Mode switching control method of autonomous vehicle and autonomous vehicle

Abstract

The application provides a mode switching control method of an automatic driving vehicle and the automatic driving vehicle, wherein whether a driver state is an abnormal driving state is recognized, and whether a relative distance between the vehicle and an external obstacle is less than a safety distance is recognized; thus, when a sudden situation occurs or the driver state is not good, the control right of the vehicle can be timely given to the automatic driving mode of the vehicle, automatic intervention type switching control of the automatic driving mode of the vehicle with the automatic driving mode is realized according to the driving state of the driver and the relative distance between the vehicle and the external obstacle, the vehicle is more intelligent when switching from the manual driving mode to the automatic driving mode, and the safety performance of the vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automatic driving vehicles, and particularly relates to a mode switching control method of an automatic driving vehicle and the automatic driving vehicle. BACKGROUND

[0002] The statements in this section merely provide background information related to the present application and do not necessarily constitute the 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 of automobiles tend to be intelligent, comfortable and safe. At present, driving assistance functions have almost become the standard configuration of new vehicle models of various vehicle manufacturers. However, when facing unexpected situations, poor driver state or complex road environment with limited driver technical level, the driver's reaction is not timely, and the auxiliary driving function can only achieve effective avoidance and warning, and cannot completely replace the driver to take over the vehicle and cannot realize safe and smooth automatic intervention into the automatic driving state. SUMMARY

[0004] The present application provides a mode switching control method of an automatic driving vehicle and the automatic driving vehicle to solve the problems in the related art. The technical solution is as follows:

[0005] In a first aspect, a mode switching control method of an automatic driving vehicle is provided, comprising:

[0006] When the vehicle is in a manual driving mode, the driver state and the relative distance between the vehicle and the external obstacle of the vehicle are obtained by a vehicle perception system;

[0007] It is identified whether the driver state belongs to an abnormal driving state, and whether the relative distance between the vehicle and the external obstacle of the vehicle is less than a safe distance;

[0008] If the driver state belongs to an abnormal driving state, or / and the relative distance between the vehicle and the external obstacle of the vehicle is less than a safe distance, the manual driving mode is switched to an automatic driving mode.

[0009] In a possible implementation manner, the relative distance between the vehicle and the external obstacle of the vehicle includes at least one of the relative distance between the vehicle head and the other vehicles or pedestrians outside the vehicle, and the relative distance between the lateral side of the vehicle and the other vehicles or pedestrians outside the vehicle.

[0010] The identification of whether the relative distance between the vehicle and the external obstacle of the vehicle is less than a safe distance comprises:

[0011] If the relative distance between the vehicle head 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 the safety distance.

[0012] Or / and,

[0013] 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 the safety distance.

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

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

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

[0017] The identification of whether the driving behavior information belongs to abnormal driving behavior includes:

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

[0019] In a possible implementation, the method further includes: when the driver state belongs to 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] The driving behavior information belongs to abnormal driving behavior, the vehicle performs alarm prompting.

[0024] In a possible implementation, the method further includes: after the vehicle performs alarm prompting, when the driver state belongs to 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 normal driving behavior, the vehicle alarm prompting is closed.

[0025] In a possible implementation, the method further includes: when the driver state belongs to 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 normal driving behavior, switching from the automatic driving mode to the manual driving mode.

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

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

[0028] According to the facial feature, it is identified whether the driver is in a dozing-off state, and if the driver is in the dozing-off state, it is determined that the driver state belongs to an abnormal driving state.

[0029] Or / and,

[0030] According to the body feature, it is identified whether the driver is in a distracted state, and if the driver is in the 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 of an autonomous vehicle is provided, including: a vehicle perception system and an autonomous driving domain controller.

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

[0033] The autonomous driving domain controller is configured to acquire the driver state and the relative distance between the vehicle and the 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 the external obstacle of the vehicle is less than a safe distance.

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

[0035] In a second aspect, an autonomous vehicle is provided, including one or more processors and one or more memories, the one or more memories storing at least one piece of program code, the at least one piece of program code being loaded and executed by the one or more processors to implement the operations performed by the mode switching control system of the autonomous vehicle according to the first aspect.

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

[0037] In the present application, by identifying whether the driver state belongs to an abnormal driving state, and identifying whether the relative distance between the vehicle and the external obstacle is less than the safe distance, the control right of the vehicle can be timely transferred to the automatic driving mode of the vehicle when facing unexpected situations and the driver state is not good, realizing that the vehicle with the automatic driving mode can automatically switch the control mode according to the driving state of the driver and the relative distance between the vehicle and the external obstacle, so that the vehicle is more intelligent when switching from the manual driving mode to the automatic driving mode, and the safety performance of the vehicle is improved.

[0038] Advantages of the additional aspects of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0039] The accompanying drawings, which form a part of this specification, are included to provide a further understanding of the application, and are incorporated by reference herein. The embodiments illustrated in the drawings are presented by way of example in which similar elements are numbered with similar reference numerals, and wherein:

[0040] Figure 1 An interaction diagram of the mode switching control system of the automatic driving vehicle in the embodiment of the present application;

[0041] Figure 2 A flow chart of the mode switching control of the automatic driving vehicle in the embodiment of the present application;

[0042] Figure 3 An alarm flow chart in the mode switching control of the automatic driving vehicle in the embodiment of the present application;

[0043] Figure 4 A structure diagram of the automatic driving vehicle in the embodiment of the present application. DETAILED DESCRIPTION

[0044] It should be noted that the following detailed description is merely exemplary and is intended to provide further description of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0045] It should be noted that the terms used herein are merely intended to describe specific embodiments and are not intended to limit the exemplary embodiments according to the present application.

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

[0047] In the related art, when a sudden situation, a poor state of the driver or a limited technical level of the driver in a complex road environment is faced, the driver's reaction is not timely, the assisted driving function cannot completely replace the person to take over the whole vehicle, and the vehicle cannot safely and stably automatically intervene in the automatic driving mode, so that the driver is in danger. Based on this problem, the mode switching control method of the automatic driving vehicle provided by the embodiment of the application provides the following technical scheme: when the vehicle is in a manual driving mode, the state of the driver and the relative distance between the vehicle and the external obstacle of the vehicle are obtained through a vehicle perception system; whether the state of the driver belongs to an abnormal driving state is identified, and whether the relative distance between the vehicle and the external obstacle of the vehicle is less than a safe distance is identified; if the state of the driver belongs to an abnormal driving state, or / and the relative distance between the vehicle and the external obstacle of the vehicle is less than a safe distance, the manual driving mode is switched to an automatic driving mode.

[0048] The embodiment of the application identifies whether the state of the driver belongs to an abnormal driving state and whether the relative distance between the vehicle and the external obstacle of the vehicle is less than a safe distance, so that the control right of the vehicle can be timely given to the automatic driving mode of the vehicle when a sudden situation or a poor state of the driver is faced, and automatic intervention type switching control of the automatic driving mode of the vehicle according to the driving state of the driver and the relative distance between the vehicle and the external obstacle of the vehicle is realized, so that the vehicle is more intelligent when switching from the manual driving mode to the automatic driving mode, and the safety performance of the vehicle is improved.

[0049] An embodiment of the application provides an interaction schematic diagram of a vehicle control system, as shown in Figure 1 The automatic driving central controller CADC and the intelligent cockpit host controller, the vehicle perception system and the emergency button are connected through a wired or wireless mode. The vehicle perception system includes a camera in the cab, a camera outside the vehicle and a laser radar, and a sensor assembly in the vehicle.

[0050] When the driver state belongs to an abnormal driving state; or / and, the relative distance between the vehicle and the external obstacle is less than the safe distance; or / and, the driving behavior information of the driver belongs to an abnormal driving behavior, the automatic driving domain controller ADDC sends a request to the automatic driving central controller CADC, the automatic driving central controller CADC sends an instruction to the intelligent cabin controller, when the alarm condition is met, an alarm signal is sent to the IDCU, and the HMI instrument displays (text prompt + sound alarm); when the non-alarm condition is met, the intelligent cabin controller sends a signal to the IDCU, and the alarm disappears.

[0051] When the driver state belongs to an abnormal driving state; or / and, the relative distance between the vehicle and the external obstacle is less than the safe distance; or / and, the driving behavior information of the driver belongs to an abnormal driving behavior, the automatic driving domain controller ADDC sends a request to the automatic driving central controller CADC, the automatic driving central controller CADC sends an instruction to the automatic driving domain controller ADDC, and the automatic driving domain controller ADDC controls the controllers such as EPS, ESP and EPB to enter the automatic driving state.

[0052] When the driver state belongs to an abnormal driving state; or / and, the relative distance between the vehicle and the external obstacle is less than the safe distance; or / and, the driving behavior information of the driver belongs to an abnormal driving behavior, the automatic driving domain controller ADDC sends a request to the automatic driving central controller CADC, the automatic driving central controller CADC sends an instruction to the automatic driving domain controller ADDC, and the automatic driving domain controller ADDC controls the controllers such as EPS, ESP and EPB to enter the automatic driving state.

[0053] The vehicle perception system obtains the driver driving state, the relative distance between the vehicle and the external obstacle, and the driving behavior information through the camera located in the cab, the camera and laser radar located outside the vehicle, and the in-vehicle sensor assembly, and transmits the driver driving state, the relative distance between the vehicle and the external obstacle, and the driving behavior information to the vehicle control device; the emergency button has the highest authority, and when the emergency button is pressed, the vehicle is directly switched from the manual driving mode to the automatic driving mode.

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

[0055] The emergency button is arranged close to the gear lever of the vehicle, and is used to switch the vehicle from the manual driving mode to the automatic driving mode after the driver presses the emergency button. For the vehicle with the automatic driving mode, the emergency button with the highest priority is needed to be arranged, so that the driver can give the control right of the vehicle to the automatic driving mode of the vehicle when facing the emergency situation, the poor state of the driver, or the complex road environment with the limited driving skill of the driver.

[0056] Please refer to Figure 2 which shows a flow chart of a mode switching control method of an automatic driving vehicle according to an embodiment of the present application. The method comprises:

[0057] Step 201: When the vehicle is in the manual driving mode, obtaining the driver state, the relative distance between the vehicle and the external obstacle of the vehicle, and the driving behavior information through the vehicle perception system.

[0058] In an optional embodiment, the driver state comprises at least one of the facial feature data and the body feature data.

[0059] The facial feature data comprises the eye closure condition and the head posture, and the current body state of the driver is determined to be the dozing state through the eye closure condition and the head posture.

[0060] According to the body action data and the body posture data of the driver in the body feature data, the current body state of the driver is determined to be the distraction state.

[0061] In an optional embodiment, the relative distance between the vehicle and the external obstacle of the vehicle comprises at least one of the relative distance between the vehicle head and the other vehicle or pedestrian outside the vehicle, and the relative distance between the lateral side of the vehicle and the other vehicle or pedestrian outside the vehicle.

[0062] Specifically, the relative distance between the vehicle head and the other vehicle or pedestrian outside the vehicle specifically refers to the shortest distance between the vehicle head and the other vehicle or pedestrian outside the vehicle. That is, the shortest distance between each point of the vehicle head and each point between the other vehicle or pedestrian outside the vehicle is determined as the relative distance between the vehicle head and the other vehicle or pedestrian outside the vehicle. In this way, the collision between the vehicle head and the other vehicle or pedestrian outside the vehicle can be further avoided.

[0063] Specifically, the relative distance between the lateral side of the vehicle and the other vehicle or pedestrian outside the vehicle specifically refers to the shortest distance between the lateral side of the vehicle and the other vehicle or pedestrian outside the vehicle. That is, the shortest distance between each point of the two sides of the vehicle and each point between the other vehicle or pedestrian outside the vehicle is determined as the relative distance between the lateral side of the vehicle and the other vehicle or pedestrian outside the vehicle. In this way, the collision between the vehicle head and the other vehicle or pedestrian outside the vehicle can be further avoided.

[0064] In an optional embodiment, the steering behavior information comprises a torque value of rotating the steering wheel.

[0065] When the driver state is not good, the torque value of the steering wheel will be continuously lower than the first torque threshold, such as long time one hand or both hands away from the steering wheel, the steering wheel is not timely returned, fatigue driving, and incorrect use of the steering wheel, etc. The driving state of the driver is indirectly obtained by monitoring the torque value of the steering wheel, so that the vehicle can be switched to the automatic driving mode when the driver state is not good, to ensure driving safety.

[0066] Step 202: identifying whether the driver state belongs to an abnormal driving state, identifying whether the relative distance between the vehicle and the external obstacle of the vehicle is less than a safe distance, and identifying whether the steering behavior information belongs to an abnormal steering behavior.

[0067] In an optional embodiment, identifying whether the relative distance between the vehicle and the external obstacle of the vehicle is less than a safe distance comprises:

[0068] 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 external obstacle of the vehicle is less than a safe distance.

[0069] Or / and,

[0070] If the relative distance between the lateral side of 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 external obstacle of the vehicle is less than a safe 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 external obstacle of the vehicle is less than a safe distance.

[0072] If the shortest distance between the lateral 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 external obstacle of the vehicle is less than a safe distance.

[0073] In an optional embodiment, the identification of whether the steering behavior information belongs to an abnormal steering behavior comprises:

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

[0075] In an optional embodiment, the driver is identified to be in a dozing state according to the facial features, and if the driver is in a dozing state, it is determined that the driver state belongs to an abnormal driving state.

[0076] Or / and,

[0077] According to the body feature, it is determined whether the driver is in a distracted state, and if the driver is in the distracted state, it is determined that the driver state belongs to an abnormal driving state.

[0078] Specifically, the facial feature data is input into an abnormal behavior category recognition model for feature analysis. If it is identified that the time interval between the opening and closing of the driver's eyes within a unit time is more than 2 seconds, or the head posture of the driver is not correct, the situation that the head is not correct includes that the number of times of rapid nodding of the driver within 10 seconds is greater than 2, or the head of the driver is inclined to one side of the body, it is determined that the driver is dozing off or mentally fatigued, and the current body state of the driver is dozing off. If it is identified that the time interval between the closing and opening of the eyes of the driver within a unit time is 2 seconds and the head posture of the driver is correct, it is determined that the driver is in good spirits, and the current body state of the driver is not dozing off.

[0079] Specifically, in the case that the body action data of the driver indicates that the body action of the driver is single-hand steering, it is determined that the current body state is a distracted state. In the case that the body action data of the driver indicates that the body action of the driver is double-hand disengagement from the steering wheel, and the body posture data indicates that the body posture of the driver is not an abnormal posture, it is determined that the current body state is a distracted state, wherein the abnormal posture is the posture that the body of the driver is forward inclined, the hands are drooped and the body is lying on the steering wheel, or the posture that the body of the driver is backward inclined on the seat and the hands are drooped.

[0080] In specific practice, when the driver is distracted, there will be corresponding body actions at the same time, and the corresponding body action data specifically refers to the action of the hands of the driver in this embodiment. The action of the hands specifically includes: double-hand gripping of the steering wheel, single-hand steering, and double-hand disengagement from the steering wheel.

[0081] In the case that the current body state of the driver is determined according to the body action and the body posture of the driver, specifically, the body action and the body posture of the driver are input into an abnormal behavior category recognition model for feature analysis. If it is identified that the driver is steering with one hand, it is determined that the driver is not concentrating, and the current body state of the driver is a distracted state. If it is identified that the driver is disengaging from the steering wheel with both hands, and the body posture is not an abnormal posture, it is determined that the driver is not concentrating, and the current body state of the driver is a distracted state. If it is identified that the driver is gripping the steering wheel with both hands, it is determined that the body state of the driver is good.

[0082] Step 203: If the driver state belongs to an abnormal driving state, or / and, the relative distance between the vehicle and the external obstacle of the vehicle is less than a safe distance, or / and, the driving behavior information belongs to an abnormal driving behavior, the manual driving mode is switched to an automatic driving mode.

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

[0084] In an optional embodiment, the vehicle further comprises: when the driver state belongs to a normal driving state, the relative distance between the vehicle and the external obstacle is greater than a safe distance, and the driving behavior information belongs to a normal driving behavior, the vehicle alarm prompt is closed.

[0085] In an optional embodiment, the vehicle further comprises: when the vehicle is in an automatic driving state, when the driver state belongs to a normal driving state, the relative distance between the vehicle and the external obstacle is greater than a safe distance, and the driving behavior information belongs to a normal driving behavior, the vehicle is switched from an automatic driving mode to a manual driving mode.

[0086] An embodiment of the present application provides a mode switching control system of an automatic driving vehicle, comprising: a vehicle perception system and an automatic driving domain controller;

[0087] The vehicle perception system is used for acquiring a driver state and a relative distance between the vehicle and an external obstacle when the vehicle is in a manual driving mode.

[0088] The automatic driving domain controller is used for acquiring the driver state and the relative distance between the vehicle and the external obstacle collected by the vehicle perception system; identifying whether the driver state belongs to an abnormal driving state and identifying whether the relative distance between the vehicle and the external obstacle is less than a safe distance.

[0089] If the driver state belongs to an abnormal driving state, or / and, the relative distance between the vehicle and the external obstacle is less than a safe distance, the vehicle is switched from the manual driving mode to an automatic driving mode.

[0090] As shown in Figure 4 A structural block diagram of an automatic driving vehicle is provided in the embodiment of the present application. Generally, the automatic driving vehicle comprises: a processor and a memory.

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

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

[0093] In some embodiments, the automatic driving vehicle can further optionally include a peripheral device interface and at least one peripheral device. The processor, the memory, and the peripheral device interface can be connected through a bus or a signal line. Each peripheral device can be connected to the peripheral device interface through a bus, a signal line, 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 can 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 can be implemented on a separate chip or circuit board, and the present embodiments are not limited in this regard.

[0095] The radio frequency circuit is used for receiving and transmitting 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 the electrical signal into an electromagnetic signal for transmission, or converts the received electromagnetic signal into an electrical signal. 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 chip set, a subscriber identity module card, and the like. 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 can also include NFC (Near Field Communication) related circuitry, which is not limited by the present application.

[0096] The display screen is used to display the UI (User Interface). The UI can include graphics, text, icons, video, 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 virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, the display screen can be one, arranged on the front panel of the vehicle; in other embodiments, the display screen can be at least two, arranged on different surfaces of the autonomous vehicle or in a folding design; in still other embodiments, the display screen can be a flexible display screen, arranged on a curved surface or a folding surface of the vehicle. Even, the display screen can also be arranged in an irregular shape, that is, a special-shaped screen. The display screen can be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode) and the like.

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

[0098] The audio circuit can include a microphone and a speaker. The microphone is used to capture sound waves of the user and the environment, and convert the sound waves into an electrical signal input to the processor for processing, or input to the radio frequency circuit to realize voice communication. For the purpose of stereo sound collection or noise reduction, the microphone can be multiple, respectively arranged at different parts of the vehicle. The microphone can also be an array microphone or an omnidirectional collection 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 diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into a sound wave that humans can hear, but also convert the electrical signal into a sound wave that humans cannot hear for ranging purposes. In some embodiments, the audio circuit can further include a headphone jack.

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

[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, disposable battery or rechargeable battery. When the power supply includes a rechargeable battery, the rechargeable battery can be a wired charging battery or a wireless charging battery. The wired charging battery is a battery charged through a wired line, and the wireless charging battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[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 on the vehicle, and can include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0103] In some embodiments, a computer readable storage medium is also provided, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the method for predicting a speed limit of a curve based on a trajectory of a preceding vehicle according to any one of the above embodiments. For example, the computer readable storage medium can be a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0104] It is worth noting that the computer readable storage medium mentioned in the present application can be a non-volatile storage medium, in other words, can be a non-transitory storage medium.

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

[0106] That is, in some embodiments, a computer program product including instructions which, when run on a computer, cause the computer to perform the steps of the method for predicting a speed limit of a curve based on a trajectory of a preceding vehicle described above is also provided.

[0107] The above describes the embodiments provided by the present application, and is 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 of an autonomous vehicle, characterized by, Comprise: acquiring a driver state and a relative distance between the vehicle and an external obstacle of the vehicle by a vehicle perception system when the vehicle is in a manual driving mode; identifying whether the driver state is an abnormal driving state and whether the relative distance between the vehicle and the external obstacle of the vehicle is less than a safe distance; the relative distance between the vehicle and the external obstacle of the vehicle comprises at least one of a relative distance between a front of the vehicle and other vehicles or pedestrians outside the vehicle, and a relative distance between sides of the vehicle and other vehicles or pedestrians outside the vehicle; the shortest distance between each point of the front of the vehicle and each point of other vehicles or pedestrians outside the vehicle is determined as the relative distance between the front of the vehicle and other vehicles or pedestrians outside the vehicle; the shortest distance between each point of the sides of the vehicle and each point of other vehicles or pedestrians outside the vehicle is determined as the relative distance between the sides of the vehicle and other vehicles or pedestrians outside the vehicle; the identification of whether the relative distance between the vehicle and the external obstacle of the vehicle is less than the safe distance comprises: 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 external obstacle of the vehicle is less than the safe distance; or / and, if the relative distance between the sides of 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 external obstacle of the vehicle is less than the safe distance; if the driver state is an abnormal driving state, or / and, the relative distance between the vehicle and the external obstacle of the vehicle is less than the safe distance, the vehicle is switched from the manual driving mode to an automatic driving mode.

2. The mode switching control method of an autonomous vehicle according to claim 1, characterized by Further comprise: acquiring driving behavior information by a vehicle perception system, and identifying whether the driving behavior information is abnormal driving behavior; if the driving behavior information is abnormal driving behavior, the vehicle is switched from the manual driving mode to the automatic driving mode.

3. The mode switching control method of an autonomous vehicle according to claim 2, wherein the driving behavior information comprises a torque value of rotating a steering wheel; the identification of whether the driving behavior information is abnormal driving behavior comprises: if the torque value of rotating the steering wheel is less than a first torque threshold and the duration is greater than a first time threshold, the driving behavior information is abnormal driving behavior.

4. The mode switching control method of an autonomous vehicle according to claim 2, characterized by Further comprise: when the driver state is an abnormal driving state; or / and, the relative distance between the vehicle and the external obstacle of the vehicle is less than the safe distance; or / and, the driving behavior information is abnormal driving behavior, the vehicle gives an alarm prompt.

5. The mode switching control method of an autonomous vehicle according to claim 4, characterized by Further comprise: after the vehicle gives an alarm prompt, when the driver state is a normal driving state, the relative distance between the vehicle and the external obstacle of the vehicle is greater than the safe distance, and the driving behavior information is normal driving behavior, the vehicle alarm prompt is closed.

6. The mode switching control method of an autonomous vehicle according to claim 2, characterized by Further comprise: when the vehicle is in the automatic driving mode, when the driver state is a normal driving state, the relative distance between the vehicle and the external obstacle of the vehicle is greater than the safe distance, and the driving behavior information is normal driving behavior, the vehicle is switched from the automatic driving mode to the manual driving mode.

7. The mode switching control method of an autonomous vehicle according to claim 1, wherein the driver state comprises at least one of a facial feature and a body feature; the identification of whether the driver state is an abnormal driving state comprises: According to the face feature recognition, whether the driver is in a dozing state is determined, if the driver is in a dozing state, it is determined that the driver state belongs to an abnormal driving state; Or / and, According to the body feature recognition, whether the driver is in a distraction state is determined, if the driver is in a distraction state, it is determined that the driver state belongs to an abnormal driving state.

8. A mode switching control system of an autonomous vehicle, characterized by, Comprise: A vehicle perception system and an automatic driving domain controller; The vehicle perception system is configured to acquire a driver state and a relative distance between the vehicle and an external obstacle of the vehicle when the vehicle is in a manual driving mode; The automatic driving domain controller is configured to acquire the driver state and the relative distance between the vehicle and the external obstacle of the vehicle collected by the vehicle perception system; Whether the driver state belongs to an abnormal driving state is determined, and whether the relative distance between the vehicle and the external obstacle of the vehicle is less than a safe distance is determined; The relative distance between the vehicle and the external obstacle of the vehicle comprises at least one of a relative distance between a front of the vehicle and other vehicles or pedestrians outside the vehicle, and a relative distance between a side of the vehicle and other vehicles or pedestrians outside the vehicle; The shortest distance between each point of the front of the vehicle and each point of other vehicles or pedestrians outside the vehicle is determined as the relative distance between the front of the vehicle and other vehicles or pedestrians outside the vehicle; The shortest distance between each point of the two sides of the vehicle and each point of other vehicles or pedestrians outside the vehicle is determined as the relative distance between the side of the vehicle and other vehicles or pedestrians outside the vehicle; The determination of whether the relative distance between the vehicle and the external obstacle of the vehicle is less than the safe distance comprises: 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 external obstacle of the vehicle is less than the safe distance; Or / and, If the relative distance between the side of 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 external obstacle of the vehicle is less than the safe distance; If the driver state belongs to an abnormal driving state, or / and, the relative distance between the vehicle and the external obstacle of the vehicle is less than the safe distance, the manual driving mode is switched to an automatic driving mode.

9. An automatic driving vehicle, comprising one or more processors and one or more memories, at least one program code is stored in the one or more memories, 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 the automatic driving vehicle according to any one of claims 1 to 7.

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