle alarm prompt is turned off.

7. The mode switching control method of an automatic driving vehicle according to claim 3, characterized in that: Also includes: When the vehicle is in the automatic driving mode, when the driver's state is a normal driving state, the relative distance between the vehicle and the obstacle outside the vehicle is greater than the safety distance, and the control behavior information belongs to normal control behavior, the automatic driving mode is switched to the manual driving mode.

8. The mode switching control method of an automatic driving vehicle according to claim 1, characterized in that: The driver status includes at least one of a facial feature and a physical feature; The identifying whether the driver state is an abnormal driving state includes: identifying whether the driver is in a dozing state according to the facial features, and if the driver is in a dozing state, determining that the driver's state is an abnormal driving state; or / and, It is identified whether the driver is in a distracted state based on the physical characteristics, and if the driver is in a distracted state, it is determined that the driver's state is an abnormal driving state.

9. A mode switching control system for an autonomous driving vehicle, characterized in that: include: Vehicle perception systems and autonomous driving domain controllers; The vehicle perception system is used to obtain the driver's state and the relative distance between the vehicle and obstacles outside the vehicle when the vehicle is in a manual driving mode; The autonomous driving domain controller is used to obtain the driver status collected by the vehicle perception system, and the relative distance between the vehicle and obstacles outside the vehicle; Identifying whether the driver's state is an abnormal driving state, and identifying whether the relative distance between the vehicle and an obstacle outside the vehicle is less than a safe distance; If the driver state is an abnormal driving state, and / or the relative distance between the vehicle and an obstacle outside the vehicle is less than a safe distance, the manual driving mode is switched to the automatic driving mode.

10. An autonomous driving vehicle, comprising one or more processors and one or more memories, wherein the one or more memories store at least one program code, and the at least one program code is loaded and executed by the one or more processors to implement the operations performed by the mode switching control of an autonomous driving vehicle as described in any one of claims 1 to 8.

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