Automatic driving control method, device and equipment of vehicle and medium

Abstract

The invention discloses an automatic driving control method, device and equipment of a vehicle and a medium. The method comprises the steps that when a vehicle is in an automatic driving state and any trigger event is monitored, the vehicle is controlled to be switched from the automatic driving state to an emergency state; according to the event type of the trigger event and the vehicle state data matrix, performing multi-level judgment of self-resetting compliance; when it is determined that the vehicle meets the self-reset condition according to the self-reset compliance judgment result, a self-reset node is determined according to the driver and passenger operation, and when the self-reset node is reached, a software reset instruction is generated, so that the vehicle is controlled to be reset to the automatic driving state by executing the software reset instruction. By adopting the technical scheme, the dependence of manual intervention can be effectively reduced, and the safety and reliability of self-resetting are ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to an automatic driving control method, device and equipment of a vehicle and a medium. BACKGROUND

[0002] The vehicle automatic driving system realizes autonomous perception, decision and control of the vehicle through the cooperation of the vehicle-mounted sensor, the controller and the software algorithm, reduces the dependence on manual operation, and improves the driving safety and the travel efficiency. In the whole life cycle operation of the automatic driving system, the orderly switching of the vehicle driving state is a core link for guaranteeing the function reliability and the scene adaptability.

[0003] At present, for the reset process after the vehicle automatic driving state is exited, a technical scheme of manually triggering the reset is generally adopted. When the vehicle faces the software running fluctuation, the travel task termination or the temporary parking demand, the vehicle automatic driving state will first change to an emergency state, manual lever resetting is needed, the manual driving state is entered, and then the automatic driving software is started to enter the automatic driving state.

[0004] If the scheme of manually triggering the reset is adopted, the vehicle needs manual lever resetting every time the automatic driving is exited. The operation is redundant in the non-fault scene, increases the burden of the driver and the passenger, especially in the high-frequency temporary parking scene, such as the pickup and drop-off scene of the online car-hailing and the short-distance distribution scene of the urban logistics vehicle. The repeated manual intervention will greatly reduce the travel and operation efficiency, and is not conducive to the later vehicle unmanned. SUMMARY

[0005] The present application provides an automatic driving control method, device, equipment and medium of a vehicle, which can effectively reduce the dependence on manual intervention and guarantee the safety and reliability of self-resetting.

[0006] According to an aspect of the present application, an automatic driving control method of a vehicle is provided, comprising:

[0007] When the vehicle is in the automatic driving state and any triggering event is monitored, the vehicle is switched from the automatic driving state to the emergency state;

[0008] According to the event type of the triggering event and the vehicle state data matrix, multi-level judgment of self-reset compliance is performed;

[0009] When it is determined according to the self-reset compliance judgment result that the vehicle meets the self-reset condition, the self-reset node is determined according to the driver and passenger operation, and when the self-reset node is reached, a software reset instruction is generated to control the vehicle to reset to the automatic driving state by executing the software reset instruction.

[0010] According to another aspect of the present application, an automatic driving control device of a vehicle is provided, comprising:

[0011] The state switching module is used to control the vehicle to switch from autonomous driving mode to emergency mode when the vehicle is in autonomous driving mode and detects any triggering event.

[0012] The self-reset compliance judgment module is used to perform multi-level judgments on self-reset compliance based on the event type of the triggering event and the vehicle status data matrix.

[0013] The software reset module is used to determine the self-reset node based on the driver and passenger operations when the self-reset compliance judgment result determines that the vehicle meets the self-reset conditions. When the self-reset node is reached, a software reset command is generated to control the vehicle to reset to the autonomous driving state by executing the software reset command.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0015] At least one processor; and

[0016] A memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the autonomous driving control method for a vehicle according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the autonomous driving control method for a vehicle according to any embodiment of the present invention.

[0019] The technical solution of this invention switches the vehicle from autonomous driving to emergency mode when any triggering event is detected, while the vehicle is in autonomous driving mode. It performs multi-level judgments on self-reset compliance based on the event type of the triggering event and the vehicle status data matrix. When the self-reset compliance judgment results indicate that the vehicle meets the self-reset conditions, a self-reset node is determined based on driver and passenger operations. Upon reaching the self-reset node, a software reset command is generated, and the vehicle is reset to autonomous driving mode by executing the software reset command. This effectively avoids redundant manual operations in normal scenarios. Drivers and passengers no longer need to perform lever actions; they only need to trigger self-reset through natural operations such as closing doors and route planning. Especially in high-frequency temporary parking scenarios, this significantly reduces operation steps and improves travel efficiency. Furthermore, the multi-dimensional data used for self-reset condition judgment effectively ensures the safety and reliability of self-reset.

[0020] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of an automatic driving control method for a vehicle according to Embodiment 1 of the present invention;

[0023] Figure 2 This is a flowchart of another vehicle automatic driving control method provided according to Embodiment 2 of the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of an automatic driving control device for a vehicle according to Embodiment 3 of the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the vehicle autonomous driving control method of the present invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] Example 1

[0029] Figure 1 This is a flowchart of a vehicle autonomous driving control method according to Embodiment 1 of the present invention. This embodiment is applicable to situations where the vehicle exits autonomous driving mode due to a triggered event and achieves autonomous driving self-reset. This method can be executed by the vehicle's autonomous driving control device, which can be implemented in hardware and / or software and is generally configured in a vehicle infotainment system or controller with data processing capabilities. Figure 1 As shown, the method includes:

[0030] S110. When the vehicle is in autonomous driving mode and any triggering event is detected, control the vehicle to switch from autonomous driving mode to emergency mode.

[0031] The triggering events may include autonomous driving software malfunctions, vehicle hardware failures, pulling over midway, and stopping upon reaching the destination.

[0032] Optionally, when the vehicle is initially in autonomous driving mode, the autonomous driving system can monitor trigger events in real time, scan the autonomous driving program logs to identify anomalies such as error codes and communication timeouts, and thus determine whether there are any autonomous driving software anomalies; by receiving real-time data from the on-board diagnostic system and chassis sensors, it can determine whether there are any malfunctions in vehicle hardware such as braking and steering; by receiving signals from the central control button and navigation module, it can identify parking requests and determine whether the current parking is a stop on the side of the road or a stop at the destination.

[0033] Optionally, when any triggering event is detected, a state switching command is issued through the vehicle control module to cut off the vehicle's autonomous driving control signal and activate the emergency state, thereby ensuring that the vehicle is controllable. In the emergency state, the vehicle can switch to parking gear, turn on the hazard lights, and limit power output.

[0034] S120. Based on the event type of the triggering event and the vehicle status data matrix, perform multi-level judgment on self-reset compliance.

[0035] Optionally, after switching the vehicle from autonomous driving mode to emergency mode when any triggering event is detected, the system may further include:

[0036] The vehicle health index is obtained by collecting key vehicle parameters in real time from vehicle sensors.

[0037] The system uses cameras and radar installed on the vehicle to obtain various environmental information and then determines the environmental risk level based on that information.

[0038] A vehicle status data matrix is ​​generated based on the vehicle health index and environmental risk level.

[0039] Optionally, the vehicle status data matrix is ​​generated by combining the vehicle health index and the environmental risk level.

[0040] Optionally, after the emergency state switch is completed, a multi-level judgment process is entered. The first-level judgment is used to eliminate vehicle malfunctions, specifically including: retrieving the trigger event type. If it is a stop at the side of the road or a stop at the destination, and the vehicle health index passes the threshold verification, then proceed to the second-level judgment. Otherwise, trigger fault classification processing. The second-level judgment is used to eliminate environmental interference, specifically including: retrieving the environmental risk level. If it is high risk, then trigger an environmental warning, display an environmental hazard warning prompt on the central control screen, and update the environmental data every 5 seconds. If it is low risk or medium risk, then output a judgment result that meets the self-reset conditions.

[0041] S130. When the vehicle meets the self-reset conditions based on the self-reset compliance judgment result, the self-reset node is determined based on the driver and passenger operation, and a software reset command is generated when the self-reset node is reached, so as to control the vehicle to reset to the autonomous driving state by executing the software reset command.

[0042] Optionally, driver and passenger operations can be monitored based on the type of triggering event, and a self-reset node can be determined based on the detection results.

[0043] Optionally, if the vehicle pulls over midway, the door sensor detects a door closing signal. After detecting the door closing signal, the system switches to manual driving mode and pushes an autonomous driving start pop-up on the central control screen, displaying the option to click the "Continue Autonomous Driving" button. If the vehicle stops at the destination, the navigation module detects a new route and generates a signal. After detecting the new route, the system switches to manual driving mode and pushes a pop-up. When the driver or passenger clicks the pop-up button, it becomes a self-reset point.

[0044] Optionally, upon reaching the self-reset node, the vehicle's infotainment system determines the command sending frequency based on the vehicle status data matrix, embeds the current planned route data, and generates a software reset command. After receiving the command, the vehicle's infotainment system control module verifies the command's validity. If the verification is successful, it sends a restart command to the autonomous driving software. The software loads the planned route and controls the vehicle to switch from manual driving mode back to autonomous driving mode.

[0045] The technical solution of this invention switches the vehicle from autonomous driving to emergency mode when any triggering event is detected, while the vehicle is in autonomous driving mode. It performs multi-level judgments on self-reset compliance based on the event type of the triggering event and the vehicle status data matrix. When the self-reset compliance judgment results indicate that the vehicle meets the self-reset conditions, a self-reset node is determined based on driver and passenger operations. Upon reaching the self-reset node, a software reset command is generated, and the vehicle is reset to autonomous driving mode by executing the software reset command. This effectively avoids redundant manual operations in normal scenarios. Drivers and passengers no longer need to perform lever actions; they only need to trigger self-reset through natural operations such as closing doors and route planning. Especially in high-frequency temporary parking scenarios, this significantly reduces operation steps and improves travel efficiency. Furthermore, the multi-dimensional data used for self-reset condition judgment effectively ensures the safety and reliability of self-reset.

[0046] Example 2

[0047] Figure 2 This is a flowchart of an autonomous driving control method for a vehicle according to Embodiment 2 of the present invention. Based on the above embodiments, this embodiment specifically describes the autonomous driving control method for a vehicle. Figure 2 As shown, the method includes:

[0048] S210. When the vehicle is in autonomous driving mode and any triggering event is detected, control the vehicle to switch from autonomous driving mode to emergency mode.

[0049] S220: Obtain the vehicle health index based on key vehicle parameters collected in real time by vehicle sensors.

[0050] Optionally, vehicle sensors may include chassis status sensors and on-board diagnostic and power sensors. Chassis status sensors can be used to monitor the operating parameters of key components of the vehicle chassis, specifically including brake pressure sensors, tire pressure sensors, steering angle sensors, etc.; on-board diagnostic and power sensors can collect engine and battery operating data.

[0051] Optionally, after collecting key vehicle parameters, the key vehicle parameters can be normalized to convert the actual collected key vehicle parameters into individual scores of 0-100 points. Then, based on the weight of each parameter and the individual score, the vehicle health index can be calculated.

[0052] S230: Based on the cameras and radar installed on the vehicle, obtain multiple environmental information and determine the environmental risk level based on the environmental information.

[0053] Optionally, environmental information can refer to surrounding environmental data collected by vehicle cameras and radar that affects the safety of autonomous driving startup. Environmental information can include static environmental information and dynamic environmental information. Static environmental information can include lane line integrity, distance to surrounding fixed obstacles, and whether the parking area is in a curve or intersection blind spot. Dynamic environmental information can include the distance to surrounding moving obstacles, relative speed, and whether traffic lights allow the vehicle to restart.

[0054] Optionally, the environmental risk level is a graded assessment result used to describe the risk of starting autonomous driving after self-reset. The environmental risk level can include three levels: high, medium, and low. The environmental risk level can be used to help screen safe reset environments and avoid starting autonomous driving in high-risk environments.

[0055] Optionally, based on environmental information, it can be determined whether any high-risk factor exists. If it exists, it is judged as high-risk; if there is no high-risk factor but there is a medium-risk factor, it is judged as medium-risk; if there are no high-risk factors or medium-risk factors, it is judged as low-risk.

[0056] Optionally, high-risk factors may include no lane markings, red lights, a moving vehicle within 2 meters behind, and being in a blind spot at an intersection; medium-risk factors may include unclear lane markings, a fixed obstacle within 4 meters to the side without traffic lights, and the above are only examples.

[0057] S240. Generate a vehicle status data matrix based on the vehicle health index and environmental risk level.

[0058] S250. Based on the event type of the triggering event and the vehicle status data matrix, perform multi-level judgment on self-reset compliance.

[0059] The multi-level judgment of self-reset compliance, based on the event type of the triggering event and the vehicle status data matrix, may include:

[0060] Based on the event type of the triggering event and the vehicle status data matrix, determine whether the event type of the triggering event is either parking on the side of the road midway or parking upon reaching the destination, and whether the vehicle health index is greater than a preset score threshold. If yes, proceed to the second-level judgment; otherwise, trigger fault classification processing.

[0061] Determine whether the environmental risk level is low to medium; if so, determine that the self-reset condition is met; otherwise, trigger an environmental warning.

[0062] Optionally, if the vehicle health index is greater than the preset score threshold, it means that the vehicle is normal; otherwise, it means that the vehicle has a potential malfunction.

[0063] Optionally, fault classification processing may include: determining the vehicle fault level and fault type based on key vehicle parameters, and determining the corresponding fault handling method based on the fault level and fault type.

[0064] In one optional example, three fault levels can be preset: Level 1, Level 2, and Level 3. Level 1 faults are minor, self-healing faults, such as temporary data lag in the autonomous driving software or slight tire pressure deviations. When a vehicle experiences a Level 1 fault, the vehicle's infotainment system automatically performs self-healing operations without manual intervention. Level 2 faults require auxiliary confirmation, such as a single module disconnection in the autonomous driving software or slight fluctuations in brake pressure. When a vehicle experiences a Level 2 fault, the infotainment system prompts the driver and passengers via a pop-up window on the central control panel, and self-healing is performed after confirmation from the driver and passengers. Level 3 faults are serious faults, such as a core program crash in the autonomous driving software or brake pressure falling below a safety threshold. When a vehicle experiences a Level 3 fault, the infotainment system simultaneously displays fault details via the instrument panel and voice prompts, and locks the self-reset function, allowing manual troubleshooting and repair before unlocking.

[0065] Optionally, if the environmental risk level is high, an environmental warning will be triggered to remind the driver and passengers to avoid the dangerous environment. Specific environmental warnings may include visual warnings and voice warnings. When a visual warning is triggered, a red warning pop-up window will appear on the vehicle's central control screen to display the reason for the risk. When a voice warning is triggered, the vehicle's central control screen will play a voice prompt through the vehicle's audio system, repeating once every 30 seconds until the environmental risk level drops to medium or low.

[0066] S260. When the vehicle meets the self-reset conditions based on the self-reset compliance judgment result, the self-reset node is determined based on the driver and passenger operation, and a software reset command is generated when the self-reset node is reached, so as to control the vehicle to reset to the autonomous driving state by executing the software reset command.

[0067] When the vehicle is determined to meet the self-reset conditions based on the self-reset compliance judgment result, the self-reset node is determined based on the driver and passenger operations, which may include:

[0068] If the event type that triggers the event is "parking on the side of the road", then after detecting the door closing signal, the system switches from emergency mode to manual driving mode and pushes an autonomous driving start pop-up to the user. Based on the user's operation in the autonomous driving start pop-up, the self-reset node is determined.

[0069] When the vehicle is determined to meet the self-reset conditions based on the self-reset compliance judgment result, the self-reset node is determined based on the driver and passenger operations, which may include:

[0070] If the event type that triggers the event is "arrival at the destination and parking", then after detecting that the user has replanned the route, the system switches from emergency mode to manual driving mode and pushes an autonomous driving start pop-up to the user. Based on the user's operation in the autonomous driving start pop-up, the self-reset node is determined.

[0071] Optionally, the automatic driving start pop-up window only includes two buttons: Start Automatic Driving and Cancel. This is intended to prompt the user that the requirements for resuming automatic driving are met and to allow the user to make a final confirmation. Compared with the manual reset method in the prior art, the above method does not require the user to manually move the lever to enter the manual driving state, nor does it require the user to observe whether the surroundings meet the conditions for automatic driving. The user only needs to make a single click to confirm the intention according to the prompt to restore the automatic driving state.

[0072] Upon reaching the self-reset node, a software reset command is generated, which may include:

[0073] Upon reaching the self-reset node, the command sending frequency is determined based on the vehicle status data matrix, and a software reset command is generated based on the command sending frequency and the current planned route.

[0074] Optionally, the command sending frequency can refer to the frequency at which the vehicle system sends commands to the vehicle control module when it generates a software reset command. The frequency range can be set to 3-10Hz. Low frequencies, such as 3-5Hz, are suitable for medium-risk environments with a health index between 80-90 points, while high frequencies, such as 8-10Hz, are suitable for low-risk environments with a health index greater than or equal to 90 points.

[0075] Optionally, the current planned route can refer to the vehicle's subsequent driving route data embedded in the software reset command, ensuring that the autonomous driving software can directly obtain the driving target after the self-reset without having to call the navigation module. In the scenario of parking on the side of the road midway, the current planned route is the original planned route before the vehicle exits autonomous driving. In the scenario of parking at the destination, the current planned route is the new route replanned by the driver and passengers.

[0076] The technical solution of this invention switches the vehicle from autonomous driving to emergency mode when any triggering event is detected, while the vehicle is in autonomous driving mode. It performs multi-level judgments on self-reset compliance based on the event type of the triggering event and the vehicle status data matrix. When the self-reset compliance judgment results indicate that the vehicle meets the self-reset conditions, a self-reset node is determined based on driver and passenger operations. Upon reaching the self-reset node, a software reset command is generated, and the vehicle is reset to autonomous driving mode by executing the software reset command. This effectively avoids redundant manual operations in normal scenarios. Drivers and passengers no longer need to perform lever actions; they only need to trigger self-reset through natural operations such as closing doors and route planning. Especially in high-frequency temporary parking scenarios, this significantly reduces operation steps and improves travel efficiency. Furthermore, the multi-dimensional data used for self-reset condition judgment effectively ensures the safety and reliability of self-reset.

[0077] Example 3

[0078] Figure 3 This is a schematic diagram of the structure of an automatic driving control device for a vehicle provided in Embodiment 3 of the present invention. Figure 3 As shown, the device includes: a state switching module 310, a self-reset compliance judgment module 320, and a software reset module 330.

[0079] The state switching module 310 is used to control the vehicle to switch from autonomous driving state to emergency state when the vehicle is in autonomous driving state and detects any triggering event.

[0080] The self-reset compliance judgment module 320 is used to perform multi-level judgments on self-reset compliance based on the event type of the triggering event and the vehicle status data matrix.

[0081] The software reset module 330 is used to determine the self-reset node based on the driver and passenger operation when the self-reset compliance judgment result determines that the vehicle meets the self-reset conditions, and generates a software reset command when the self-reset node is reached, so as to control the vehicle to reset to the autonomous driving state by executing the software reset command.

[0082] The technical solution of this invention switches the vehicle from autonomous driving to emergency mode when any triggering event is detected, while the vehicle is in autonomous driving mode. It performs multi-level judgments on self-reset compliance based on the event type of the triggering event and the vehicle status data matrix. When the self-reset compliance judgment results indicate that the vehicle meets the self-reset conditions, a self-reset node is determined based on driver and passenger operations. Upon reaching the self-reset node, a software reset command is generated, and the vehicle is reset to autonomous driving mode by executing the software reset command. This effectively avoids redundant manual operations in normal scenarios. Drivers and passengers no longer need to perform lever actions; they only need to trigger self-reset through natural operations such as closing doors and route planning. Especially in high-frequency temporary parking scenarios, this significantly reduces operation steps and improves travel efficiency. Furthermore, the multi-dimensional data used for self-reset condition judgment effectively ensures the safety and reliability of self-reset.

[0083] Based on the above embodiments, the triggering events include autonomous driving software malfunction, vehicle hardware failure, pulling over midway, and stopping upon reaching the destination.

[0084] Based on the above embodiments, a vehicle state data matrix generation module may also be included, used for:

[0085] The vehicle health index is obtained by collecting key vehicle parameters in real time from vehicle sensors.

[0086] The system uses cameras and radar installed on the vehicle to obtain various environmental information and then determines the environmental risk level based on that information.

[0087] A vehicle status data matrix is ​​generated based on the vehicle health index and environmental risk level.

[0088] Based on the above embodiments, the self-resetting compliance judgment module 320 can be used for:

[0089] Based on the event type of the triggering event and the vehicle status data matrix, determine whether the event type of the triggering event is either parking on the side of the road midway or parking upon reaching the destination, and whether the vehicle health index is greater than a preset score threshold. If yes, proceed to the second-level judgment; otherwise, trigger fault classification processing.

[0090] Determine whether the environmental risk level is low to medium; if so, determine that the self-reset condition is met; otherwise, trigger an environmental warning.

[0091] Based on the above embodiments, the software reset module 330 may include a self-reset node determination unit and a software reset instruction generation unit.

[0092] The self-reset node determination unit can be specifically used for:

[0093] If the event type that triggers the event is "parking on the side of the road", then after detecting the door closing signal, the system switches from emergency mode to manual driving mode and pushes an autonomous driving start pop-up to the user. Based on the user's operation in the autonomous driving start pop-up, the self-reset node is determined.

[0094] Based on the above embodiments, the self-reset node determination unit can be specifically used for:

[0095] If the event type that triggers the event is "arrival at the destination and parking", then after detecting that the user has replanned the route, the system switches from emergency mode to manual driving mode and pushes an autonomous driving start pop-up to the user. Based on the user's operation in the autonomous driving start pop-up, the self-reset node is determined.

[0096] Based on the above embodiments, the software reset instruction generation unit can be specifically used for:

[0097] Upon reaching the self-reset node, the command sending frequency is determined based on the vehicle status data matrix, and a software reset command is generated based on the command sending frequency and the current planned route.

[0098] The vehicle autonomous driving control device provided in the embodiments of the present invention can execute the vehicle autonomous driving control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method.

[0099] Example 4

[0100] Figure 4 A schematic diagram of an electronic device 10, which can be used to implement embodiments of the present invention, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0101] like Figure 4As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0102] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0103] Processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the autonomous driving control method for a vehicle as described in the embodiments of the present invention. That is:

[0104] When the vehicle is in autonomous driving mode and any triggering event is detected, control the vehicle to switch from autonomous driving mode to emergency mode;

[0105] Based on the event type of the triggering event and the vehicle status data matrix, a multi-level judgment is made on the compliance of self-reset.

[0106] When the vehicle meets the self-reset conditions based on the self-reset compliance judgment result, the self-reset node is determined based on the driver and passenger operations. When the self-reset node is reached, a software reset command is generated to control the vehicle to reset to the autonomous driving state by executing the software reset command.

[0107] In some embodiments, the vehicle's autonomous driving control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded into and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle's autonomous driving control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to execute the vehicle's autonomous driving control method by any other suitable means (e.g., by means of firmware).

[0108] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0109] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0110] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0111] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0112] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0113] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0114] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0115] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for controlling the automatic driving of a vehicle, characterized in that, include: When the vehicle is in autonomous driving mode and any triggering event is detected, control the vehicle to switch from autonomous driving mode to emergency mode; Based on the event type of the triggering event and the vehicle status data matrix, a multi-level judgment is made on the compliance of self-reset. When the vehicle meets the self-reset conditions based on the self-reset compliance judgment result, the self-reset node is determined based on the driver and passenger operations. When the self-reset node is reached, a software reset command is generated to control the vehicle to reset to the autonomous driving state by executing the software reset command.

2. The method according to claim 1, characterized in that, The triggering events include autonomous driving software malfunctions, vehicle hardware failures, pulling over midway, and stopping upon reaching the destination.

3. The method according to claim 1, characterized in that, When the vehicle is in autonomous driving mode and any triggering event is detected, after controlling the vehicle to switch from autonomous driving mode to emergency mode, the following steps are also included: The vehicle health index is obtained by collecting key vehicle parameters in real time from vehicle sensors. The system uses cameras and radar installed on the vehicle to obtain various environmental information and then determines the environmental risk level based on that information. A vehicle status data matrix is ​​generated based on the vehicle health index and environmental risk level.

4. The method according to claim 1, characterized in that, Based on the event type that triggered the event and the vehicle status data matrix, a multi-level judgment is performed on the compliance of the self-reset mechanism, including: Based on the event type of the triggering event and the vehicle status data matrix, determine whether the event type of the triggering event is either parking on the side of the road midway or parking upon reaching the destination, and whether the vehicle health index is greater than a preset score threshold. If yes, proceed to the second-level judgment; otherwise, trigger fault classification processing. Determine whether the environmental risk level is low to medium; if so, determine that the self-reset condition is met; if not, trigger an environmental warning.

5. The method according to claim 1, characterized in that, When the vehicle is determined to meet the self-reset conditions based on the self-reset compliance assessment result, the self-reset node is determined based on the driver and passenger operations, including: If the event type that triggers the event is "parking on the side of the road", then after detecting the door closing signal, the system switches from emergency mode to manual driving mode and pushes an autonomous driving start pop-up to the user. Based on the user's operation in the autonomous driving start pop-up, the self-reset node is determined.

6. The method according to claim 1, characterized in that, When the vehicle is determined to meet the self-reset conditions based on the self-reset compliance assessment result, the self-reset node is determined based on the driver and passenger operations, including: If the event type that triggers the event is "arrival at the destination and parking", then after detecting that the user has replanned the route, the system switches from emergency mode to manual driving mode and pushes an autonomous driving start pop-up to the user. Based on the user's operation in the autonomous driving start pop-up, the self-reset node is determined.

7. The method according to claim 1, characterized in that, Upon reaching the self-reset node, a software reset command is generated, including: Upon reaching the self-reset node, the command sending frequency is determined based on the vehicle status data matrix, and a software reset command is generated based on the command sending frequency and the current planned route.

8. An automatic driving control device for a vehicle, characterized in that, include: The state switching module is used to control the vehicle to switch from autonomous driving mode to emergency mode when the vehicle is in autonomous driving mode and detects any triggering event. The self-reset compliance judgment module is used to perform multi-level judgments on self-reset compliance based on the event type of the triggering event and the vehicle status data matrix. The software reset module is used to determine the self-reset node based on the driver and passenger operations when the self-reset compliance judgment result determines that the vehicle meets the self-reset conditions. When the self-reset node is reached, a software reset command is generated to control the vehicle to reset to the autonomous driving state by executing the software reset command.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the autonomous driving control method for the vehicle according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the autonomous driving control method for the vehicle according to any one of claims 1-7.

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