Driving decision generation method and device and storage medium

Abstract

The invention discloses a driving decision generation method and device and a storage medium, and belongs to the technical field of vehicle control. The method comprises the following steps: acquiring first automatic driving capability and first driving state data of a first vehicle; acquiring second automatic driving capability and second driving state data of a second vehicle within a certain range of the road where the first vehicle is located; obtaining a safety detection result of the first vehicle based on the first automatic driving ability, the first driving state data, the second automatic driving ability and the second driving state data; in response to the fact that the first vehicle is not in the safe state, an automatic driving strategy to be executed by the first vehicle is generated based on the first automatic driving ability, the first driving state data, the second automatic driving ability and the second driving state data; and controlling the first automatic driving domain controller to control the first vehicle to run according to the to-be-executed automatic driving strategy. And the driving safety of the first vehicle and the vehicles around the first vehicle is ensured.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of vehicle control, and particularly to a method, device, and storage medium for generating driving decisions. Background Art

[0002] With the development of autonomous driving technology, the safety of vehicles has been improved. For example, when there is a risk on the road, the vehicle can be emergently braked through AEB (Autonomous Emergency Braking) to provide safety protection for the vehicle. Since the performance of AEB in different vehicles is different, and even some vehicles do not have AEB, relying on the driver's reaction to take braking measures may lead to the problem of unequal speed of risk judgment for vehicles traveling forward and backward, and it is easy to cause dangers such as rear-end collisions. Therefore, it is a problem to be solved to generate driving decisions for roads where multiple vehicles with different performances are traveling together to improve the safety protection of vehicle driving. Summary of the Invention

[0003] The embodiments of the present application provide a method, device, and storage medium for generating driving decisions, which can be used to improve the safety protection of vehicle driving. The technical solutions are as follows:

[0004] On the one hand, the embodiments of the present application provide a method for generating a driving decision, and the method includes:

[0005] Obtain the first autonomous driving ability and the first driving state data of the first vehicle, where the autonomous driving ability is used to indicate the vehicle's response ability to different driving conditions;

[0006] Obtain the second autonomous driving ability and the second driving state data of the second vehicle within a certain range of the road where the first vehicle is located;

[0007] Based on the first autonomous driving ability, the first driving state data, the second autonomous driving ability, and the second driving state data, obtain the safety detection result of the first vehicle, where the safety detection result indicates whether the vehicle is in a safe state;

[0008] In response to the safety detection result indicating that the first vehicle is not in the safe state, generate an autonomous driving strategy to be executed by the first vehicle based on the first autonomous driving ability, the first driving state data, the second autonomous driving ability, and the second driving state data;

[0009] Control the first autonomous driving domain controller of the first vehicle to control the driving of the first vehicle according to the autonomous driving strategy to be executed.

[0010] On the other hand, a driving decision generation device is provided, and the device includes:

[0011] A first acquisition module, configured to acquire the first automatic driving ability and the first driving state data of a first vehicle, where the automatic driving ability is used to indicate the response ability of the vehicle to different driving conditions;

[0012] A second acquisition module, configured to acquire the second automatic driving ability and the second driving state data of a second vehicle within a certain range of the road where the first vehicle is located;

[0013] A safety detection module, configured to obtain a safety detection result of the first vehicle based on the first automatic driving ability, the first driving state data, the second automatic driving ability, and the second driving state data, where the safety detection result indicates whether the vehicle is in a safe state;

[0014] A generation module, configured to, in response to the safety detection result indicating that the first vehicle is not in the safe state, generate an automatic driving strategy to be executed by the first vehicle based on the first automatic driving ability, the first driving state data, the second automatic driving ability, and the second driving state data;

[0015] A control module, configured to control a first automatic driving domain controller of the first vehicle to control the driving of the first vehicle according to the to-be-executed automatic driving strategy.

[0016] On the other hand, a non-transitory computer-readable storage medium is further provided, characterized in that a computer program is stored in the computer-readable storage medium, and the computer program is loaded and executed by a processor to implement the driving decision generation method described in any one of the above.

[0017] On the other hand, a computer program product is further provided, where the computer program product includes computer instructions, and when the computer instructions are executed by a processor, the steps of the driving decision generation method described in any one of the above are implemented.

[0018] The technical solution provided by this application at least brings the following beneficial effects:

[0019] This application determines whether the first vehicle is in a safe state by obtaining the first vehicle's first autonomous driving ability and first driving status data, as well as the second vehicle's second autonomous driving ability and second driving status data within a certain range of the road where the first vehicle is located. If the first vehicle is not in a safe state, an autonomous driving strategy to be executed by the first vehicle is generated based on the first autonomous driving ability, first driving status data, second autonomous driving ability, and second driving status data, and the first autonomous driving domain controller is controlled to control the first vehicle to drive according to the autonomous driving strategy to be executed, ensuring the driving safety of the first vehicle and the vehicles around it, and at the same time avoiding the impact of the first vehicle's emergency change of driving strategy on the riding comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 is a schematic diagram of an implementation environment provided by an embodiment of this application;

[0022] Figure 2 is a schematic diagram of another implementation environment provided by an embodiment of this application;

[0023] Figure 3 is a schematic diagram of another implementation environment provided by an embodiment of this application;

[0024] Figure 4 is a flowchart of a method for generating a driving decision provided by an embodiment of this application;

[0025] Figure 5 is a schematic diagram of the relative position between the second vehicle and the first vehicle provided by an embodiment of this application;

[0026] Figure 6 is a schematic diagram of another relative position between the second vehicle and the first vehicle provided by an embodiment of this application;

[0027] Figure 7 is a schematic diagram of another relative position between the second vehicle and the first vehicle provided by an embodiment of this application;

[0028] Figure 8 is a schematic diagram of the structure of a device for generating a driving decision provided by an embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] To make the objectives, technical solutions, and advantages of this application more clear, the following will further describe the embodiments of this application in detail with reference to the accompanying drawings.

[0030] The embodiment of this application provides a method for generating a driving decision. Please refer to Figures 1 - 3 , which shows a schematic diagram of the method implementation environment provided by the embodiment of this application. This implementation environment can be divided into three cases. The first implementation environment is applicable to the case where the vehicle networking type is a centralized networking and the location where the autonomous driving policy server is deployed is the first vehicle. As Figure 1 shown, this implementation environment includes: an autonomous driving policy server 11, a first autonomous driving policy client 12, a first autonomous driving domain controller 13, a first TBOX (Telematics BOX, vehicle networking intelligent terminal) 14, and a first ECU (Electronic Control Unit) 15.

[0031] Optionally, the first ECU 15 is used to obtain the first driving state data and send it to the first autonomous driving policy client 12. The first autonomous driving domain controller 13 is used to obtain the first autonomous driving ability and send it to the first autonomous driving policy client 12. The first autonomous driving policy client 12 is used to upload the first driving state data and the first autonomous driving ability to the autonomous driving policy server 11. The first TBOX 14 is used to obtain the second autonomous driving ability and the second driving state data of the second vehicle and upload them to the autonomous driving policy server 11.

[0032] Exemplarily, the autonomous driving policy server 11 is used to summarize the first autonomous driving ability, the first driving state data, the second autonomous driving ability, and the second driving state data, and generate an autonomous driving policy to be executed by the first vehicle. Among them, the autonomous driving policy server 11, the first autonomous driving policy client 12, the first autonomous driving domain controller 13, the first TBOX 14, and the first ECU 15 establish a communication connection through a wired or wireless network.

[0033] In a possible implementation manner, the second implementation environment is applicable to the case where the vehicle networking type is a centralized networking and the location where the autonomous driving policy server is deployed is the vehicle cloud, as Figure 2 shown. This implementation environment includes: an autonomous driving policy server 21, a first TBOX 22, a first autonomous driving policy client 23, a first autonomous driving domain controller 24, and a first ECU 25.

[0034] Optionally, the first ECU 25 is configured to obtain the first driving state data and send it to the first autonomous driving policy client 23; the first autonomous driving domain controller 24 is configured to obtain the first autonomous driving capability and send it to the first autonomous driving policy client 23, and receive the first autonomous driving policy to be executed by the first vehicle sent by the first autonomous driving policy client 23 and control the driving of the first vehicle according to the autonomous driving policy to be executed.

[0035] Exemplarily, the first autonomous driving policy client 23 is configured to upload the first driving state data and the first autonomous driving capability to the first TBOX 22, and send the first autonomous driving policy to be executed by the first vehicle to the first autonomous driving domain controller 24. The first TBOX 22 is configured to upload the first driving state data and the first autonomous driving capability to the autonomous driving policy server 21, and send the first autonomous driving policy to be executed by the first vehicle to the first autonomous driving policy client 23.

[0036] Optionally, the second TBOX 26 is configured to obtain the second autonomous driving capability and the second driving state data and upload them to the autonomous driving policy server 21 located in the vehicle-cloud. The autonomous driving policy server 21 is configured to aggregate the first autonomous driving capability, the first driving state data, the second autonomous driving capability, and the second driving state data, and generate the first autonomous driving policy to be executed by the first vehicle. Among them, the autonomous driving policy server 21, the first TBOX 22, the first autonomous driving policy client 23, the first autonomous driving domain controller 24, and the first ECU 25 establish a communication connection through a wired or wireless network.

[0037] In a possible implementation manner, the third implementation environment is applicable to the vehicle networking type of distributed networking, such as Figure 3 As shown, this implementation environment includes: the first TBOX 31, the autonomous driving policy server 32, the first autonomous driving policy client 33, the first autonomous driving domain controller 34, and the first ECU 35.

[0038] Optionally, the first ECU 35 is configured to obtain the first driving state data and send it to the first autonomous driving policy client 33; the first autonomous driving domain controller 34 is configured to obtain the first autonomous driving capability and send it to the first autonomous driving policy client 33, and receive the first autonomous driving policy to be executed by the first vehicle sent by the first autonomous driving policy client 33 and control the driving of the first vehicle according to the autonomous driving policy to be executed.

[0039] Exemplarily, the first autonomous driving policy client 33 is used to upload the first driving state data and the first autonomous driving ability to the autonomous driving policy server 32, send the autonomous driving policy to be executed by the first vehicle to the first autonomous driving domain controller 34, and upload the first driving state data and the first autonomous driving ability to the first TBOX 31 for communicating with other vehicles, so as to facilitate other vehicles to adjust driving parameters. Among them, the first TBOX 31, the autonomous driving policy server 32, the first autonomous driving policy client 33, the first autonomous driving domain controller 34, and the first ECU 35 establish a communication connection through a wired or wireless network.

[0040] Based on the above Figures 1 - 3 shown implementation environment, an embodiment of the present application provides a method for generating a driving decision as Figure 4 shown. Taking the method applied to the autonomous driving policy server as an example, the method includes steps 401-step 405.

[0041] In step 401, the autonomous driving policy server obtains the first autonomous driving ability and the first driving state data of the first vehicle, and the autonomous driving ability is used to indicate the response ability of the vehicle to different driving conditions.

[0042] Exemplarily, the first vehicle is the execution subject of this solution and the vehicle served by the autonomous driving policy server, and the autonomous driving policy server is used to make autonomous driving policies. Among them, the first autonomous driving ability is used to indicate the response ability of the first vehicle to different driving conditions, and the first autonomous driving ability includes but is not limited to the function list of the first vehicle's ADS (Advanced Driver Assistance Systems), the ADS activation function list, the AEB (Autonomous Emergency Braking) braking speed, the maximum speed reduction of AEB, the ACC (Adaptive Cruise Control) ability, the TTC (Time-to-Collision), the maximum lateral correction speed, and acceleration.

[0043] In a possible implementation, if the first vehicle does not have an autonomous driving function, preset human driving parameter values are used to replace the parameters during the statistics. Optionally, the ADS function list is used to list the assisted driving functions of the vehicle, such as: ACC (Adaptive Cruise Control), LKA (Lane Keeping Assist), AP (Automatic Parking), AEB (Collision Warning and Emergency Braking), BSM (Blind Spot Monitoring), TSR (Traffic Sign Recognition). The ADS activation function list is used to list the assisted driving functions activated in specific states of the vehicle, such as: highway autonomous driving, urban driving mode, autonomous driving in good weather. Among them, good weather includes but is not limited to sunny, high visibility and low wind weather.

[0044] Exemplarily, the AEB braking speed is used to indicate the maximum speed at which AEB can completely stop the vehicle; the AEB maximum speed reduction is used to indicate the maximum speed that the AEB system can reduce the vehicle speed when a collision risk occurs; the ACC ability is used to indicate the ability of the vehicle to automatically adjust its own speed during automatic cruise; TTC is used to indicate the time required for the vehicle to collide with the vehicle in front.

[0045] In a possible implementation, the first driving state data includes the operation characteristic data and driving characteristic data of the first vehicle. Among them, the operation characteristic data includes: steering wheel angle, steering wheel angular acceleration, brake pedal position, accelerator pedal position, clutch pedal position and transmission gear. The driving characteristic data includes: vehicle driving speed, position, acceleration and yaw rate.

[0046] Optionally, the autonomous driving strategy server obtains the first autonomous driving ability and the first driving state data of the first vehicle, including: obtaining the vehicle networking type of the road where the first vehicle is located, and the vehicle networking type includes centralized networking or distributed networking; in response to the vehicle networking type being centralized networking, obtaining the location where the autonomous driving strategy server is deployed, and the location where the autonomous driving strategy server is deployed includes the vehicle cloud or the first vehicle, and the autonomous driving strategy server is used to make autonomous driving strategies; in response to the location where the autonomous driving strategy server is deployed being the first vehicle, obtaining the first autonomous driving ability and the first driving state data through the first autonomous driving strategy client; in response to the location where the autonomous driving strategy server is deployed being the vehicle cloud, obtaining the first autonomous driving ability and the first driving state data through the first TBOX of the first vehicle.

[0047] Exemplarily, the autonomous driving strategy server may determine the vehicle networking type of the road where the first vehicle is located based on the source of the information of the second vehicle, where the second vehicle is the nearest vehicle within a certain range of the road where the first vehicle is located. In a possible implementation, the autonomous driving strategy server may detect whether there are other vehicles within a certain range of the road where the first vehicle is located through technical means such as lidar or visual perception. If other vehicles are identified, the vehicle closest to the first vehicle is used as the second vehicle.

[0048] Optionally, the autonomous driving strategy server may determine the vehicle networking type of the road where the first vehicle is located based on the source of the information of the second vehicle, including: if the source of the information of the second vehicle is the second TBOX, it indicates that the vehicle networking type is a distributed network; if the source of the information of the second vehicle is the vehicle cloud, it indicates that the vehicle networking type is a centralized network.

[0049] In a possible implementation, after determining the vehicle networking type, if the vehicle networking type is a centralized network, the autonomous driving strategy server detects the location where it is deployed, where the location where the autonomous driving strategy server is deployed includes the vehicle cloud or the first vehicle. The autonomous driving strategy server may determine the location where it is deployed through a configuration file, where the configuration file is stored in the autonomous driving strategy client.

[0050] Exemplarily, after determining the location where it is deployed, if the location where the autonomous driving strategy server is deployed is the first vehicle, the autonomous driving strategy server obtains the first autonomous driving ability and the first driving state data through the first autonomous driving strategy client, including: the autonomous driving strategy server obtains the first autonomous driving ability from the first autonomous driving domain controller through the first autonomous driving strategy client, and obtains the first driving state data from the first ECU of the first vehicle.

[0051] Optionally, if the location where the autonomous driving strategy server is deployed is the vehicle cloud, the autonomous driving strategy server obtains the first autonomous driving ability and the first driving state data through the first TBOX, including: the autonomous driving strategy server obtains the first autonomous driving ability and the first driving state data from the first autonomous driving strategy client through the first TBOX, where the first autonomous driving strategy client obtains the first autonomous driving ability from the first autonomous driving domain controller, and obtains the first driving state data from the first ECU of the first vehicle.

[0052] In step 402, the autonomous driving strategy server obtains the second autonomous driving ability and the second driving state data of the second vehicle within a certain range of the road where the first vehicle is located.

[0053] In a possible implementation, if the vehicle networking type is centralized networking and after obtaining the first autonomous driving capability and the first driving state data, the autonomous driving policy client obtains the second autonomous driving capability and the second driving state data of the second vehicle within a certain range of the road where the first vehicle is located, including: in response to the position where the autonomous driving policy server is deployed being the first vehicle, obtaining the second autonomous driving capability and the second driving state data of the second vehicle through the first TBOX; in response to the position where the autonomous driving policy server is deployed being the vehicle cloud, obtaining the second autonomous driving capability and the second driving state data through the second TBOX of the second vehicle.

[0054] Optionally, if the position where itself is deployed is the first vehicle, the autonomous driving policy server obtains the second autonomous driving capability and the second driving state data of the second vehicle through the first TBOX, including: the autonomous driving policy server obtains the second autonomous driving capability and the second driving state data from the vehicle cloud through the first TBOX. Among them, the second ECU sends the second driving state data to the second autonomous driving policy client, and the second autonomous driving domain controller sends the second autonomous driving capability to the second autonomous driving policy client. The second autonomous driving policy client then sends the second autonomous driving capability and the second driving state data to the second TBOX, and then uploads them to the vehicle cloud through the second TBOX.

[0055] Exemplarily, the second autonomous driving capability includes but is not limited to the ADS function list, the ADS activation function list, the AEB braking speed, the maximum AEB speed reduction, the ACC capability, the TTC, the maximum lateral correction speed, and the acceleration of the second vehicle. The second driving state data includes the operation characteristic data and the driving characteristic data of the second vehicle.

[0056] In a possible implementation, after determining the vehicle networking type, in response to the vehicle networking type being distributed networking, obtain the first autonomous driving capability and the first driving state data through the first autonomous driving policy client; obtain the second autonomous driving capability and the second driving state data through the first TBOX.

[0057] Exemplarily, if it is determined that the vehicle networking type is distributed networking, the autonomous driving policy server obtains the first autonomous driving capability and the first driving state data through the first autonomous driving policy client, including: the autonomous driving policy server obtains the first autonomous driving capability from the first autonomous driving domain controller and the first driving state data from the first ECU through the first autonomous driving policy client.

[0058] Optionally, the autonomous driving policy server obtains the second autonomous driving capability and the second driving state data through the first TBOX, including: obtaining the second autonomous driving capability and the second driving state data from the second TBOX through the first TBOX. Among them, the second ECU of the second vehicle sends the second driving state data to the second autonomous driving policy client of the second vehicle, and the second autonomous driving domain controller of the second vehicle sends the second autonomous driving capability to the second autonomous driving policy client, and the second autonomous driving policy client then sends the second autonomous driving capability and the second driving state data to the second TBOX.

[0059] In a possible implementation, the autonomous driving policy server also sends the first autonomous driving capability and the first driving state data to the first TBOX through the first autonomous driving policy client for mutual communication with the remaining vehicles, facilitating the remaining vehicles to adjust the driving parameters.

[0060] In step 403, the autonomous driving policy server obtains the safety detection result of the first vehicle based on the first autonomous driving capability, the first driving state data, the second autonomous driving capability, and the second driving state data, and the safety detection result indicates whether the vehicle is in a safe state.

[0061] In a possible implementation, after obtaining the first autonomous driving capability, the first driving state data, the second autonomous driving capability, and the second driving state data, the autonomous driving policy server obtains the safety detection result of the first vehicle based on the first autonomous driving capability, the first driving state data, the second autonomous driving capability, and the second driving state data, including: calculating the safe distance that the first vehicle and the second vehicle need to maintain based on the first autonomous driving capability, the first driving state data, the second autonomous driving capability, and the second driving state data; obtaining the interval distance between the first vehicle and the second vehicle; in response to the interval distance between the first vehicle and the second vehicle being less than the safe distance, the safety detection result indicates that the first vehicle is not in a safe state.

[0062] Exemplarily, calculating the safe distance that the first vehicle and the second vehicle need to maintain based on the first autonomous driving capability, the first driving state data, the second autonomous driving capability, and the second driving state data includes: judging the relative position between the second vehicle and the first vehicle according to the detection results of technical means such as lidar or visual perception; combining the relative position between the second vehicle and the first vehicle, and calculating the safe distance that the first vehicle and the second vehicle need to maintain based on the first autonomous driving capability, the first driving state data, the second autonomous driving capability, and the second driving state data.

[0063] Optionally, the relative position of the second vehicle with respect to the first vehicle includes, but is not limited to: the first vehicle and the second vehicle are in the same lane and the second vehicle is in front of the first vehicle; the first vehicle and the second vehicle are in adjacent lanes and the second vehicle is on the side of the first vehicle; the first vehicle and the second vehicle are in the same lane, the second vehicle is in front of the first vehicle, and there is a third vehicle behind the first vehicle. The third vehicle is the vehicle closest to the first vehicle behind the first vehicle and can be identified based on the detection results of technologies such as lidar or visual perception. The relative position of the second vehicle with respect to the first vehicle is as Figures 5 - 7 shown, where the ego vehicle in the figure indicates the first vehicle, the lead vehicle indicates the second vehicle, and the following vehicle indicates the third vehicle.

[0064] Exemplarily, the correspondence between the relative position of the second vehicle with respect to the first vehicle, the first autonomous driving ability, the first driving state data, the second autonomous driving ability, and the second driving state data, and the safe distance that needs to be maintained between the first vehicle and the second vehicle can be preset according to experiments.

[0065] In a possible implementation, after determining the safe distance that needs to be maintained between the first vehicle and the second vehicle, the interval distance between the first vehicle and the second vehicle is calculated based on the detection results of technologies such as lidar or visual perception, and then the interval distance is compared with the safe distance. If the interval distance between the first vehicle and the second vehicle is less than the safe distance, the safety detection result indicates that the first vehicle is not in a safe state; if the interval distance between the first vehicle and the second vehicle is greater than or equal to the safe distance, the safety detection result indicates that the first vehicle is in a safe state.

[0066] Optionally, if the first vehicle and the second vehicle are in the same lane, the second vehicle is in front of the first vehicle, and there is a third vehicle behind the first vehicle, the interval distance between the first vehicle and the third vehicle needs to be introduced when calculating the safe distance. Exemplarily, if the first vehicle cannot maintain a safe distance from the third vehicle while maintaining a safe distance from the second vehicle, it is determined whether the first vehicle has the condition to change lanes based on the detection results of technologies such as lidar or visual perception. If it is detected that the first vehicle is allowed to change lanes, the driver is prompted through the in-vehicle display screen whether to perform a lane change operation. After receiving the information that the driver confirms the lane change, the first vehicle is controlled to switch to the adjacent lane to avoid being rear-ended by the third vehicle and getting into danger.

[0067] In step 404, in response to the safety detection result indicating that the first vehicle is not in a safe state, the autonomous driving strategy server generates an autonomous driving strategy to be executed by the first vehicle based on the first autonomous driving ability, the first driving state data, the second autonomous driving ability, and the second driving state data.

[0068] Exemplarily, after determining the security detection result, if the security detection result indicates that the first vehicle is not in a safe state, the autonomous driving policy server generates an autonomous driving policy to be executed by the first vehicle based on the first autonomous driving capability, the first driving state data, the second autonomous driving capability, and the second driving state data. Optionally, the autonomous driving policy includes, but is not limited to: adjusting the driving speed, driving direction, driving lane area, and driving lane of the vehicle.

[0069] In step 405, the autonomous driving policy server controls the first autonomous driving domain controller of the first vehicle to control the driving of the first vehicle according to the autonomous driving policy to be executed.

[0070] In a possible implementation manner, after determining the autonomous driving policy to be executed by the first vehicle, before the autonomous driving policy server controls the first autonomous driving domain controller of the first vehicle to control the driving of the first vehicle according to the autonomous driving policy to be executed, in response to the vehicle networking type being a centralized networking and the location where the autonomous driving policy server is deployed being the first vehicle, directly send the autonomous driving policy to be executed to the first autonomous driving domain controller of the first vehicle; in response to the vehicle networking type being a centralized networking and the location where the autonomous driving policy server is deployed being the vehicle cloud, send the autonomous driving policy to be executed to the first autonomous driving policy client through the first TBOX, and send the autonomous driving policy to be executed to the first autonomous driving domain controller through the first autonomous driving policy client; in response to the vehicle networking type being a distributed networking, send the autonomous driving policy to be executed to the first autonomous driving domain controller through the first autonomous driving policy client.

[0071] Exemplarily, if the vehicle networking type is a centralized networking and the location where the autonomous driving policy server is deployed is the first vehicle, the autonomous driving policy server directly sends the autonomous driving policy to be executed to the first autonomous driving domain controller of the first vehicle, and then controls the first autonomous driving domain controller to control the driving of the first vehicle according to the autonomous driving policy.

[0072] Optionally, if the vehicle networking type is a centralized networking and the location where the autonomous driving policy server is deployed is the vehicle cloud, the autonomous driving policy server sends the autonomous driving policy to be executed to the first autonomous driving policy client through the first TBOX, then sends the autonomous driving policy to be executed to the first autonomous driving domain controller through the first autonomous driving policy client, and then controls the first autonomous driving domain controller to control the driving of the first vehicle according to the autonomous driving policy. If the vehicle networking type is a distributed networking, the autonomous driving policy server sends the autonomous driving policy to be executed to the first autonomous driving domain controller through the first autonomous driving policy client, and then controls the first autonomous driving domain controller to control the driving of the first vehicle according to the autonomous driving policy.

[0073] In an embodiment of the present application, the first autonomous driving ability and first driving state data of a first vehicle, as well as the second autonomous driving ability and second driving state data of a second vehicle within a certain range of the road where the first vehicle is located, are obtained to determine whether the first vehicle is in a safe state; if the first vehicle is not in a safe state, an autonomous driving strategy to be executed by the first vehicle is generated based on the first autonomous driving ability, first driving state data, second autonomous driving ability, and second driving state data, and the first autonomous driving domain controller of the first vehicle is controlled to control the first vehicle to travel according to the autonomous driving strategy to be executed, ensuring the driving safety of the first vehicle and the vehicles around the first vehicle, and at the same time avoiding the impact of the first vehicle's emergency change of the driving strategy on the riding comfort.

[0074] Referring to Figure 8 , an embodiment of the present application provides a device for generating a driving decision, and the device includes:

[0075] A first acquisition module 801, configured to acquire the first autonomous driving ability and first driving state data of a first vehicle, where the autonomous driving ability is used to indicate the vehicle's response ability to different driving conditions;

[0076] A second acquisition module 802, configured to acquire the second autonomous driving ability and second driving state data of a second vehicle within a certain range of the road where the first vehicle is located;

[0077] A safety detection module 803, configured to obtain a safety detection result of the first vehicle based on the first autonomous driving ability, first driving state data, second autonomous driving ability, and second driving state data, where the safety detection result indicates whether the vehicle is in a safe state;

[0078] A generation module 804, configured to, in response to the safety detection result indicating that the first vehicle is not in a safe state, generate an autonomous driving strategy to be executed by the first vehicle based on the first autonomous driving ability, first driving state data, second autonomous driving ability, and second driving state data;

[0079] A control module 805, configured to control the first autonomous driving domain controller of the first vehicle to control the first vehicle to travel according to the autonomous driving strategy to be executed.

[0080] In a possible implementation, a first acquisition module 801 is configured to acquire the vehicle networking type of the road where the first vehicle is located. The vehicle networking type includes centralized networking or distributed networking. In response to the vehicle networking type being centralized networking, acquire the location where the autonomous driving policy server is deployed. The location where the autonomous driving policy server is deployed includes the vehicle cloud or the first vehicle. The autonomous driving policy server is used to make autonomous driving policies. In response to the location where the autonomous driving policy server is deployed being the first vehicle, acquire the first autonomous driving capability and the first driving state data through the first autonomous driving policy client of the first vehicle. In response to the location where the autonomous driving policy server is deployed being the vehicle cloud, acquire the first autonomous driving capability and the first driving state data through the first vehicle networking system TBOX of the first vehicle.

[0081] In a possible implementation, a second acquisition module 802 is configured to, in response to the location where the autonomous driving policy server is deployed being the first vehicle, acquire the second autonomous driving capability and the second driving state data of the second vehicle through the first TBOX. In response to the location where the autonomous driving policy server is deployed being the vehicle cloud, acquire the second autonomous driving capability and the second driving state data of the second vehicle through the second TBOX of the second vehicle.

[0082] In a possible implementation, the first acquisition module 801 is further configured to, in response to the vehicle networking type being distributed networking, acquire the first autonomous driving capability and the first driving state data through the first autonomous driving policy client, and acquire the second autonomous driving capability and the second driving state data through the first TBOX.

[0083] In a possible implementation, a control module 805 is further configured to, in response to the vehicle networking type being centralized networking and the location where the autonomous driving policy server is deployed being the first vehicle, directly send the autonomous driving policy to be executed to the first autonomous driving domain controller. In response to the vehicle networking type being centralized networking and the location where the autonomous driving policy server is deployed being the vehicle cloud, send the autonomous driving policy to be executed to the first autonomous driving policy client through the first TBOX, and send the autonomous driving policy to be executed to the first autonomous driving domain controller through the first autonomous driving policy client. In response to the vehicle networking type being distributed networking, send the autonomous driving policy to be executed to the first autonomous driving domain controller through the first autonomous driving policy client.

[0084] In a possible implementation, a safety detection module 803 is configured to calculate the safe distance that the first vehicle and the second vehicle need to maintain based on the first autonomous driving capability, the first driving state data, the second autonomous driving capability, and the second driving state data, acquire the interval distance between the first vehicle and the second vehicle, and in response to the interval distance between the first vehicle and the second vehicle being less than the safe distance, the safety detection result indicates that the first vehicle is not in a safe state.

[0085] This device determines whether the first vehicle is in a safe state by obtaining the first autonomous driving ability and the first driving state data of the first vehicle, as well as the second autonomous driving ability and the second driving state data of the second vehicle within a certain range of the road where the first vehicle is located; if the first vehicle is not in a safe state, an autonomous driving strategy to be executed by the first vehicle is generated based on the first autonomous driving ability, the first driving state data, the second autonomous driving ability, and the second driving state data, and the first autonomous driving domain controller is controlled to control the first vehicle to travel according to the autonomous driving strategy to be executed, ensuring the driving safety of the first vehicle and the vehicles around the first vehicle, and at the same time avoiding the emergency change of the driving strategy of the first vehicle from affecting the riding comfort.

[0086] It should be noted that when the device provided in the above embodiment realizes its functions, only the above-mentioned division of each functional module is used for illustration. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device provided in the above embodiment and the method embodiment belong to the same concept, and the specific implementation process can be seen in the method embodiment, which will not be elaborated here.

[0087] In an exemplary embodiment, a computer-readable storage medium is further provided. At least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by a processor of a computer device to enable the computer to implement any one of the above driving decision generation methods.

[0088] In a possible implementation manner, the above computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0089] In an exemplary embodiment, a computer program product or a computer program is further provided. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to enable the computer device to execute any one of the above driving decision generation methods.

[0090] It should be noted that the information involved in this application (including but not limited to user device information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.), and signals are all authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant laws, regulations, and standards of relevant countries and regions. For example, the first autonomous driving ability, the first driving state data, the second autonomous driving ability, the second driving state data, the safety detection result of the first vehicle, and the autonomous driving strategy to be executed by the first vehicle involved in this application are all obtained under full authorization.

[0091] It should be understood that the term "plural" as mentioned herein refers to two or more. "And / or" describes the association relationship of associated objects and indicates that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0092] It should be noted that the terms "first", "second", etc. (if any) in the description and claims of this application are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of this application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. On the contrary, they are merely examples of devices and methods consistent with some aspects of this application as detailed in the appended claims.

[0093] The above are only exemplary embodiments of this application and are not intended to limit this application. Any modifications, equivalent replacements, improvements, etc. made within the principles of this application shall be included within the protection scope of this application.

Claims

1. A method for generating driving decisions, characterized in that, The method includes: Obtaining the first autonomous driving ability and the first driving state data of the first vehicle, where the autonomous driving ability is used to indicate the vehicle's response ability to different driving conditions; Obtaining the second autonomous driving ability and the second driving state data of a second vehicle within a certain range of the road where the first vehicle is located; Obtaining a safety detection result of the first vehicle based on the first autonomous driving ability, the first driving state data, the second autonomous driving ability, and the second driving state data, where the safety detection result indicates whether the vehicle is in a safe state; In response to the safety detection result indicating that the first vehicle is not in the safe state, generating an autonomous driving strategy to be executed by the first vehicle based on the first autonomous driving ability, the first driving state data, the second autonomous driving ability, and the second driving state data; Controlling a first autonomous driving domain controller of the first vehicle to control the driving of the first vehicle according to the autonomous driving strategy to be executed.

2. The method according to claim 1, wherein The obtaining of the first autonomous driving ability and the first driving state data of the first vehicle includes: Obtaining the vehicle networking type of the road where the first vehicle is located, where the vehicle networking type includes centralized networking or distributed networking; In response to the vehicle networking type being the centralized networking, obtaining the location where the autonomous driving strategy server is deployed, where the location where the autonomous driving strategy server is deployed includes the vehicle cloud or the first vehicle, and the autonomous driving strategy server is used to make autonomous driving strategies; In response to the location where the autonomous driving strategy server is deployed being the first vehicle, obtaining the first autonomous driving ability and the first driving state data through a first autonomous driving strategy client of the first vehicle; In response to the location where the autonomous driving strategy server is deployed being the vehicle cloud, obtaining the first autonomous driving ability and the first driving state data through a first vehicle networking intelligent terminal TBOX of the first vehicle.

3. The method according to claim 2, characterized in that, The obtaining of the second autonomous driving ability and the second driving state data of a second vehicle within a certain range of the road where the first vehicle is located includes: In response to the location where the autonomous driving strategy server is deployed being the first vehicle, obtaining the second autonomous driving ability and the second driving state data of the second vehicle through the first TBOX; In response to the location where the autonomous driving strategy server is deployed being the vehicle cloud, obtaining the second autonomous driving ability and the second driving state data of the second vehicle through a second TBOX of the second vehicle.

4. The method according to claim 2, characterized in that After obtaining the vehicle networking type of the road where the first vehicle is located, it further includes: In response to the vehicle networking type being the distributed networking, obtaining the first autonomous driving ability and the first driving state data through the first autonomous driving strategy client; Obtaining the second autonomous driving ability and the second driving state data through the first TBOX.

5. The method according to claim 2, wherein Before controlling the first autonomous driving domain controller of the first vehicle to control the driving of the first vehicle according to the autonomous driving strategy to be executed, it further includes: In response to the vehicle networking type being the centralized networking and the location where the autonomous driving policy server is deployed being the first vehicle, directly send the to-be-executed autonomous driving policy to the first autonomous driving domain controller; In response to the vehicle networking type being the centralized networking and the location where the autonomous driving policy server is deployed being the vehicle cloud, send the to-be-executed autonomous driving policy to the first autonomous driving policy client through the first TBOX, and send the to-be-executed autonomous driving policy to the first autonomous driving domain controller through the first autonomous driving policy client; In response to the vehicle networking type being the distributed networking, send the to-be-executed autonomous driving policy to the first autonomous driving domain controller through the first autonomous driving policy client.

6. The method according to claim 1, characterized in that, The obtaining the safety detection result of the first vehicle based on the first autonomous driving ability, the first driving state data, the second autonomous driving ability, and the second driving state data includes: Calculating a safe distance that the first vehicle and the second vehicle need to maintain based on the first autonomous driving ability, the first driving state data, the second autonomous driving ability, and the second driving state data; Obtaining the interval distance between the first vehicle and the second vehicle; In response to the interval distance between the first vehicle and the second vehicle being less than the safe distance, the safety detection result indicates that the first vehicle is not in the safe state.

7. A driving decision generation device, characterized in that, The device includes: A first obtaining module, configured to obtain the first autonomous driving ability and the first driving state data of the first vehicle, where the autonomous driving ability is used to indicate the reaction ability of the vehicle to different driving conditions; A second obtaining module, configured to obtain the second autonomous driving ability and the second driving state data of a second vehicle within a certain range of the road where the first vehicle is located; A safety detection module, configured to obtain the safety detection result of the first vehicle based on the first autonomous driving ability, the first driving state data, the second autonomous driving ability, and the second driving state data, where the safety detection result indicates whether the vehicle is in a safe state; A generating module, configured to, in response to the safety detection result indicating that the first vehicle is not in the safe state, generate the to-be-executed autonomous driving policy of the first vehicle based on the first autonomous driving ability, the first driving state data, the second autonomous driving ability, and the second driving state data; A control module, configured to control the first autonomous driving domain controller of the first vehicle to control the driving of the first vehicle according to the to-be-executed autonomous driving policy.

8. The device according to claim 7, characterized in that, The first acquisition module is configured to acquire the vehicle networking type of the road where the first vehicle is located, where the vehicle networking type includes centralized networking or distributed networking; in response to the vehicle networking type being the centralized networking, acquire the location where the autonomous driving policy server is deployed, where the location where the autonomous driving policy server is deployed includes the vehicle cloud or the first vehicle, and the autonomous driving policy server is used to make autonomous driving policies; in response to the location where the autonomous driving policy server is deployed being the first vehicle, acquire the first autonomous driving ability and the first driving state data through the first autonomous driving policy client of the first vehicle; in response to the location where the autonomous driving policy server is deployed being the vehicle cloud, acquire the first autonomous driving ability and the first driving state data through the first TBOX of the first vehicle.

9. A computer program product, the computer program product includes computer instructions, and when the computer instructions are executed by a processor, the steps of the method for generating a driving decision as described in any one of claims 1 to 6 are implemented.

10. A non-transitory computer-readable storage medium, characterized in that, A computer program is stored in the computer-readable storage medium, and the computer program is loaded and executed by a processor to implement the method for generating a driving decision as described in any one of claims 1 to 6.

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