Communication method and device

Abstract

The invention provides a communication method and device. According to the communication method provided by the invention, after a first computing platform in a first automatic driving device determines automatic driving operation adjustment information of the first automatic driving device according to a fault level of the first automatic driving device, the automatic driving operation adjustment information is broadcasted, the automatic driving operation adjustment information is used for indicating automatic driving operation needing to be executed by the first automatic driving equipment; correspondingly, for the second automatic driving device receiving the automatic driving operation adjustment information, a target driving path is determined based on the automatic driving operation adjustment information, and the target driving path can prevent the second automatic driving device from colliding with the first automatic driving device. By using the technical scheme provided by the invention, the safety of the vehicle in the process of taking over the request is improved.

Description

Communication method and device Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a communication method and device. Background Art

[0002] In the field of autonomous driving, when an autonomous vehicle is unable to complete driving operations autonomously, the driver is required to take over immediately to ensure safe operation. This process is referred to as a take-over request (TOR).

[0003] Currently, when an autonomous vehicle requires the driver to take over immediately, the autonomous vehicle will "do its best" to reach an emergency stop or send a take over request (TOR) signal to notify the driver to take over.

[0004] However, the current vehicle has low security when sending the above-mentioned takeover request.

[0005] Summary of the Invention

[0006] The present application provides a communication method and device that helps to improve the safety of vehicles when sending takeover requests.

[0007] In a first aspect, the present application provides a communication method, which is applied to a first computing platform, and the first computing platform is deployed in a first autonomous driving device. The method includes: determining a fault level of the first autonomous driving device; determining autonomous driving operation adjustment information of the first autonomous driving device based on the fault level, and the autonomous driving operation adjustment information is used to indicate the autonomous driving operation that the first autonomous driving device needs to perform; and broadcasting the autonomous driving operation adjustment information.

[0008] Exemplarily, the first computing platform broadcasts autonomous driving operation adjustment information based on vehicle to everything (V2X) technology.

[0009] Exemplarily, the first autonomous driving device is an autonomous driving vehicle.

[0010] Exemplarily, the first computing platform is a mobile data center (MDC) or a device or chip that implements similar functions to the MDC.

[0011] In the technical solution provided in this application, after a first computing platform in a first autonomous driving device determines autonomous driving operation adjustment information for the first autonomous driving device based on the first autonomous driving device's fault level, it broadcasts the information to other devices in advance. Accordingly, a second autonomous driving device that receives the adjustment information broadcast by the first autonomous driving device can plan a target driving path that avoids a collision with the first autonomous driving device based on the autonomous driving operation indicated by the adjustment information, thereby achieving early collision avoidance with the first autonomous driving device.

[0012] In combination with the first aspect, in a possible implementation, the method also includes: determining whether to request the driver of the first autonomous driving device to take over the first autonomous driving device based on the autonomous driving operation adjustment information; when it is determined that the driver of the first autonomous driving device is requested to take over the first autonomous driving device, outputting a takeover request TOR, and the TOR is used to instruct the driver of the first autonomous driving device to take over the first autonomous driving device.

[0013] It should be noted that this implementation does not limit the form of outputting the TOR, such as through voice alerts such as "di ding" or "du du", or through alerts displayed on a meter.

[0014] In this implementation, the first computing platform can prompt the driver to take over by outputting TOR, thereby helping to ensure the safe driving of the first autonomous driving device when the first autonomous driving device is unable to complete autonomous driving.

[0015] In conjunction with the first aspect, in one possible implementation, the autonomous driving operation includes any one of the following: autonomous driving mission hold, immediate exit after issuing a TOR, immediate exit, issuing a TOR and controlling the autonomous driving equipment before the driver takes over, issuing a TOR and the autonomous driving function changes to ACC deceleration exit, immediate exit after a safe stop, safe stop hold, issuing a TOR and exiting after a period of time, and issuing a TOR and initiating ACC deceleration exit after a period of time. The above-mentioned "exit" refers to "exiting the autonomous driving mode."

[0016] In combination with the first aspect, in a possible implementation method, the autonomous driving operation adjustment information of the first autonomous driving device is determined according to the fault level, including: determining the autonomous driving operation adjustment information of the first autonomous driving device according to the fault level and the mapping relationship between the preset fault level and the autonomous driving operation adjustment information.

[0017] In specific implementation, the mapping relationship between the fault level and the autonomous driving operation adjustment information can be pre-stored in the first computing platform. After the first computing platform determines the fault level, the autonomous driving operation adjustment information that has a mapping relationship with the fault level of the first autonomous driving device can be obtained from the mapping relationship.

[0018] In the second aspect, the present application provides a communication method, which is applied to a second computing platform, and the second computing platform is deployed in a second autonomous driving device. The method includes: receiving autonomous driving operation adjustment information broadcast by a first autonomous driving device, and the autonomous driving operation adjustment information is used to indicate the autonomous driving operation that the first autonomous driving device needs to perform; determining a target driving path based on the autonomous driving operation adjustment information, and the target driving path can avoid a collision between the second autonomous driving device and the first autonomous driving device.

[0019] In conjunction with the second aspect, in one possible implementation, the method further includes: determining a target color corresponding to the first autonomous driving device based on the autonomous driving operation adjustment information, wherein different colors are used to indicate different levels of danger to the driver of the second autonomous driving device; and rendering the first autonomous driving device in the target color and displaying the color on a display screen. The display screen may be a computer screen or a heads-up display (HUD) on the autonomous driving device.

[0020] For example, when the second computing platform determines that the first autonomous driving device is autonomous driving and is non-hazardous based on the autonomous driving operation adjustment information broadcast by the first autonomous driving device, the first autonomous driving device can be rendered green and then displayed on the display screen.

[0021] For example, when the second computing platform determines that the first autonomous driving device is driven by a human driver and is not dangerous based on the autonomous driving operation adjustment information broadcast by the first autonomous driving device, the first autonomous driving device can be rendered gray and then displayed on the display screen.

[0022] It can be understood that through this implementation method, the driver can view the danger level of the first automatic driving device through the display screen, so that the driver can choose whether to take over automatically to avoid collision with the first automatic driving device based on the danger level.

[0023] In combination with the second aspect, in one possible implementation method, determining the target driving path based on the autonomous driving operation adjustment information includes: receiving autonomous driving operation adjustment information broadcast by N other autonomous driving devices in the target area, where any one of the N autonomous driving devices is an autonomous driving device other than the first autonomous driving device in the target area; determining the target driving path based on the autonomous driving operation adjustment information of the first autonomous driving device and the autonomous driving operation adjustment information of each of the N autonomous driving devices.

[0024] In conjunction with the second aspect, in one possible implementation, the autonomous driving operation includes any one of the following: autonomous driving mission hold, immediate exit after issuing a TOR, immediate exit, issuing a TOR and controlling the autonomous driving equipment before the driver takes over, issuing a TOR and the autonomous driving function changes to ACC deceleration exit, immediate exit after a safe stop, safe stop hold, issuing a TOR and exiting after a period of time, issuing a TOR and initiating ACC deceleration exit after a period of time. The above-mentioned "exit" refers to "exiting the autonomous driving mode."

[0025] In combination with the second aspect, in a possible implementation, the method further includes: after receiving the autonomous driving operation adjustment information broadcast by the first autonomous driving device, broadcasting first information, the first information including the autonomous driving operation adjustment information and a first identifier, and the first identifier is used to indicate the first autonomous driving device.

[0026] In this embodiment, for the second computing platform that receives the autonomous driving operation adjustment information broadcast by the first autonomous driving device, it can also broadcast the first information, wherein the first information includes the autonomous driving operation adjustment information broadcast by the first autonomous driving device and a first identifier, and the first identifier is used to indicate the first autonomous driving device, so that the autonomous driving operation adjustment information of the first autonomous driving device can be transmitted farther, so that more other devices can know the autonomous driving operation adjustment information of the first autonomous driving device.

[0027] In a third aspect, the present application provides a communication device deployed in a first autonomous driving device, the device including a processing module and a transceiver module, wherein the processing module is used to: determine the fault level of the first autonomous driving device; and determine the autonomous driving operation adjustment information of the first autonomous driving device based on the fault level, the autonomous driving operation adjustment information is used to indicate the autonomous driving operation that the first autonomous driving device needs to perform; the transceiver module is used to: broadcast the autonomous driving operation adjustment information.

[0028] In combination with the third aspect, in one possible implementation, the processing module is also used to: determine whether to request the driver of the first autonomous driving device to take over the first autonomous driving device based on the autonomous driving operation adjustment information; when it is determined that the driver of the first autonomous driving device is requested to take over the first autonomous driving device, output a takeover request TOR, and the TOR is used to instruct the driver of the first autonomous driving device to take over the first autonomous driving device.

[0029] In combination with the third aspect, in one possible implementation, the first computing platform broadcasts autonomous driving operation adjustment information based on vehicle-to-everything V2X technology.

[0030] In combination with the third aspect, in one possible implementation, the autonomous driving operation includes any one of the following operations: maintaining the autonomous driving task, exiting immediately after issuing a TOR, exiting immediately, issuing a TOR and controlling the autonomous driving equipment before the driver takes over, issuing a TOR and the autonomous driving function changes to ACC deceleration exit, exiting immediately after safe parking, maintaining safe parking, issuing a TOR and exiting after a period of time, issuing a TOR and starting ACC deceleration exit after a period of time.

[0031] In combination with the third aspect, in a possible implementation method, the processing module is also used to: determine the autonomous driving operation adjustment information of the first autonomous driving device based on the fault level and the mapping relationship between the preset fault level and the autonomous driving operation adjustment information.

[0032] In a fourth aspect, the present application provides a communication device deployed in a second autonomous driving device, the device including a processing module and a transceiver module, the transceiver module being used to: receive autonomous driving operation adjustment information broadcast by a first autonomous driving device, the autonomous driving operation adjustment information being used to indicate the autonomous driving operation that the first autonomous driving device needs to perform; the processing module being used to: determine a target driving path based on the autonomous driving operation adjustment information, the target driving path being able to avoid a collision between the second autonomous driving device and the first autonomous driving device.

[0033] In combination with the fourth aspect, in one possible implementation, the processing module is also used to: determine the target color corresponding to the first autonomous driving device based on the autonomous driving operation adjustment information, wherein different colors are used to indicate different danger levels to the driver of the second autonomous driving device; render the first autonomous driving device as the target color and display it on the display screen.

[0034] In combination with the fourth aspect, in one possible implementation method, the transceiver module is also used to: receive autonomous driving operation adjustment information broadcast by N other autonomous driving devices in the target area, any one of the N autonomous driving devices is an autonomous driving device other than the first autonomous driving device in the target area; the processing module is also used to: determine the target driving path based on the autonomous driving operation adjustment information of the first autonomous driving device and the autonomous driving operation adjustment information of each of the N autonomous driving devices.

[0035] In combination with the fourth aspect, in one possible implementation, the autonomous driving operation includes any one of the following operations: maintaining the autonomous driving task, exiting immediately after issuing a TOR, exiting immediately, issuing a TOR and controlling the autonomous driving equipment before the driver takes over, issuing a TOR and the autonomous driving function changes to ACC deceleration exit, exiting immediately after safe parking, maintaining safe parking, issuing a TOR and exiting after a period of time, issuing a TOR and starting ACC deceleration exit after a period of time.

[0036] In combination with the fourth aspect, in a possible implementation method, the transceiver module is also used to: after receiving the autonomous driving operation adjustment information broadcast by the first autonomous driving device, broadcast the first information, the first information including the autonomous driving operation adjustment information and a first identifier, and the first identifier is used to indicate the first autonomous driving device.

[0037] In a fifth aspect, the present application provides an autonomous driving vehicle, comprising the communication device described in the third aspect or any one of them.

[0038] In a sixth aspect, the present application provides an autonomous driving vehicle, comprising the communication device described in the fourth aspect or any one of them.

[0039] In the seventh aspect, the present application provides a communication device, comprising: a memory and a processor; the memory is used to store program instructions; the processor is used to call the program instructions in the memory to execute the method described in the first aspect or any possible implementation method thereof.

[0040] In an eighth aspect, the present application provides a communication device comprising: a memory and a processor; the memory is used to store program instructions; the processor is used to call the program instructions in the memory to execute the method described in the second aspect or any possible implementation thereof.

[0041] In a ninth aspect, the present application provides a computer-readable medium storing a program code for computer execution, wherein the program code includes instructions for executing the method as described in the first aspect or the second aspect or any possible implementation thereof.

[0042] In the tenth aspect, the present application provides a chip comprising at least one processor and a communication interface, the communication interface and the at least one processor being interconnected by lines, and the at least one processor being used to run computer programs or instructions to perform the method as described in the first aspect or the second aspect or any possible implementation thereof.

[0043] In the eleventh aspect, the present application provides a computer program product, which includes computer program instructions. When the computer program instructions are run on a computer, the computer implements the method described in the first aspect or any possible implementation method thereof.

[0044] Among them, the technical effects brought about by any implementation method from the third aspect to the eleventh aspect can be referred to the technical effects brought about by the above-mentioned first aspect or second aspect or any possible implementation method therein, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] FIG1 is a schematic diagram of the structure of the autonomous driving device provided by this application;

[0046] FIG2 is a schematic diagram of a communication method provided by the present application;

[0047] FIG3 is a flowchart illustrating a communication method for a first autonomous driving device communicating with a second autonomous driving device according to an embodiment of the present application;

[0048] FIG4 is a schematic structural diagram of a second MDC performing path planning according to an embodiment of the present application;

[0049] FIG5 is a flowchart illustrating a communication method for a first autonomous driving device communicating with a roadside infrastructure device according to another embodiment of the present application;

[0050] FIG6 is a schematic diagram of an architecture of a first autonomous driving device communicating with a roadside infrastructure device according to another embodiment of the present application;

[0051] FIG7 is a schematic structural diagram of a communication device provided by an embodiment of the present application;

[0052] FIG8 is a schematic structural diagram of a communication device provided in another embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to better introduce the technical solutions of the embodiments of the present application, some concepts used in the embodiments of the present application are first introduced below.

[0054] 1. Autonomous driving equipment

[0055] The autonomous driving equipment in this application may include: road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, the autonomous driving equipment can be a vehicle, which is a vehicle in the broad sense, and can be a transportation tool (such as a commercial vehicle, passenger car, motorcycle, flying car, train, etc.), an industrial vehicle (such as a forklift, trailer, tractor, etc.), an engineering vehicle (such as an excavator, bulldozer, crane, etc.), agricultural equipment (such as a lawn mower, harvester, etc.), amusement equipment, toy vehicles, etc. The embodiments of this application do not specifically limit the type of vehicle. For another example, the autonomous driving equipment can be a vehicle such as an airplane or a ship.

[0056] 2. Computing Platform

[0057] The computing platform provides powerful computing power for autonomous driving equipment and can be considered the "super brain" of intelligent driving. For example, the computing platform can be a mobile data center (MDC), or a device or chip that performs similar functions to an MDC.

[0058] 3. V2X technology

[0059] Vehicle-to-everything (V2X) technology is a further evolution of device-to-device (D2D) technology. It is a communication technology that connects vehicles to everything, where V represents the vehicle and X represents anything that interacts with the vehicle.

[0060] Specifically, V2X technology can include: vehicle to vehicle (V2V), vehicle to network (V2N), vehicle to road infrastructure (V2I), vehicle to pedestrian (V2P), etc.

[0061] V2V (vehicle-to-vehicle) communication refers to vehicle-to-vehicle communication. This equipment can obtain real-time information about surrounding vehicles, including speed, location, and driving conditions. Vehicles can also form an interactive platform for the real-time exchange of text, images, and video. V2V communication is primarily used to prevent or reduce traffic accidents and for vehicle supervision and management.

[0062] V2N (Vehicle-to-Network) refers to the connection between in-vehicle devices and a cloud platform via the access network / core network. The cloud platform and the vehicle exchange data, store and process the acquired data, and provide various application services required by the vehicle. V2N communication is mainly used in vehicle navigation, remote vehicle monitoring, emergency rescue, and infotainment services.

[0063] V2I (vehicle-to-infrastructure) communication between onboard equipment and roadside infrastructure (such as traffic lights, traffic cameras, and roadside units). This infrastructure can then obtain information about nearby vehicles and publish various real-time information. V2I communication is primarily used for real-time information services, vehicle monitoring and management, and toll collection.

[0064] V2P refers to the communication between vulnerable traffic groups (including pedestrians and cyclists) and vehicle-mounted equipment using user devices (such as mobile phones and laptops). V2P communication is mainly used to avoid or reduce traffic accidents and provide information services.

[0065] 4. Ultrasonic sensor Ultrasonic sensor (USS) is a safety auxiliary device used when parking or reversing a car. It can inform the driver of the surrounding obstacles through sound or a more intuitive display, eliminating the trouble caused by the driver looking around when parking, reversing and starting the vehicle, and helping the driver eliminate blind spots and blurred vision.

[0066] 5. Inertial Measurement Unit

[0067] An inertial measurement unit (IMU) is typically composed of a gyroscope, an accelerometer, and an algorithm processing unit. It is a device used to measure an object's three-axis attitude angle (or angular rate) and acceleration. It is a very reliable positioning and attitude controller in autonomous driving equipment.

[0068] 6. Global Navigation Satellite System

[0069] The Global Navigation Satellite System (GNSS), also known as the Global Navigation Satellite System, is an airborne radio navigation and positioning system that can provide users with all-weather three-dimensional coordinates, velocity, and time information at any location on the Earth's surface or in near-Earth space.

[0070] 7. Radio ranging

[0071] Radio detection and ranging (RADAR) is commonly used to detect distant objects and estimate their speed and direction.

[0072] 8. Optical radar

[0073] Light detection and ranging (LIDAR) is a radar system that uses laser beams to detect target characteristics such as position and velocity. It operates by transmitting a detection signal (a laser beam) toward a target and then comparing the received signal reflected from the target (the target echo) with the transmitted signal. After appropriate processing, it can obtain relevant target information, such as range, direction, altitude, speed, attitude, and even shape. This allows it to detect, track, and identify targets such as aircraft and missiles.

[0074] In recent years, with the rapid development of autonomous driving technology, autonomous driving equipment (such as autonomous driving vehicles) has become increasingly intelligent. In addition to supporting manual driving (also known as human driving), it also supports autonomous driving.

[0075] For example, Figure 1 is a schematic diagram of the structure of an autonomous driving device provided by this application. As shown in Figure 1, the autonomous driving device 100 includes an environment perception module 101 and a computing platform 102.

[0076] Among them, the environmental perception module 101 can be used to obtain environmental information around the autonomous driving device 100 (for example, information about surrounding vehicles, pedestrians, and road surface) and transmit this information to the computing platform 102.

[0077] In a specific implementation, different information can be obtained by deploying different sensors on the autonomous driving device 100. For example, external environmental information can be obtained by deploying sensors such as cameras, ultrasonic sensors, laser radars, and millimeter wave radars on the autonomous driving device 100.

[0078] Among them, the computing platform 102 can be considered as the computing platform of the autonomous driving device 100, which can analyze and process the information transmitted by the environmental perception module 101 to generate a driving strategy for the autonomous driving device 100.

[0079] Exemplarily, the computing platform may be an MDC or a device or chip that implements functions similar to those of an MDC.

[0080] In addition, the autonomous driving device 100 shown in FIG1 also includes an on-board communication module (not shown in FIG1 ), which is used to exchange information with other devices.

[0081] Typically, when the autonomous driving device shown in FIG1 is operating in autonomous driving mode, if, due to certain factors or conditions, the autonomous driving device 100 is no longer able to autonomously complete autonomous driving, the driver is required to immediately take over to ensure safe driving of the autonomous driving device 100. For example, when the autonomous driving device 100 is operating in autonomous driving mode and is suddenly hit by heavy rain, causing the visual perception system of the autonomous driving device 100 to be unable to accurately identify the target object ahead, the driver should immediately take over to ensure safe driving.

[0082] In the field, the process by which the autonomous driving device requests the driver to take over is called a take over request (TOR). TOR is very important in autonomous driving, as it triggers the control transfer between the autonomous driving device and the driver.

[0083] Currently, when an autonomous driving system requires the driver to take over immediately, it will "do its best" to reach an emergency stop or issue a TOR to prompt the driver to take over. For example, the TOR can be a warning displayed on the instrument panel or played through the speaker.

[0084] It is understandable that when the autonomous driving device asks its driver to take over, the driver needs to react quickly. And for the driver to react quickly, the premise is that the driver notices the TOR mentioned above.

[0085] However, in many cases, when the driver is not operating the autonomous driving device, they may be paying attention to other mobile devices (such as mobile phones or tablets), or even wearing headphones. In this case, if the driver does not respond quickly to the TOR, the autonomous driving device may collide with other objects (such as other vehicles, pedestrians, or infrastructure), causing a traffic accident. In other words, the current autonomous driving device has low safety when sending the above-mentioned takeover request.

[0086] Based on such a scenario, the present application proposes a communication method and device for improving the security of current autonomous driving equipment during a takeover request.

[0087] In summary, in the communication method provided by this application, when an autonomous driving device (assuming it is a first autonomous driving vehicle) is in the process of autonomous driving, as shown in Figure 2, the computing platform in the first autonomous driving vehicle (assuming it is called the first computing platform) will obtain the autonomous driving operation adjustment information of the first autonomous driving vehicle based on the fault level determined by fault detection, and broadcast the autonomous driving operation adjustment information of the current first autonomous driving vehicle to other autonomous driving vehicles or roadside infrastructure, wherein the autonomous driving operation adjustment information is used to indicate the autonomous driving operation that the first autonomous driving device needs to perform; accordingly, other autonomous driving vehicles or roadside infrastructure perform preemptive evasive maneuvers based on the autonomous driving operation adjustment information of the first autonomous driving vehicle, thereby preventing collisions. For example, as shown in Figure 2, for other autonomous driving vehicles, target path planning can be performed based on the autonomous driving operation adjustment information broadcast by the first autonomous driving vehicle to avoid collisions with the first autonomous driving vehicle, while for roadside infrastructure (such as a high-speed barrier), the autonomous driving operation adjustment information broadcast by the first autonomous driving vehicle can be used to choose whether to provide clearance to avoid collisions with the first autonomous driving vehicle.

[0088] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be implemented independently or in combination with each other. For the same or similar concepts or processes, some embodiments may not be described in detail.

[0089] In conjunction with Figure 3, the communication method provided by this application is described in detail when the device receiving the autonomous driving operation adjustment information is an autonomous driving device (also called a second autonomous driving device).

[0090] As shown in Figure 3, the communication method includes S301, S302, S303 and S304, wherein S301, S302 and S303 are executed by the computing platform in the first autonomous driving device, and S304 is executed by the computing platform in the second autonomous driving device.

[0091] In this embodiment, the computing platform in the first autonomous driving device is also referred to as a first computing platform, and the computing platform in the second autonomous driving device is also referred to as a second computing platform.

[0092] S301: A first computing platform determines a fault level of a first automatic driving device.

[0093] In this embodiment, the specific form of the first autonomous driving device is not particularly limited. For example, the first autonomous driving device can be a car, truck, motorcycle, bus, boat, airplane, helicopter, lawn mower, recreational vehicle, amusement park vehicle, construction equipment, tram, train, cart, etc.

[0094] Typically, the first autonomous driving device is deployed with various sensors for environmental perception, and these various sensors report collected data to the first computing platform for analysis. For example, the first computing platform may analyze camera data collected by a camera sensor, ultrasonic sensor data collected by an ultrasonic sensor, lidar data collected by a lidar, and millimeter-wave radar data collected by a millimeter-wave radar.

[0095] In this embodiment, the first computing platform can determine the current fault level of the first autonomous driving device by analyzing data from various sensors. The fault level indicates the severity of a fault occurring in the first autonomous driving device, or the severity of an impending fault occurring in the first autonomous driving device. Examples of these severity levels include no fault, mild fault, moderate fault, severe fault, and the like.

[0096] For example, in one embodiment, the first computing platform may first detect whether the data collected by each sensor is abnormal, such as whether the collected data is lost or erroneous; if there is no abnormal data, it is determined that there is no fault; if there is abnormal data, the first computing platform further analyzes the abnormal data to determine the fault of the first autonomous driving device (including the current fault or the possible fault), and determines the severity of the fault of the first autonomous driving vehicle based on the fault.

[0097] In this embodiment, one implementation method of detecting whether the collected data is lost or erroneous may include: comparing the collected data with preset data to determine whether the collected data is lost or erroneous.

[0098] S302. The first computing platform determines the autonomous driving operation adjustment information of the first autonomous driving device according to the fault level, wherein the autonomous driving operation adjustment information is used to indicate the autonomous driving operation that the first autonomous driving device needs to perform.

[0099] In this embodiment, when the first computing platform determines the fault level corresponding to the first autonomous driving device, it obtains autonomous driving operation adjustment information for the first autonomous driving device corresponding to the fault level, where the autonomous driving operation adjustment information indicates the autonomous driving operation that the first autonomous driving device needs to perform. Specifically, in this embodiment, the autonomous driving operation includes any of the following:

[0100] 1) Autonomous driving mission maintenance.

[0101] 2) Exit immediately after issuing TOR.

[0102] 3) Immediate Exit.

[0103] 4) While issuing a TOR, control the autonomous driving device before the driver takes over, also referred to as "TOR + graceful exit" in this application.

[0104] 5) A TOR is issued and the autonomous driving function changes to adaptive cruise control (ACC) deceleration exit, also referred to as "TOR+degraded ACC deceleration exit" in this application.

[0105] 6) Stop the vehicle safely and exit immediately.

[0106] 7) Maintain safe parking. Maintain means continuing to park safely.

[0107] 8) Issue a TOR and exit after a period of time (e.g., x seconds), also referred to as "TOR+delayed exit" in this application.

[0108] 9) A TOR is issued and ACC deceleration exit is started after a period of time (e.g., x seconds), which is also referred to as "TOR+delayed ACC deceleration exit" in this application.

[0109] In one embodiment, a mapping relationship between at least one fault level and an autonomous driving operation adjustment may be pre-stored in the first autonomous driving device. Subsequently, when the first computing platform determines the fault level of the first autonomous driving device, it may first obtain autonomous driving operation adjustment information mapped to the fault level of the first autonomous driving device from the mapping relationship.

[0110] S303, the first computing platform broadcasts the autonomous driving operation adjustment information of the first autonomous driving device; accordingly, the second computing platform receives the autonomous driving operation adjustment information.

[0111] In this embodiment, the second autonomous driving device may or may not be of the same type as the first autonomous driving device, and this application does not impose any particular limitations. For example, it may be a car, truck, motorcycle, bus, boat, airplane, helicopter, lawn mower, recreational vehicle, amusement park vehicle, construction equipment, tram, train, cart, etc.

[0112] In this embodiment, after the first computing platform determines the autonomous driving operation adjustment information of the first autonomous driving device, it broadcasts the autonomous driving operation adjustment information so that other surrounding devices (for example, roadside infrastructure such as high-speed barriers or other autonomous driving vehicles) can be informed of the autonomous driving operation that the first autonomous driving device is about to perform.

[0113] Optionally, in this embodiment, for the second computing platform that receives the autonomous driving operation adjustment information broadcast by the first autonomous driving device, it can also broadcast the first information, wherein the first information includes the autonomous driving operation adjustment information and a first identifier, and the first identifier is used to indicate the first autonomous driving device, so that the autonomous driving operation adjustment information of the first autonomous driving device can be broadcast farther, so that more other devices can be informed of the autonomous driving operation that the first autonomous driving device is about to perform.

[0114] For example, assuming that when the first computing platform broadcasts the autonomous driving operation adjustment information of the first autonomous driving device, its broadcast range is within 200 meters around. If it is required that other vehicles or roadside infrastructure within 500 meters can be informed of the autonomous driving operation adjustment information of the first autonomous driving device, then for other vehicles or roadside infrastructure within 200 meters of the first autonomous driving device, after receiving the autonomous driving operation adjustment information of the first autonomous driving device, it can also broadcast the first information including the autonomous driving operation adjustment information of the first autonomous driving device and the first identifier, so that other vehicles or roadside infrastructure beyond 200 meters from the first autonomous driving device can also be informed of the autonomous driving operation that the first autonomous driving device is about to perform.

[0115] In this embodiment, during specific implementation, the first computing platform can broadcast the autonomous driving operation adjustment information of the first autonomous driving device based on V2X technology.

[0116] S304: The second computing platform determines a target driving path based on the autonomous driving operation adjustment information, where the target driving path can avoid a collision between the second autonomous driving device and the first autonomous driving device.

[0117] In this embodiment, a second autonomous driving device that receives the autonomous driving operation adjustment information from the first autonomous driving device can determine the autonomous driving operation that the first autonomous driving device is about to perform based on the autonomous driving operation adjustment information. Furthermore, path planning can be performed based on the autonomous driving operation that the first autonomous driving device is about to perform, determining a target driving path. When the second autonomous driving device travels on this target driving path, it can avoid a collision with the first autonomous driving device, allowing the second autonomous driving device to make an evasive move in advance, thereby preventing a traffic accident and improving safety.

[0118] For example, if the second computing platform receives information from a first autonomous driving device behind it regarding an automatic braking system (TOR) and deceleration exit with downgraded ACC, and simultaneously determines from sensor data that the distance to the first autonomous driving device is small, it can then determine a target driving path for the first autonomous driving device to safely stop, combining the deceleration of the first autonomous driving device behind it, the information from the first autonomous driving device, and the distance.

[0119] In one embodiment, a target driving path is determined based on the autonomous driving operation adjustment information of the first autonomous driving device, including: the second computing platform also receives the autonomous driving operation adjustment information broadcast by N other autonomous driving devices in the target area, any one of the N autonomous driving devices is an autonomous driving device other than the first autonomous driving device in the target area; the second computing platform determines the target driving path based on the autonomous driving operation adjustment information of the first autonomous driving device and the autonomous driving operation adjustment information of each of the N autonomous driving devices.

[0120] Among them, when the second computing platform is specifically implemented to determine the target driving path based on the autonomous driving operation adjustment information of the first autonomous driving device and the autonomous driving operation adjustment information of each of the N autonomous driving devices, as shown in Figure 4, the second computing platform can perform perception fusion processing based on data collected by different sensors (for example, including USS sensors, IMU sensors, GNSS sensors, RADAR sensors, LIDAR sensors), and the received autonomous driving operation adjustment information of the first autonomous driving device and the autonomous driving operation adjustment information of each of the other N autonomous driving devices, and then perform path planning based on the results of the perception fusion processing to determine the target path.

[0121] It is understood that after the first computing platform in the first autonomous driving device determines the autonomous driving operation adjustment information for the first autonomous driving device based on the fault level of the first autonomous driving device, it broadcasts the autonomous driving operation adjustment information of the first autonomous driving device to provide a preemptive warning to other devices. Accordingly, the second autonomous driving device that receives the autonomous driving operation adjustment information broadcast by the first autonomous driving device can plan a target driving path that avoids a collision between the second autonomous driving device and the first autonomous driving device based on the autonomous driving operation that the first autonomous driving device indicates is required to perform, thereby achieving preemptive collision avoidance with the first autonomous driving device.

[0122] It can also be understood that, through the communication method provided in the present application, when the first computing platform in the first autonomous driving device determines that the first autonomous driving device can no longer complete the autonomous driving operation and outputs a TOR requiring the driver to take over immediately, even if the driver in the first autonomous driving device does not notice the TOR, the first computing platform will broadcast the autonomous driving operation adjustment information, so that the second autonomous driving device has already learned about the autonomous driving operation that needs to be performed by the first autonomous driving device, and based on the autonomous driving operation adjustment information, it determines the target driving path to avoid the first autonomous driving device in advance, thereby avoiding the collision between the first autonomous driving device and the second autonomous driving device, thereby avoiding the occurrence of traffic accidents and improving the safety of the autonomous driving device during the takeover request.

[0123] As an optional embodiment, the first computing platform in the first autonomous driving device can also determine whether to request the driver of the first autonomous driving device to take over the first autonomous driving device based on the autonomous driving operation adjustment information; when it is determined that the driver of the first autonomous driving device is requested to take over the first autonomous driving device, a takeover request TOR is output, and the TOR is used to instruct the driver of the first autonomous driving device to take over the first autonomous driving device.

[0124] For example, when the autonomous driving operation adjustment information is to exit immediately after issuing a TOR, the first computing platform can also determine that it is currently necessary to request the driver of the first autonomous driving device to take over the first autonomous driving device, and output a TOR to the driver of the first autonomous driving device to prompt the driver of the first autonomous driving device to take over.

[0125] It should be noted that the embodiment of the present application does not limit the form of outputting the TOR, such as through a voice alarm such as "di ding" or "du du", or through an alarm displayed on a meter.

[0126] In this implementation, the first computing platform can prompt the driver to take over by outputting TOR, thereby helping to ensure the safety of the first autonomous driving device when the first autonomous driving device is unable to complete autonomous driving.

[0127] As an optional embodiment, in this embodiment, after the second MDC in the second autonomous driving device receives the autonomous driving operation adjustment information, it can also determine the target color corresponding to the first autonomous driving device based on the autonomous driving operation adjustment information of the first autonomous driving device, wherein different colors are used to indicate different danger levels to the driver of the second autonomous driving device; the first autonomous driving device is rendered as the target color and displayed on the display screen.

[0128] For example, when the second computing platform determines that the first autonomous driving device is autonomous driving and is non-hazardous based on the autonomous driving operation adjustment information broadcast by the first autonomous driving device, the first autonomous driving device can be rendered green and then displayed on the display screen.

[0129] For example, when the second computing platform determines that the first autonomous driving device is driven by a human driver and is not dangerous based on the autonomous driving operation adjustment information broadcast by the first autonomous driving device, the first autonomous driving device can be rendered gray and then displayed on the display screen.

[0130] It can be understood that through this implementation method, the driver can view the danger level of the first automatic driving device through the display, so that the driver can choose whether to take over automatically based on the danger level to avoid collision with the first automatic driving device.

[0131] The above describes how the present application improves the safety of the autonomous driving device during a takeover request based on the device receiving the autonomous driving operation adjustment information broadcast by the first autonomous driving device as the autonomous driving device. It is understandable that in addition to the possibility of collision with the autonomous driving device, the first autonomous driving device may also collide with some other equipment, such as roadside infrastructure such as high-speed lifting poles. Therefore, the present application will further describe the communication method between the first autonomous driving device and the roadside infrastructure (this embodiment takes a high-speed lifting pole as an example) in detail in conjunction with Figures 5 and 6.

[0132] S501: A first computing platform in a first autonomous driving device determines a fault level of the first autonomous driving device.

[0133] S502. The first computing platform determines the autonomous driving operation adjustment information of the first autonomous driving device according to the fault level. The autonomous driving operation adjustment information is used to indicate the autonomous driving operation that the first autonomous driving device needs to perform.

[0134] S503: The first computing platform broadcasts the autonomous driving operation adjustment information of the first autonomous driving device; accordingly, the high-speed lever is raised to receive the autonomous driving operation adjustment information of the first autonomous driving device.

[0135] Among them, the specific description of S501 to S503 can refer to the description in S301 to S303. The only difference between it and S301 to S303 is that the device that receives the autonomous driving operation adjustment information of the first autonomous driving device is changed from the second autonomous driving device to the high-speed bar lifting device.

[0136] S504, the high-speed bar lifting device adjusts the bar lifting to a target state according to the automatic driving operation adjustment information of the first automatic driving device, wherein the high-speed bar lifting device can avoid collision with the first automatic driving device when in the target state.

[0137] For example, FIG6 is a schematic structural diagram of communication between the first automatic driving device and the high-speed lifting device provided in this application.

[0138] As shown in Figure 6, the first MDC includes a fault detection module and a fault management (FM) module, wherein the fault detection module is used to detect the fault level of the current first autonomous driving device, and the FM module is used to map the fault level to the autonomous driving operation adjustment information of the first autonomous driving device.

[0139] As shown in FIG6 , the high-speed bar lifting device includes a status monitoring module, wherein the status monitoring module can be used to monitor the automatic driving operation adjustment information of the first automatic driving device.

[0140] Specifically, the first computing platform may broadcast the autonomous driving operation adjustment information of the first autonomous driving device via a telematics box (T-box). After the status monitoring module in the high-speed barrier lifting device detects the autonomous driving operation adjustment information of the first autonomous driving device, it determines the status of the barrier based on the autonomous driving operation that the first autonomous driving device is required to perform as indicated by the autonomous driving operation adjustment information. For example, if the autonomous driving operation adjustment information indicates that the autonomous driving operation that the first autonomous driving device is required to perform is "TOR+Immediate Exit", and analysis of sensor-collected data indicates that the first autonomous driving device is very close to the high-speed barrier lifting device, then in order to allow the first autonomous driving device to stop safely, the first autonomous driving device should be allowed to safely pass through the barrier, and therefore the barrier should be controlled to release.

[0141] Optionally, in this embodiment, the high-speed pole lifting device may further include a loss of connection monitoring module, which may be used to monitor whether the first computing platform normally broadcasts the autonomous driving operation adjustment information of the first autonomous driving device.

[0142] The communication method provided by the present application is described above in conjunction with Figures 2 to 6 , and the communication device provided by the present application will be described below in conjunction with Figures 7 and 8 .

[0143] FIG7 is a schematic structural diagram of a communication device provided by an embodiment of the present application. Specifically, as shown in FIG7 , the device 700 includes: a processing module 701 and a transceiver module 702 .

[0144] In the first embodiment, the communication device 700 is deployed in a first autonomous driving device.

[0145] Specifically, the processing module 701 is used to determine the fault level of the first autonomous driving device; and, based on the fault level, determine the autonomous driving operation adjustment information of the first autonomous driving device, where the autonomous driving operation adjustment information is used to indicate the autonomous driving operation that the first autonomous driving device needs to perform; the transceiver module 702 is used to broadcast the autonomous driving operation adjustment information.

[0146] In one possible implementation, the processing module 701 is further used to: determine whether to request the driver of the first autonomous driving device to take over the first autonomous driving device based on the autonomous driving operation adjustment information; when it is determined that the driver of the first autonomous driving device is requested to take over the first autonomous driving device, output a takeover request TOR, and the TOR is used to instruct the driver of the first autonomous driving device to take over the first autonomous driving device.

[0147] In one possible implementation, the first computing platform broadcasts autonomous driving operation adjustment information based on vehicle-to-everything (V2X) technology.

[0148] In one possible implementation, the autonomous driving operation includes any one of the following operations: autonomous driving task maintenance, immediate exit after issuing a TOR, immediate exit, issuing a TOR and controlling the autonomous driving equipment before the driver takes over, issuing a TOR and the autonomous driving function changes to ACC deceleration exit, immediate exit after safe parking, safe parking maintenance, issuing a TOR and exiting after a period of time, issuing a TOR and starting an ACC deceleration exit after a period of time.

[0149] In a possible implementation, the processing module 701 is further used to determine the autonomous driving operation adjustment information of the first autonomous driving device according to the fault level and a mapping relationship between the preset fault level and the autonomous driving operation adjustment information.

[0150] In a second embodiment, the communication device 700 is deployed in a second autonomous driving device.

[0151] Specifically, the transceiver module 702 is used to receive the autonomous driving operation adjustment information broadcast by the first autonomous driving device, where the autonomous driving operation adjustment information is used to indicate the autonomous driving operation that the first autonomous driving device needs to perform; the processing module 701 is used to determine the target driving path based on the autonomous driving operation adjustment information, where the target driving path can avoid a collision between the second autonomous driving device and the first autonomous driving device.

[0152] In one possible implementation, the processing module 701 is further used to: determine the target color corresponding to the first autonomous driving device based on the autonomous driving operation adjustment information, wherein different colors are used to indicate different danger levels to the driver of the second autonomous driving device; and render the first autonomous driving device as the target color and display it on the display screen.

[0153] In one possible implementation, the transceiver module 702 is further used to: receive autonomous driving operation adjustment information broadcast by N other autonomous driving devices in the target area, where any one of the N autonomous driving devices is an autonomous driving device other than the first autonomous driving device in the target area; the processing module 701 is further used to: determine the target driving path based on the autonomous driving operation adjustment information of the first autonomous driving device and the autonomous driving operation adjustment information of each of the N autonomous driving devices.

[0154] In one possible implementation, the autonomous driving operation includes any one of the following operations: autonomous driving task maintenance, immediate exit after issuing a TOR, immediate exit, issuing a TOR and controlling the autonomous driving equipment before the driver takes over, issuing a TOR and the autonomous driving function changes to ACC deceleration exit, immediate exit after safe parking, safe parking maintenance, issuing a TOR and exiting after a period of time, issuing a TOR and starting an ACC deceleration exit after a period of time.

[0155] In one possible implementation, the transceiver module 702 is also used to: after receiving the autonomous driving operation adjustment information broadcast by the first autonomous driving device, broadcast the first information, where the first information includes the autonomous driving operation adjustment information and a first identifier, and the first identifier is used to indicate the first autonomous driving device.

[0156] Figure 8 is a schematic structural diagram of a communication device provided in another embodiment of the present application. The device shown in Figure 8 can be used to execute the method described in any of the above embodiments.

[0157] As shown in Figure 8, the apparatus 800 of this embodiment includes a memory 801 and a processor 802. Optionally, the apparatus 800 further includes a communication interface 803 and a bus 804. The memory 801, the processor 802, and the communication interface 803 are connected to each other via the bus 804.

[0158] The memory 801 may be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 801 may store programs. When the programs stored in the memory 801 are executed by the processor 802, the processor 802 is configured to perform the steps of the methods shown in Figures 2 to 6.

[0159] The processor 802 can be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits to execute relevant programs to implement the methods shown in Figures 2 to 6 of the present application.

[0160] The processor 802 may also be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the method of Figures 2 to 6 of the embodiment of the present application may be completed by hardware integrated logic circuits in the processor 802 or software instructions.

[0161] The processor 802 may also be a general-purpose processor, a digital signal processor (DSP), an ASIC, a field-programmable gate array (FPGA), or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. It may implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor.

[0162] The steps of the method disclosed in conjunction with the embodiments of the present application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules within the decoding processor. The software modules can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in memory 801, and processor 802 reads the information in memory 801 and, in conjunction with its hardware, performs the functions required by the units included in the apparatus of the present application. For example, the steps / functions of the embodiments shown in Figures 2 to 6 can be executed.

[0163] The communication interface 803 may use, but is not limited to, a transceiver or other transceiver device to implement communication between the apparatus 800 and other devices or a communication network.

[0164] The bus 804 may include a path for transmitting information between various components of the device 800 (eg, the memory 801 , the processor 802 , and the communication interface 803 ).

[0165] It should be understood that the device 800 shown in the embodiment of the present application may be an electronic device, or may be a chip configured in the electronic device.

[0166] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state drive.

[0167] It should be understood that the term "and / or" as used herein simply describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. A and B can be singular or plural. Furthermore, the character " / " as used herein generally indicates an "or" relationship between the associated objects, but it may also indicate an "and / or" relationship. For specific understanding, please refer to the context.

[0168] In this application, "at least one" means one or more, and "plurality" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or plural.

[0169] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0170] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0171] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0172] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0173] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0174] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0175] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A communication method, characterized in that: Applied to a first computing platform, where the first computing platform is deployed in a first autonomous driving device, the method includes: determining a fault level of the first autonomous driving device; determining, according to the fault level, autonomous driving operation adjustment information for the first autonomous driving device, the autonomous driving operation adjustment information being used to indicate an autonomous driving operation that the first autonomous driving device needs to perform; Broadcast the autonomous driving operation adjustment information.

2. The method according to claim 1, characterized in that The method further comprises: determining whether to request a driver of the first autonomous driving device to take over the first autonomous driving device according to the autonomous driving operation adjustment information; When it is determined that the driver of the first automatic driving device is requested to take over the first automatic driving device, a takeover request TOR is output, where the TOR is used to instruct the driver of the first automatic driving device to take over the first automatic driving device.

3. The method according to claim 1 or 2, characterized in that The first computing platform broadcasts the autonomous driving operation adjustment information based on vehicle-to-everything (V2X) technology.

4. The method according to any one of claims 1 to 3, characterized in that The autonomous driving operation includes any one of the following operations: maintaining the autonomous driving task, exiting immediately after issuing a TOR, exiting immediately, issuing a TOR and controlling the autonomous driving equipment before the driver takes over, issuing a TOR and changing the autonomous driving function to ACC deceleration exit, exiting immediately after safe parking, maintaining safe parking, issuing a TOR and exiting after a period of time, issuing a TOR and starting ACC deceleration exit after a period of time.

5. The method according to any one of claims 1 to 4, characterized in that The determining, according to the fault level, the automatic driving operation adjustment information of the first automatic driving device includes: The autonomous driving operation adjustment information of the first autonomous driving device is determined according to the fault level and the mapping relationship between the preset fault level and the autonomous driving operation adjustment information.

6. A communication method, characterized in that: Applied to a second computing platform, where the second computing platform is deployed in a second autonomous driving device, the method includes: receiving autonomous driving operation adjustment information broadcast by a first autonomous driving device, where the autonomous driving operation adjustment information is used to indicate an autonomous driving operation that the first autonomous driving device needs to perform; A target driving path is determined based on the autonomous driving operation adjustment information, and the target driving path can avoid a collision between the second autonomous driving device and the first autonomous driving device.

7. The method according to claim 6, characterized in that The method further comprises: determining a target color corresponding to the first autonomous driving device based on the autonomous driving operation adjustment information, wherein different colors are used to indicate different levels of danger to the driver of the second autonomous driving device; The first autonomous driving device is rendered in the target color and displayed on a display screen.

8. The method according to claim 6 or 7, characterized in that The determining the target driving path according to the automatic driving operation adjustment information includes: receiving autonomous driving operation adjustment information broadcasted by N other autonomous driving devices within a target area, where any one of the N autonomous driving devices is an autonomous driving device other than the first autonomous driving device within the target area; The target driving path is determined based on the autonomous driving operation adjustment information of the first autonomous driving device and the autonomous driving operation adjustment information of each of the N autonomous driving devices.

9. The method according to any one of claims 6 to 8, characterized in that The autonomous driving operation includes any one of the following operations: maintaining the autonomous driving task, exiting immediately after issuing a TOR, exiting immediately, issuing a TOR and controlling the autonomous driving equipment before the driver takes over, issuing a TOR and changing the autonomous driving function to ACC deceleration exit, exiting immediately after safe parking, maintaining safe parking, issuing a TOR and exiting after a period of time, issuing a TOR and starting ACC deceleration exit after a period of time.

10. The method according to any one of claims 6 to 9, characterized in that The method further comprises: After receiving the autonomous driving operation adjustment information broadcast by the first autonomous driving device, first information is broadcast, where the first information includes the autonomous driving operation adjustment information and a first identifier, and the first identifier is used to indicate the first autonomous driving device.

11. A communication device, characterized in that: Deployed in a first autonomous driving device, the device includes a processing module and a transceiver module, The processing module is configured to: determine a fault level of the first autonomous driving device; and determine autonomous driving operation adjustment information of the first autonomous driving device based on the fault level, the autonomous driving operation adjustment information being used to indicate an autonomous driving operation that the first autonomous driving device needs to perform; The transceiver module is used to broadcast the automatic driving operation adjustment information.

12. The device according to claim 11, characterized in that The processing module is further configured to: determining whether to request a driver of the first autonomous driving device to take over the first autonomous driving device according to the autonomous driving operation adjustment information; When it is determined that the driver of the first automatic driving device is requested to take over the first automatic driving device, a takeover request TOR is output, where the TOR is used to instruct the driver of the first automatic driving device to take over the first automatic driving device.

13. The device according to claim 11 or 12, characterized in that The transceiver module broadcasts the autonomous driving operation adjustment information based on vehicle-to-everything (V2X) technology.

14. The device according to any one of claims 11 to 13, characterized in that The autonomous driving operation includes any one of the following operations: maintaining the autonomous driving task, exiting immediately after issuing a TOR, exiting immediately, issuing a TOR and controlling the autonomous driving equipment before the driver takes over, issuing a TOR and changing the autonomous driving function to ACC deceleration exit, exiting immediately after safe parking, maintaining safe parking, issuing a TOR and exiting after a period of time, issuing a TOR and starting ACC deceleration exit after a period of time.

15. The device according to any one of claims 11 to 14, characterized in that The processing module is further configured to: The autonomous driving operation is determined according to the fault level and a preset mapping relationship between the fault level and the autonomous driving operation adjustment.

16. A communication device, characterized in that: Deployed in a second autonomous driving device, the device includes a processing module and a transceiver module, The transceiver module is configured to: receive autonomous driving operation adjustment information broadcast by a first autonomous driving device, where the autonomous driving operation adjustment information is used to indicate an autonomous driving operation that the first autonomous driving device needs to perform; The processing module is used to determine a target driving path based on the automatic driving operation adjustment information, and the target driving path can avoid the second automatic driving device from colliding with the first automatic driving device.

17. The device according to claim 16, characterized in that The processing module is further configured to: determining a target color corresponding to the first autonomous driving device based on the autonomous driving operation adjustment information, wherein different colors are used to indicate different levels of danger to the driver of the second autonomous driving device; The first autonomous driving device is rendered in the target color and displayed on a display screen.

18. The device according to claim 16 or 17, characterized in that: The transceiver module is further configured to: receive autonomous driving operation adjustment information broadcasted by N other autonomous driving devices within the target area, where any one of the N autonomous driving devices is an autonomous driving device other than the first autonomous driving device within the target area; The processing module is also used to determine the target driving path based on the autonomous driving operation adjustment information of the first autonomous driving device and the autonomous driving operation adjustment information of each of the N autonomous driving devices.

19. The device according to any one of claims 16 to 18, characterized in that The autonomous driving operation includes any one of the following operations: maintaining the autonomous driving task, exiting immediately after issuing a TOR, exiting immediately, issuing a TOR and controlling the autonomous driving equipment before the driver takes over, issuing a TOR and changing the autonomous driving function to ACC deceleration exit, exiting immediately after safe parking, maintaining safe parking, issuing a TOR and exiting after a period of time, issuing a TOR and starting ACC deceleration exit after a period of time.

20. The device according to any one of claims 16 to 19, characterized in that The transceiver module is also used for: After receiving the autonomous driving operation adjustment information broadcast by the first autonomous driving device, first information is broadcast, where the first information includes the autonomous driving operation adjustment information and a first identifier, and the first identifier is used to indicate the first autonomous driving device.

21. An autonomous driving vehicle, characterized in that: A communication device comprising any one of claims 11 to 15.

22. An autonomous driving vehicle, characterized in that: A communication device comprising any one of claims 16 to 20.

23. A communication device, characterized in that: include: memory and processor; The memory is used to store program instructions; The processor is configured to call the program instructions in the memory to execute the method according to any one of claims 1 to 5 or claims 6 to 10.

24. A computer-readable medium, characterized in that The computer-readable medium stores a program code for computer execution, the program code including instructions for executing the method according to any one of claims 1 to 5 or claims 6 to 10.

25. A chip, characterized in that: The system comprises at least one processor and a communication interface, wherein the communication interface and the at least one processor are interconnected via a line, and the at least one processor is configured to run a computer program or instruction to execute the method according to any one of claims 1 to 5 or claims 6 to 10.

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