Condition adjustment method and device, equipment, medium and program product

Abstract

The invention provides a condition adjustment method and device, equipment, a medium and a program product. Comprising the steps that in the running process of a vehicle in a first driving mode, if the driving behavior of the vehicle meets a first condition, the first driving mode is quitted; if the dangerous driving behavior of the driver is detected, the first condition is adjusted to be a second condition; wherein the second condition is different from the first condition. By means of the method and device, condition adjustment of differentiation and flexibility of the vehicle exiting the first driving mode is provided, the vehicle can be controlled to exit the first driving mode in a diversified mode on the whole, and therefore accurate control over the vehicle exiting the first driving mode can be achieved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a condition adjustment method, device, equipment, medium, and program product. Background Technology

[0002] During vehicle operation, if the vehicle detects that the driver is performing a specified driving action, the vehicle will exit its current driving mode and switch to another driving mode according to specified conditions. However, the control of driving mode switching described above is not precise enough, which may increase the risk during vehicle operation. Therefore, the above driving mode switching method cannot meet the control requirements for the vehicle's driving status. Summary of the Invention

[0003] This application provides a condition adjustment method, apparatus, device, medium, and program product that can achieve differentiated and flexible condition adjustment for a vehicle exiting the first driving mode, and can control the vehicle exiting the first driving mode in a diversified manner as a whole, thereby achieving precise control over the vehicle exiting the first driving mode.

[0004] The technical solution of this application embodiment is implemented as follows:

[0005] This application provides a condition adjustment method, the method comprising:

[0006] If the driving behavior of the vehicle meets the first condition while the vehicle is in the first driving mode, the first driving mode is exited.

[0007] If dangerous driving behavior by the driver is detected, the first condition is adjusted to the second condition; wherein the second condition is different from the first condition.

[0008] In some embodiments, the method further includes:

[0009] During the driving process, if a specified state is detected, it is determined that the driver is performing the dangerous driving behavior; wherein, the specified state includes at least the switching between the target seat belt and the target buckle to a disengaged state and the driver leaving the driver's seat; the target buckle includes a seat belt buckle provided on the side of the driver's seat; the target seat belt is associated with the driver's seat and can be engaged with the target buckle.

[0010] In some embodiments, the method further includes:

[0011] If a rotational operation on the steering wheel of the vehicle is detected during the duration of the dangerous driving behavior, the operating torque and duration of the rotational operation are determined.

[0012] A control strategy is determined based on the operating torque, the operating duration, and the second condition;

[0013] Based on the control strategy, the system exits the first driving mode.

[0014] In some embodiments, the second condition includes a correlation between time period and torque; determining the control strategy based on the operating torque, the operating duration, and the second condition includes:

[0015] Based on the matching relationship between the operating torque and the torque in the correlation relationship, a target relationship is determined from the correlation relationship; wherein, the target relationship includes mutually correlated target torques and target time periods; the operating torque is less than the target torque;

[0016] Determining the control strategy includes: if the duration of the operation is greater than the target time period, controlling the vehicle to exit the first driving mode.

[0017] In some embodiments, the method further includes:

[0018] Determining the control strategy further includes: if the operation duration is less than or equal to the target time period, and the vehicle's Advanced Driver Assistance System (ADAS) determines that the vehicle is in a misuse emergency scenario, the ADAS controls the vehicle to maintain its current driving state during the operation duration.

[0019] And / or,

[0020] If the duration of the operation is less than or equal to the target time period, and the vehicle's electronic power steering (EPS) detects the vehicle's emergency mode signal, the EPS controls the vehicle to maintain its current driving state during the duration of the operation.

[0021] The current driving status is associated with the first driving mode.

[0022] In some embodiments, the method further includes:

[0023] If the duration of the operation is longer than the target time period, the control strategy further includes: controlling the vehicle to exit the first driving mode and then controlling the vehicle to switch to a second driving mode; the second driving mode includes at least an active safety mode.

[0024] In some embodiments, the method further includes:

[0025] If the dangerous driving behavior is detected, the vehicle is controlled to output a control warning message in a target form; wherein the impact of the target form on the driver is greater than a threshold; the control warning message is at least used to prompt the driver to control the steering wheel of the vehicle.

[0026] This application embodiment also provides a condition adjustment device, the condition adjustment device comprising:

[0027] The control module is used to exit the first driving mode if the driving behavior of the vehicle meets a first condition while the vehicle is in the first driving mode.

[0028] The control module is further configured to adjust the first condition to a second condition if dangerous driving behavior of the driver is detected; wherein the second condition is different from the first condition.

[0029] In some embodiments, the control module is further configured to determine, if a specified state is detected during the driving process, that the driver is performing the dangerous driving behavior; wherein the specified state includes at least switching between the target seat belt and the target buckle to a disengaged state and the driver leaving the driver's seat; the target buckle includes a seat belt buckle disposed on the side of the driver's seat; the target seat belt is associated with the driver's seat and can engage with the target buckle.

[0030] In some embodiments, the control module is further configured to, during the duration of the dangerous driving behavior, if a rotational operation on the steering wheel of the vehicle is detected, determine the operating torque and duration of the rotational operation;

[0031] A control strategy is determined based on the operating torque, the operating duration, and the second condition;

[0032] Based on the control strategy, the system exits the first driving mode.

[0033] In some embodiments, the second condition includes the correlation between time period and torque;

[0034] The control module is further configured to determine a target relationship from the association based on the matching relationship between the operating torque and the torque in the association relationship; wherein the target relationship includes mutually related target torques and target time periods; and the operating torque is less than the target torque;

[0035] The control module is further configured to determine the control strategy as follows: if the duration of the operation is greater than the target time period, control the vehicle to exit the first driving mode.

[0036] In some embodiments, the determining module is further configured to determine that the control strategy further includes: if the operation duration is less than or equal to the target time period, and the vehicle's ADAS determines that the vehicle is in a misuse emergency scenario state, the ADAS controls the vehicle to maintain its current driving state unchanged during the operation duration;

[0037] And / or,

[0038] If the duration of the operation is less than or equal to the target time period, and the vehicle's EPS detects the vehicle's emergency mode signal, the EPS controls the vehicle to maintain its current driving state during the duration of the operation.

[0039] The current driving status is associated with the first driving mode.

[0040] In some embodiments, the determining module is further configured to determine the control strategy if the duration of the operation is greater than the target time period, further comprising: after controlling the vehicle to exit the first driving mode, controlling the vehicle to switch to a second driving mode; the second driving mode includes at least an active safety mode.

[0041] In some embodiments, the control module is further configured to control the vehicle to output control warning information in a target form if dangerous driving behavior is detected; wherein the impact of the target form on the driver is greater than a threshold; the control warning information is at least used to prompt the driver to control the steering wheel of the vehicle with their hands.

[0042] This application embodiment also provides a condition adjustment device, the condition adjustment device comprising:

[0043] Memory is used to store executable instructions for a computer;

[0044] The processor, when executing computer-executable instructions stored in the memory, implements any of the preceding condition adjustment methods.

[0045] This application also provides a computer-readable storage medium storing computer-executable instructions or computer programs, which, when executed by a processor, can implement the condition adjustment method as described above.

[0046] This application also provides a computer program product, including computer-executable instructions or a computer program, which, when executed by a processor, can implement the condition adjustment method as described above.

[0047] The embodiments of this application have the following beneficial effects:

[0048] The condition adjustment method provided in this application, during vehicle operation in a first driving mode, exits the first driving mode if the vehicle's driving behavior meets a first condition, and if dangerous driving behavior is detected, the first condition is adjusted to a second condition. Thus, through the above operations, not only is the tracking and detection of the driver's dangerous driving behavior achieved during vehicle operation, but also the targeted and flexible adjustment of the conditions for exiting the first driving mode based on the driver's dangerous driving behavior. Furthermore, because the first and second conditions are different, the conditions for exiting the first driving mode can be flexibly, targeted, and differentiated based on whether the driver engages in dangerous driving behavior. This not only achieves refined, automated, intelligent, and targeted adjustment of the vehicle's driving mode switching conditions based on the driver's dangerous driving behavior, but also provides differentiated and flexible condition adjustments for exiting the first driving mode. It enables diversified control of the vehicle exiting the first driving mode, achieving precise control of the vehicle exiting the first driving mode, thereby improving vehicle driving safety and meeting the control requirements for the vehicle's driving state. Attached Figure Description

[0049] Figure 1 A first flowchart illustrating the condition adjustment method provided in this application embodiment;

[0050] Figure 2 This is a schematic diagram illustrating the effect of a driver's arm touching the steering wheel, provided in an embodiment of this application.

[0051] Figure 3 A schematic diagram of the torque distribution provided in the embodiments of this application;

[0052] Figure 4 A schematic diagram of torque statistics provided for embodiments of this application;

[0053] Figure 5 A schematic diagram illustrating the statistical results of the active safety mode triggering of a vehicle provided in this application embodiment;

[0054] Figure 6 A structural diagram of a weak takeover interactive prompt;

[0055] Figure 7A This is a schematic diagram illustrating the effect of a vehicle in NOA mode as provided in an embodiment of this application.

[0056] Figure 7B This is a schematic diagram illustrating the effect of the vehicle output control warning information provided in the embodiments of this application;

[0057] Figure 8AA flowchart illustrating the process of controlling vehicle driving status when the steering wheel is triggered by other parts of the driver's body;

[0058] Figure 8B A second flowchart illustrating the condition adjustment method provided in the embodiments of this application;

[0059] Figure 9 A schematic diagram of the structure of the condition adjustment device provided in the embodiments of this application;

[0060] Figure 10 A schematic diagram of the condition adjustment device provided in the embodiments of this application.

[0061] It should be noted that the terms "first" and "second" mentioned above are only used to distinguish between different options and do not represent the degree of superiority or inferiority of the options or their priority in the implementation process. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0063] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0064] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0065] In this application embodiment, the terms "module" or "unit" refer to a computer program or part of a computer program that has a predetermined function and works with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.

[0066] Unless otherwise defined, all technical and scientific terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the embodiments of this application is for the purpose of describing the embodiments of this application only and is not intended to limit this application.

[0067] In the implementation of this application, the collection and processing of relevant data should strictly comply with the requirements of relevant national laws and regulations, obtain the informed consent or separate consent of the personal information subject, and carry out subsequent data use and processing within the scope of laws and regulations and the authorization of the personal information subject.

[0068] Before providing a further detailed description of the embodiments of this application, the nouns and terms involved in the embodiments of this application will be explained, and the nouns and terms involved in the embodiments of this application shall be interpreted as follows.

[0069] 1) Lane Centering Control (LCC): This is a driver assistance function that aims to guide and control the vehicle to stay stably in the center of the current lane.

[0070] 2) Navigate on Autopilot (NOA): This function mainly relies on data processing components in the vehicle system and control modules including radar, cameras, and navigation modules. For example, by using LiDAR to scan the environment around the vehicle in real time, it can obtain data such as real-time vehicle speed, lane markings, and distance to the vehicle in front. The above data is combined with the navigation route provided by the positioning system to plan the driving route in real time, so as to achieve efficient and convenient travel from the origin to the destination.

[0071] 3) Emergency Lane Keeping (ELK): This function is used to reduce the probability of a vehicle collision when the vehicle is traveling at medium to high speeds and there is a risk of collision with the road boundary guardrail, or when the vehicle deviates from the lane and there is a risk of collision with adjacent vehicles or vehicles coming from behind, by intervening with the reverse steering force.

[0072] 4) Lane Departure Prevention (LDP): The vehicle uses a forward-facing camera to identify lane markings. When the system detects that the vehicle is deviating from its current lane, it calculates the relative position between the vehicle and the lane markings, and takes into account factors such as the lane environment. The system then controls the steering wheel to correct the vehicle's position and prevent it from leaving the lane.

[0073] 5) Lane Departure Warning (LDW): The vehicle uses a forward-facing camera to identify lane lines. When the vehicle deviates from its current lane, the onboard system calculates the relative distance between the vehicle and the lane markings, and takes into account environmental factors, to output a lane departure warning message to remind the driver to control the vehicle and reduce the risks associated with lane departure.

[0074] 6) ADAS: It is an intelligent driving assistance technology designed to ensure the safety of drivers and passengers during driving. For example, if the vehicle deviates from the lane during driving, ADAS will activate the alarm mechanism within a critical 0.5 seconds, reminding the driver in real time to control the vehicle to keep it driving straight in the lane through sound, screen icons and seat vibration, thereby correcting possible unsafe driving behaviors.

[0075] 7) EPS: is a power steering device that relies on an electric motor to provide auxiliary torque.

[0076] 8) Lane Following Assistance (LFA): It uses a front-facing camera on the vehicle to sense the relative position between the lane and the vehicle, and assists in controlling the vehicle to keep it in the center of the lane.

[0077] 9) Autonomous Driving (AD): In AD mode, the vehicle relies on onboard sensors and a processor and controller located in the vehicle to control the vehicle to drive autonomously without human intervention from the driver.

[0078] 10) Active Safety Mode: This mode includes a series of technologies and devices to prevent vehicle accidents; the technologies and devices are designed to reduce traffic accidents by monitoring and controlling the vehicle's driving status and providing timely warnings to the driver.

[0079] 11) Active safety system: This system monitors the actual driving status of the vehicle in real time by using data transmitted from various electronic sensing control systems and mechanical systems installed in the vehicle, and adjusts the vehicle to switch to active safety mode based on the monitoring results to improve the safety of the vehicle driving process.

[0080] The vehicle's steering wheel is used to convert the force acting on its edges into torque, and transmit the torque to the steering shaft, thereby driving the steering shaft to rotate and control the vehicle's direction of travel.

[0081] However, during vehicle operation, if the vehicle detects that the driver is performing a specified driving action, the vehicle will control the vehicle to exit the current driving mode and switch to another driving mode according to pre-set conditions. However, the control of driving mode switching in the above-mentioned vehicle is not precise enough, which may increase the risk during vehicle operation. Therefore, the above-mentioned driving mode switching method cannot meet the control requirements of vehicle driving status.

[0082] Based on the above technical problems, embodiments of this application provide a condition adjustment method, apparatus, device, medium, and program product.

[0083] This application first provides a condition adjustment method. Figure 1 This is a first flowchart illustrating the condition adjustment method provided in an embodiment of this application, as shown below. Figure 1 As shown, the method may include the following steps:

[0084] S101. If the driving behavior of the vehicle meets the first condition while the vehicle is in the first driving mode, exit the first driving mode.

[0085] For example, if the driving behavior does not meet the first condition while the vehicle is in the first driving mode, it may not need to exit the first driving mode.

[0086] In one implementation, the vehicle can be powered by any of the following energy sources: fuel, electricity, and natural gas.

[0087] In one implementation, the vehicle can be driven by a hybrid powertrain.

[0088] In one embodiment, when the vehicle is in motion, its drive unit is in a ready or running state.

[0089] In one embodiment, the driving process may include low-speed or high-speed driving, and the driving process may be carried out in AD mode or manual driving mode.

[0090] In one implementation, the first driving mode may include a manual driving mode or an autonomous driving mode; for example, the autonomous driving mode may be associated with at least NOA or LCC.

[0091] In one implementation, driving behavior of the vehicle can be triggered by the driver's hand applying force to the steering wheel.

[0092] In one embodiment, the force application can be applied to any surface of the steering wheel, and the force application can have a tangential component in the tangential direction of the steering wheel, so that the steering wheel can be controlled to produce at least one rotation of a first amplitude in at least one direction by means of the tangential component.

[0093] In one embodiment, the force application operation may include a rotation operation on the steering wheel, in which case the force application operation may be applied directly to the tangential direction of the steering wheel, thereby causing the steering wheel to rotate at least once with a second magnitude in at least one direction.

[0094] In one implementation, the force application can remain constant or vary continuously or intermittently.

[0095] In one implementation, detecting the force applied to the steering wheel can be achieved in any of the following ways:

[0096] During vehicle operation, the force applied to the steering wheel is continuously monitored.

[0097] After the steering wheel force detection switch is turned on, during vehicle operation, force operations applied to the steering wheel are detected according to the detection strategy corresponding to the force detection switch. For example, the force detection switch may include a preset switch in the vehicle for controlling whether to detect force operations applied to the steering wheel. For example, the detection strategy may include detection frequency and / or detection conditions.

[0098] The force applied to the steering wheel is detected by a first pressure sensor located in the steering wheel.

[0099] In one implementation, the driving behavior satisfying the first condition may include the driving behavior having a torque on the steering wheel that is greater than or equal to a first target threshold and the driving behavior having a force application time on the steering wheel that is greater than or equal to a second target threshold.

[0100] In one implementation, the first target threshold and the second target threshold can be pre-calibrated or adjusted according to the type of vehicle and the driver's driving habits; for example, the first target threshold can be 3.4 Nm and the second target threshold can be 150 ms.

[0101] In one implementation, after the vehicle exits the first driving mode, it can switch to a second driving mode; for example, the second driving mode may include an active safety mode or a manual driving mode that responds to driving behavior.

[0102] S102. If dangerous driving behavior by the driver is detected, adjust the first condition to the second condition.

[0103] The second condition is different from the first condition.

[0104] For example, if no dangerous driving behavior by the driver is detected, the first condition may not be adjusted to the second condition.

[0105] In one implementation, dangerous driving behavior may include actions that pose a threat to the current driving process of the vehicle that is greater than a threat threshold; for example, dangerous driving behavior may at least include actions by which other parts of the driver's body control the steering wheel.

[0106] Figure 2 This is a schematic diagram illustrating the effect of a driver's arm touching the steering wheel, as provided in an embodiment of this application. Figure 2 As shown, the driver's arm 202 exerted force on the steering wheel 203, and the driver's hand has left the steering wheel 203.

[0107] In one implementation, the second condition differs from the first condition, and may include a different torque threshold for the steering wheel included in the second condition compared to the torque threshold for the steering wheel included in the first condition.

[0108] In one implementation, the second condition differs from the first condition and may further include the duration of the steering wheel rotation operation included in the second condition, which differs from the duration of the steering wheel rotation operation included in the first condition.

[0109] In one implementation, when a driver's dangerous driving behavior is detected, if a steering wheel rotation operation is also detected to meet a second condition, the vehicle can be controlled to exit the first driving mode and switch to the second driving mode.

[0110] As can be seen from the above, the condition adjustment method provided in this application, during the driving process of the vehicle in the first driving mode, if the driving behavior of the vehicle meets the first condition, the first driving mode is exited; and if dangerous driving behavior of the driver is detected, the first condition is adjusted to the second condition. Thus, through the above operations, during vehicle operation, not only is the tracking and detection of the driver's dangerous driving behavior achieved, but also the targeted and flexible adjustment of the conditions for exiting the first driving mode based on the driver's dangerous driving behavior is realized. Furthermore, since the first condition and the second condition are different, the conditions for exiting the first driving mode can be adjusted in a refined, flexible, targeted, and differentiated manner according to whether the driver performs dangerous driving behavior. This not only achieves automated, intelligent, and targeted adjustment of the vehicle driving mode switching conditions based on the driver's dangerous driving behavior, but also provides differentiated and flexible condition adjustment for exiting the first driving mode. It enables diversified control of the vehicle exiting the first driving mode as a whole, achieving precise control of the vehicle exiting the first driving mode, thereby improving the safety of the vehicle's driving process and meeting the control requirements of the vehicle's driving state.

[0111] Based on the foregoing embodiments, the condition adjustment method provided in this application can also be implemented by performing the following operations:

[0112] If a specified state is detected during driving, it is determined that the driver is engaging in dangerous driving behavior.

[0113] The specified states include at least the switching between the target seat belt and the target buckle to a separated state and the driver leaving the driver's seat; the target buckle includes a seat belt buckle located on the side of the driver's seat; the target seat belt is associated with the driver's seat and can engage with the target buckle.

[0114] Accordingly, if the specified state is not detected during vehicle operation, the operation to determine that the driver has engaged in dangerous driving behavior may not be performed.

[0115] In one embodiment, the target buckle may include a seat belt buckle disposed on the side of the driver's seat for ensuring the driver's safety while the vehicle is in motion.

[0116] In one embodiment, the target seat belt can be fixedly installed on the surface inside the vehicle compartment opposite the driver's seat. After it is engaged with the target buckle, it can ensure the driver's driving safety during vehicle operation.

[0117] In one embodiment, the switching between the target seat belt and the target buckle to a disengaged state can be triggered by at least one of the following: manual operation by the driver, manual operation by other occupants in the vehicle excluding the driver, malfunction of the target seat belt, and malfunction of the target buckle. Accordingly, the pressure amplitude on the inner surface of the target buckle slot can be detected by a second pressure sensor associated with the target buckle. If the pressure amplitude decreases to a preset amplitude, it can be determined that the target seat belt and the target buckle have switched to a disengaged state.

[0118] In one implementation, when the driver leaves the driver's seat, a second video data, including the driver and the driver's seat, can be acquired by an image acquisition device installed inside the vehicle, and the relative positional relationship between the driver and the driver's seat in the second video data can be identified and determined.

[0119] In one implementation, the driver leaving the driver's seat can also be determined by the seat pressure of the driver's seat; for example, if the seat pressure changes to zero, it can be determined that the driver has left the driver's seat; and the seat pressure of the driver's seat can be generated by the driver sitting down, and this pressure can be detected by a third pressure sensor installed in the driver's seat.

[0120] It should be noted that the specified state can also be determined by image or video data of the driver, the target seat belt, the target buckle, and the driver's seat, which are collected by the image acquisition device installed inside the carriage. For example, by performing feature extraction on the image or video data to obtain the extraction result, and then identifying and judging the extraction result, it can be determined whether the specified state has occurred.

[0121] As can be seen from the above, the condition adjustment method provided in this application, during vehicle operation, determines that the driver is engaging in dangerous driving behavior if a specified state is detected. The specified state includes at least the separation of the target seatbelt and the target buckle, and the driver leaving the driver's seat. The target buckle includes a seatbelt buckle located on the side of the driver's seat, and the target seatbelt is associated with the driver's seat and can engage with the target buckle. Thus, through this method, during vehicle operation, not only is the state between the target seatbelt and the target buckle, and the driver's departure from the driver's seat tracked, but also the dangerous driving behavior of the driver is accurately located through the above judgment. Furthermore, since the specified state includes at least the separation of the target seatbelt and the target buckle, and the driver leaving the driver's seat, the driver's behavior that may pose a safety risk to the vehicle can be tracked comprehensively and multidimensionally during vehicle operation.

[0122] Based on the foregoing embodiments, the condition adjustment method provided in this application can also perform the following steps.

[0123] SA1. If a rotational operation on the vehicle's steering wheel is detected during a period of dangerous driving behavior, determine the operating torque and duration of the rotational operation.

[0124] For example, if no rotational operation on the steering wheel is detected during the duration of dangerous driving behavior, the operation of determining the operating torque and the duration of the operation may not be performed.

[0125] In one implementation, the rotation operation can be triggered by the driver's hand or by other parts of the driver's body; for example, the rotation operation can be triggered due to the driver performing dangerous driving behavior.

[0126] In one implementation, the rotation operation can be determined by detecting the rotation angle of the steering wheel.

[0127] SA2. Based on the operating torque, operating duration, and the second condition, determine the control strategy.

[0128] In one embodiment, the control strategy may include the magnitude and / or conditions for controlling at least one parameter of the vehicle's current driving state; for example, the at least one parameter may include the vehicle's driving speed and / or direction; for example, the conditions may at least include the timing of controlling the vehicle's current driving state.

[0129] In one implementation, the control strategy can be determined in any of the following ways:

[0130] The control strategy is determined based on the deviation between the operating torque and the torque threshold in the second condition, including: if the operating torque is less than the torque threshold in the second condition, then the current driving state of the vehicle is kept unchanged.

[0131] If the operating torque is greater than or equal to the torque threshold in the second condition, a prompt message is output to inform the driver that the first driving mode is about to be exited, and the driver is asked whether to respond to the rotation operation to perform a steering adjustment. If the steering adjustment operation instruction input by the driver is detected, the vehicle is controlled to perform a steering adjustment operation in response to the rotation operation; and if the above-mentioned steering adjustment operation instruction is not detected, the current driving state of the vehicle can be maintained unchanged.

[0132] SA3, based on the control strategy, controls the exit from the first driving mode.

[0133] In one implementation, the vehicle can be controlled to exit the first driving mode in the following way:

[0134] A safe driving strategy is obtained, and the vehicle is controlled to exit the first driving mode based on the safe driving strategy and the control strategy. For example, the safe driving strategy can control the vehicle to switch from the current driving state to a target driving state with a higher safety level, and the vehicle can remain in the current lane in the target driving state. For example, the control strategy can switch the vehicle from the first level driving state to the second level driving state to keep the vehicle driving continuously in the current lane. The safety level corresponding to the first level can be lower than the safety level of the second level, and the first level driving state can include the current driving state of the vehicle.

[0135] As can be seen from the above, in the condition adjustment method provided in this application embodiment, if a rotation operation on the steering wheel of the vehicle is detected during the duration of dangerous driving behavior, the operating torque and duration of the rotation operation are determined, thereby achieving accurate and comprehensive tracking of the state of the rotation operation; furthermore, based on the operating torque, the duration of the operation, and the second condition, a control strategy is determined, which can improve the comprehensiveness and accuracy of the control strategy; on this basis, by controlling the exit from the first driving mode based on the control strategy, the safety and stability of the process of the vehicle exiting the first driving mode can be improved.

[0136] Based on the foregoing embodiments, in the condition adjustment method provided in this application, the second condition includes the correlation between time period and torque.

[0137] In one implementation, the time period and torque included in the m-th relationship in the association can correspond to the m-th torque threshold and the m-th time period threshold, respectively; m is an integer greater than or equal to 2 and less than or equal to M; M is an integer greater than 2 and is used to characterize the number of relationships included in the association.

[0138] In one implementation, the m-th torque threshold can be represented by torque or the absolute value of torque.

[0139] In one implementation, the relationships in the association can be associated with the vehicle's driving mode, and can also be associated with ADAS and EPS under that mode respectively; for example, the association corresponding to the k-th driving mode can include a first set associated with ADAS and a second set associated with EPS; where k is an integer greater than or equal to 1.

[0140] It should be noted that the relationships in the first set included in the k-th driving mode and the relationships in the second set included in the k-th driving mode can be the same or different.

[0141] For example, while maintaining the k-th driving mode, the relationships contained in the first set are different from those contained in the second set. This may include the torque threshold in the relationships contained in the first set being different from the torque threshold in the relationships contained in the second set, the time period threshold in the relationships contained in the first set being different from the time period threshold in the relationships contained in the second set, and the number of relationships contained in the first set being different from the number of relationships contained in the second set.

[0142] Table 1 shows the statistical results of the first set of data under the AD mode provided in the embodiments of this application.

[0143] Torque absolute value threshold range (unit: Nm) Time period threshold (unit: ms) Greater than or equal to 6 100 Greater than or equal to 5.5 and less than 6 200 Greater than or equal to 5 and less than 5.5 300 Greater than or equal to 4.5 and less than 5 400 Greater than or equal to 3.7 and less than 4.5 500

[0144] Table 1

[0145] Table 1 includes two columns of data: the absolute torque threshold range and the time period threshold. Each row in Table 1 corresponds to a set of relationships in the first set. As can be seen from Table 1, as the absolute torque threshold corresponding to the absolute torque threshold range increases, the corresponding time period threshold continues to decrease.

[0146] Furthermore, the torque thresholds in the first set shown in Table 1 may include 6, 5.5, 5, 4.5 and 3.7 Nm, respectively.

[0147] Each row in Table 2 can represent the correlation between the AD mode and EPS; and the torque thresholds in the second set shown in Table 2 can include 6, 5 and 4 Nm respectively.

[0148] Table 2 shows the statistical results of the second set of data under the AD mode provided in the embodiments of this application.

[0149] Torque absolute value threshold range (unit: Nm) Time period threshold (unit: ms) Greater than or equal to 6 150 Greater than or equal to 5 and less than 6 400 Greater than or equal to 4 and less than 5 500

[0150] Table 2

[0151] As can be seen from Tables 1 and 2, the absolute torque value range, time period threshold, and number of inclusion relationships contained in the first set shown in Table 1 and the second set shown in Table 2 can all be different.

[0152] In one implementation, if the vehicle is in manual driving mode, the association with ADAS may include: a torque absolute value greater than or equal to 3.4 Nm associated with a time period of 150 ms.

[0153] In one implementation, if the vehicle is in manual driving mode and the EPS activates the LAF function, the EPS association may include: a torque absolute value greater than or equal to 3.5 Nm associated with a time period of 150 ms.

[0154] In one embodiment, the relationship in the association can be determined by the vehicle manufacturer based on at least one of the vehicle's load capacity, drive mode, and drive capability; for example, the drive mode can include front-wheel drive, rear-wheel drive, and four-wheel drive; for example, the drive capability can include the range of drive energy that the vehicle's drive unit can output.

[0155] In one implementation, all relationships in the association can be in a labelable state.

[0156] Accordingly, the control strategy is determined based on the operating torque, operating duration, and the second condition, which can be achieved through the following steps:

[0157] SC1. Based on the matching relationship between the operating torque and the torque in the correlation relationship, determine the target relationship from the correlation relationship.

[0158] The target relationships include the interrelated target torques and target time periods; the operating torque is less than the target torque.

[0159] In one implementation, the target relationship can be determined in the following way:

[0160] The target relationship is determined based on the degree of matching between the operating torque and the torque range formed by the torque threshold in the correlation.

[0161] In one implementation, the target torque may include the upper limit of the torque range contained in the target relationship; for example, if the operating torque is located in the k-th torque range formed by the k-th torque threshold and the (k+1)-th torque threshold, then the target relationship can be determined as the relationship in the association that is greater than or equal to the k-th torque threshold and less than the (k+1)-th torque threshold. In this case, the operating torque may be less than the (k+1)-th torque threshold corresponding to the upper limit of the torque.

[0162] SC2. The control strategy includes: if the operation duration is longer than the target time period, control the vehicle to exit the first driving mode.

[0163] For example, if the operation duration is less than or equal to the target time period, the control strategy may include: not controlling the vehicle to exit the first driving mode.

[0164] Figure 3 This is a schematic diagram of the torque distribution provided in an embodiment of this application. Figure 3 The vertical axis of the coordinate system shown represents torque, with units of Newton-meters (Nm); as Figure 3 As shown, during vehicle operation, the torque exerted by the driver on the steering wheel can be discretely distributed.

[0165] Figure 4 This is a schematic diagram of torque statistics provided for an embodiment of this application. Figure 4 The statistical results shown can be compared with Figure 3 The torque corresponds to the discrete distribution in the middle. For example, Figure 4 As shown, the first sector 401 accounts for 83.67% of the statistical results, corresponding to the torque range of 3.5-5.5 Nm; the second sector 402 accounts for 14.29%, corresponding to the torque range greater than 5.5 Nm; and the third sector 403 accounts for 2.04%, corresponding to the torque range of 0-3.4 Nm.

[0166] from Figures 3 to 4 It can be seen that the torque applied to the steering wheel during vehicle operation can fluctuate within a wide range. Therefore, in order to improve the safety of vehicle operation, it is necessary to set corresponding target time periods and target torques for different torques. Accordingly, when determining the specific control strategy, the target time period and target torque can be flexibly determined according to the actual magnitude of the torque applied to the steering wheel, and the control strategy can be determined specifically based on the target time period and target torque.

[0167] As can be seen from the above, in the condition adjustment method provided in this application embodiment, the second condition includes the correlation between time period and torque. By matching the operating torque with the torque in the correlation, the target relationship is determined from the correlation. The target relationship includes the interrelated target torque and target time period, and the operating torque is less than the target torque. Thus, through the above operation, not only can the efficiency of determining the target relationship be improved, but also the accuracy of the target relationship can be improved. Furthermore, when there are multiple relationships in the correlation, the target relationship can be determined flexibly and diversely as the operating torque changes. Based on this, the control strategy is determined as follows: if the operation duration is greater than the target time period, the vehicle is controlled to exit the first driving mode. Thus, through the above operation, the control strategy can comprehensively and accurately meet the vehicle's mode switching needs from the perspectives of time and mode switching, thereby improving the safety of the vehicle driving process.

[0168] Based on the foregoing embodiments, the condition adjustment method provided in this application can also perform the following operations:

[0169] The control strategy also includes: if the operation duration is less than or equal to the target time period, and the vehicle's ADAS determines that the vehicle is in a misuse emergency scenario, the ADAS will control the vehicle to maintain its current driving state during the operation duration.

[0170] And / or,

[0171] If the operation duration is less than or equal to the target time period, and the vehicle's EPS detects the vehicle's emergency mode signal, the EPS will control the vehicle to maintain its current driving state during the operation duration.

[0172] The current driving status is associated with the first driving mode.

[0173] Accordingly, if the vehicle's ADAS determines that the vehicle is not in a misuse emergency scenario, it can maintain the vehicle's current driving state during the operation duration without using ADAS.

[0174] Accordingly, if the EPS does not detect an emergency mode signal, the vehicle's current driving state can be maintained for the duration of the operation without relying on the EPS.

[0175] In one implementation, the current driving state may include the sum of states such as the vehicle's speed, direction, and energy consumption during the driving process when the vehicle is in the first driving mode.

[0176] In one implementation, an emergency scenario may include at least one of the following: sudden loss of steering control, sudden brake failure, sudden tire blowout, sudden headlight failure, and occupants being unable to open the vehicle door from inside the passenger compartment.

[0177] In one implementation, an emergency scenario for misuse can be determined in the following way:

[0178] ADAS continuously judges the operating torque and duration of the rotation operation. If it is determined that the vehicle's steering wheel is about to perform an emergency steering adjustment under the action of the operating torque and duration, it can be determined that the vehicle is currently in an emergency scenario of sudden loss of steering control.

[0179] In one implementation, maintaining the vehicle's current driving state through ADAS control can be achieved in the following way:

[0180] ADAS determines the resistance amplitude and direction based on the operating torque, and applies resistance corresponding to the resistance amplitude to the steering wheel based on the resistance direction, thereby counteracting the effect of rotation on the steering wheel and keeping the vehicle's current driving direction unchanged; wherein, the resistance amplitude can be equal to the force amplitude represented by the operating torque, and the resistance direction can be opposite to the rotation of the steering wheel represented by the operating torque.

[0181] In one implementation, the emergency mode signal can be triggered in the following way:

[0182] The vehicle's processor or controller determines that the vehicle's steering wheel will turn at a speed greater than or equal to a speed threshold in response to a rotational operation, and that the steering assist force of the steering wheel is greater than or equal to an assist threshold. The vehicle's processor or controller can determine that the vehicle is currently in a state of sudden emergency steering wheel turning and generate an emergency mode signal based on the above state.

[0183] In one implementation, the vehicle's processor or controller can send an emergency mode signal to the EPS.

[0184] In one implementation, when the vehicle's ADAS determines that the vehicle is in a misuse emergency scenario, the EPS can simultaneously receive an emergency mode signal, and both the ADAS and the EPS can control the vehicle to maintain its current driving state during the operation duration.

[0185] It should be noted that, with the operating parameters remaining unchanged, the target time period associated with ADAS may be the same as or different from the target time period associated with EPS. For example, the target time period associated with ADAS may be shorter than the target time period associated with EPS. Accordingly, the target time period associated with ADAS and the target time period associated with EPS can be determined respectively by the method provided in the foregoing embodiments. Within the target time period associated with ADAS, the vehicle is controlled to maintain its current driving state by ADAS, while within the target time period associated with EPS, the vehicle is controlled to maintain its current driving state by EPS.

[0186] In one implementation, maintaining the vehicle's current driving state through EPS control can be achieved in the following way:

[0187] The steering shaft is controlled by the EPS's return-to-center control and / or damping control, thereby counteracting the rotation of the steering wheel caused by the rotation operation and maintaining the vehicle's current driving direction.

[0188] As can be seen from the above, the condition adjustment method provided in this application further includes determining the control strategy as follows: if the operation duration is less than or equal to the target time period, and the vehicle's ADAS determines that the vehicle is in a misuse emergency scenario state, then the ADAS controls the vehicle to maintain its current driving state unchanged during the operation duration; and / or, if the operation duration is less than or equal to the target time period, and the EPS detects the vehicle's emergency mode signal, then the EPS controls the vehicle to maintain its current driving state unchanged during the operation duration, and the current driving state is associated with the first driving mode. Thus, through the above operations, leveraging the advantages of the vehicle's ADAS in terms of driving safety, driving comfort, accident prevention, and improved vehicle traffic efficiency, the safety of the vehicle's current driving state can be improved specifically and in real time; furthermore, thanks to the high efficiency, good road feel, and self-centering properties of ESP, efficient and precise control of the vehicle's current driving state can be achieved at least during the above operation duration, thereby improving the safety of the vehicle's driving process; on the other hand, since the current driving state is associated with the first driving mode, the above operations can improve the safety of the vehicle's driving state in the first driving mode.

[0189] Based on the foregoing embodiments, the condition adjustment method provided in this application can also perform the following operations:

[0190] If the operation duration is longer than the target time period, the control strategy also includes: after controlling the vehicle to exit the first driving mode, controlling the vehicle to switch to the second driving mode.

[0191] The second driving mode includes at least the active safety mode.

[0192] Accordingly, if the operation duration is less than or equal to the target time period, the control strategy can be determined to include: maintaining the vehicle's current driving state by controlling it through ADAS and / or EPS during the operation duration.

[0193] In one implementation, the second driving mode can provide greater safety assurance for the vehicle's driving process than the first driving mode.

[0194] In one implementation, switching the vehicle to a second driving mode can be achieved in the following way:

[0195] If the target time period ends, the vehicle's control system can control the vehicle to exit the first driving mode and trigger the vehicle's active safety system to activate the active safety mode, thereby controlling the vehicle to switch to the active safety mode; wherein, the current driving mode includes any one of LCC, NOA and manual driving mode.

[0196] In one implementation, controlling the continuous driving process of the vehicle in active safety mode may include controlling the vehicle to continue driving in the current lane in the current driving direction without adjusting the current driving direction of the vehicle, based on the driving direction and driving speed corresponding to the active safety mode, and / or adjusting the driving speed of the vehicle to adjust the distance between the vehicle and the vehicles in front and / or behind.

[0197] As can be seen from the above, the condition adjustment method provided in this application, if the operation duration is longer than the target time period, further includes determining the control strategy by controlling the vehicle to switch to a second driving mode, which includes at least an active safety mode, after controlling the vehicle to exit the first driving mode. Thus, through the above operations, precise switching control of the vehicle's driving mode can be achieved after the target time period ends; and by controlling the vehicle to switch to the second driving mode, not only can interference with the vehicle's driving process be reduced, but the switching of the vehicle's driving mode can also be triggered automatically and intelligently, thereby improving the safety of the vehicle's driving process.

[0198] Meanwhile, in conjunction with the foregoing embodiments, this application embodiment can determine different control strategies by analyzing the relationship between the operation duration and the target time period, thereby enabling diversified and flexible control of the vehicle's current driving state.

[0199] In actual vehicle operation, when the vehicle is in AD mode, if any part of the body other than the driver's hands rotates the steering wheel, the steering wheel will respond to the rotation and perform a directional adjustment. At the same time, it will exit AD mode and suppress the triggering of active safety modes. Active safety modes can include LDP, LDW, and ELK.

[0200] Figure 5 This is a schematic diagram illustrating the statistical results of the vehicle's active safety mode triggering provided in the embodiments of this application, such as... Figure 5 As shown, the fourth sector 501 represents the proportion of the active safety mode that is suppressed, which can reach 90.63%, while the fifth sector 502 represents the proportion of the active safety mode that is triggered, which accounts for only 9.37%.

[0201] In practical applications, the fifth sector 502 corresponds to the situation where the operating torque of the rotation operation is less than a preset threshold. In other words, when the impact of the rotation operation on the vehicle's direction of travel is less than a safety threshold, the vehicle can trigger an active safety mode to maintain its current driving state. However, during actual driving, the torque distribution range corresponding to the tangential component of the steering wheel caused by improper driver operation is greater than the torque range represented by the fifth sector 502. Therefore, the proportion of active safety modes triggered in related technologies cannot improve the safety level of the vehicle's driving state.

[0202] The condition adjustment method provided in this application embodiment, based on the control strategy determined according to the relationship between the operation duration and the target time period, includes maintaining the current driving state unchanged and switching to a second driving mode including an active safety mode. This enables diversified and flexible control of the vehicle's current driving state, and achieves interval-based progressive control of the vehicle's current driving state. In turn, it can reduce the vehicle driving risk caused by not triggering the active safety mode in related technologies.

[0203] Based on the foregoing embodiments, the condition adjustment method provided in this application can also perform the following operations:

[0204] If dangerous driving behavior is detected, the vehicle will output a control warning message in the form of a target.

[0205] Among these, the impact of the target form on the driver is greater than the degree threshold; the control warning information is at least used to prompt the driver's hands to control the vehicle's steering wheel.

[0206] Accordingly, if no dangerous driving behavior is detected, the vehicle can be driven to the target without being controlled, and a control warning message can be output.

[0207] In one embodiment, control warning information can be output through a prompting device and / or a prompting apparatus; wherein, the prompting device and / or the prompting apparatus may have an information prompting function; for example, the prompting device and / or the prompting apparatus may include at least one of the vehicle's audio output device, vibration device, lighting device, and multimedia playback device.

[0208] In one embodiment, the prompting device and / or prompting equipment can be predetermined.

[0209] In one implementation, the prompting device and / or prompting equipment can be determined based on the driver's current posture; for example, the prompting device and / or prompting equipment can be determined in the following manner:

[0210] The prompting device and / or prompting equipment are determined based on the driver's current posture; for example, the current posture may include the position and attitude of the programmer relative to the driver's seat and steering wheel during the continuous application of force; for example, the form of data output from the prompting device and / or prompting equipment may have an influence on at least one sensory part of the driver in the current posture that is greater than a degree threshold.

[0211] For example, if the driver is determined to be out of the driver's seat and looking in another direction based on the current position, the prompting device and / or prompting equipment may include the driver's central control screen, audio output device, and indicator lights in other directions; wherein, other directions may include directions other than the direction of vehicle travel.

[0212] In one implementation, the vehicle is controlled to output a control warning message in a target format after or before the end of the target time period.

[0213] In one implementation, the control warning information can be achieved by flashing indicator lights, animation output on the central control screen, switching the background of the central control screen to a specified background, vibration of the driver's seat, and output of prompt sounds by the audio output device.

[0214] Accordingly, the impact of the prompting state of the prompting device and / or the prompting equipment on the driver is greater than the degree threshold. This may include the frequency of the light flashing being greater than the frequency threshold, the contrast of the specified background being greater than the contrast threshold, the vibration intensity of the driver's seat being greater than the intensity threshold, and the volume of the prompting sound being greater than the volume threshold, thereby increasing the probability that the driver captures or perceives the control warning information and shortening the time that the driver's hands control the steering wheel.

[0215] In practical applications, when the vehicle is in a driving state, including AD, if an operation on the vehicle's steering wheel is detected, the vehicle will output a weak takeover interaction prompt. Figure 6 This is a structural diagram of a weak takeover interaction prompt. (Example) Figure 6 As shown, the driving scenario presented on the central control screen 6 includes: vehicle 601 is currently in LCC mode, with a real-time speed of 30 km / h, a current road speed limit of 50 km / h, and vehicle 601 is traveling in the current lane 602. If the steering wheel of vehicle 601 detects a rotation operation to the right of the driving direction, vehicle 601 will veer towards the right lane divider of the current lane 602. Simultaneously, the upper left corner of the central control screen 603 will output the message "Assisted driving has been disengaged," and the audio output device may also output an audio message "Assisted driving has been disengaged." The aforementioned message and audio message constitute a weak takeover interaction prompt in the relevant technology.

[0216] However, the aforementioned weak-pipe handover warning method is insufficient to attract the driver's attention; furthermore, the aforementioned weak-pipe handover warning does not involve a precise judgment of the magnitude of the torque and the duration of the rotational operation of the steering wheel.

[0217] Figure 7A This is a schematic diagram illustrating the effect of a vehicle in NOA mode as provided in an embodiment of this application. Figure 7A As shown, vehicle 601 is traveling in the current lane 602 in NOA mode, and the vehicle's trajectory is displayed in shaded mode in the direction of travel of vehicle 601.

[0218] Figure 7B This is a schematic diagram illustrating the effect of vehicle output control warning information provided in an embodiment of this application. Figure 7B As shown, if vehicle 601 detects a rotational operation on the steering wheel while driving, and the rotational operation is indicated to be triggered by another part of the driver's body, then vehicle 601 can trigger the active safety mode after the target time period corresponding to the rotational operation; at the same time, the background of the central control screen 6 can be changed from... Figure 7A The background shown can be switched to a background with a visibility level greater than the threshold. The warning message "Please control the direction" can also be output in the warning area 701 to prompt the driver to quickly take over the steering wheel. The warning area 701 can be located in the center of the central control screen, and the font of the control warning message can be larger than the font threshold.

[0219] As can be seen from the above, the condition adjustment method provided in this application embodiment further includes controlling the vehicle to output control warning information in a target driving manner, wherein the impact of the target form on the driver is greater than a threshold, and the control warning information is at least used to prompt the driver's hands to control the steering wheel. Thus, through the above operations, the probability of the control warning information being received by the driver can be increased, thereby improving the efficiency of the driver's hands controlling the steering wheel, and consequently improving the safety of the vehicle's driving process.

[0220] Figure 8A A flowchart illustrating the vehicle's driving status control when the steering wheel is activated by other parts of the driver's body. (Example) Figure 8A As shown, this process can be implemented through the driver 201, the vehicle control system 801, and the vehicle's interaction system 802; wherein, the interaction system 802 may include a device and / or equipment with prompt information output function. Figure 8A As shown, the process may include the following steps:

[0221] SD1 detects that the driver performs at least one of the following actions: unfastening the seatbelt, getting up from the seat, or accidentally touching the steering wheel with their hands off the wheel.

[0222] For example, the methods provided in the foregoing embodiments can be used to detect and determine actions performed by the driver, such as unfastening the target seatbelt, getting up from the driver's seat, and rotating the steering wheel with other parts of the body.

[0223] For example, when the vehicle is in LCC mode, it is possible to detect whether the driver performs at least one of the following actions: unfastening the seatbelt, getting up from the seat, and accidentally touching the steering wheel with their hands off the wheel; for example, the above-mentioned at least one action can be a dangerous driving behavior in the foregoing embodiments.

[0224] For example, one of SD2 to SD3 can be selected based on the relationship between the torque of the steering wheel rotation operation performed by at least one part of the driver's body and a preset torque.

[0225] SD2. If the torque of the rotation operation is less than or equal to the preset torque, maintain LCC for the preset time period.

[0226] For example, the control system 801 can maintain LCC for a preset period of time when the torque of the rotational operation is less than or equal to a preset torque.

[0227] For example, the preset torque and preset time period can be predetermined; for instance, the preset torque can be 3.4 Nm and the preset time period can be 150 ms.

[0228] SD3. If the torque of the rotation operation is greater than the preset torque, exit LCC.

[0229] For example, if the control system determines that the torque of the rotation operation is greater than a preset torque, it controls the vehicle to exit the LCC and controls the vehicle to perform a direction adjustment operation in response to the applied force operation.

[0230] SD4, Output prompt message.

[0231] For example, the interactive system 802 can output a weak takeover interactive prompt, including "Please control the direction", to prompt the driver to quickly take over the steering wheel.

[0232] Through the above process, the vehicle's control system suppresses the triggering of active safety modes.

[0233] Figure 8B This is a schematic diagram of the second process of the condition adjustment method provided in the embodiments of this application. For example... Figure 8B As shown, this process can be implemented through driver 201, control system 801, interaction system 802, and active safety system 803; wherein, active safety system 803 may include

[0234] like Figure 8B As shown, the process may include the following steps:

[0235] SF1. Detects that the driver performs at least one of the following actions: unfastening the seatbelt, getting up from the seat, or accidentally touching the steering wheel with their hands off the wheel.

[0236] For example, the execution process of SF1 can be the same as that of SD1, and will not be described again here.

[0237] For example, at least one of the above operations can be detected when the vehicle is being driven in LCC mode.

[0238] SF2. Determine the stepped control strategy based on the torque corresponding to the actual rotation operation.

[0239] For example, the control system 801 can determine a stepped control strategy based on the torque corresponding to the actual rotation operation.

[0240] For example, the actual rotation operation can be a rotation operation of the steering wheel by other parts of the driver's body; for example, the torque corresponding to the actual rotation operation can be the operating torque in the aforementioned embodiments.

[0241] For example, the target time period corresponding to the operating torque of the actual rotation operation can be determined by the method provided in the foregoing embodiments, and then a stepped control strategy can be determined.

[0242] SF3, Exit LCC.

[0243] For example, the control system 801 can control the vehicle to exit the LCC based on a stepped control strategy.

[0244] For example, a tiered control strategy may include maintaining the vehicle's current driving state unchanged during a target time period, and then controlling the vehicle to switch to an active safety mode after the duration of the rotation operation exceeds the target time period, and controlling the vehicle to continue driving in that mode.

[0245] SF4 displays an emergency takeover warning in large red font, and simultaneously outputs a steering wheel takeover animation.

[0246] For example, the interactive system 802 can display an emergency takeover alert in large red font and simultaneously output a steering wheel takeover animation.

[0247] For example, the large red font indicating emergency takeover and the steering wheel takeover animation can be the control warning information in the aforementioned embodiments.

[0248] SF5 forces ELK / LDP / LDW to be enabled and triggered.

[0249] For example, the vehicle's active safety system 803 can be forcibly activated and trigger ELK / LDP / LDW.

[0250] Through the above process, if the vehicle detects other parts of the driver's body rotating the steering wheel while it is in LCC mode, a stepped control strategy is determined based on the rotation operation, and the vehicle is switched to active safety mode according to the control strategy, thereby improving the safety of the vehicle during driving.

[0251] This application also provides a condition adjustment device. Figure 9 A schematic diagram of the structure of the condition adjustment device provided in the embodiments of this application is shown below. Figure 9 As shown, the condition adjustment device 9 may include:

[0252] The control module 901 is used to exit the first driving mode if the driving behavior of the vehicle meets a first condition while the vehicle is in the first driving mode.

[0253] The control module 901 is also used to adjust the first condition to a second condition if dangerous driving behavior of the driver is detected; wherein the second condition is different from the first condition.

[0254] In some embodiments, the control module 901 is further configured to determine that the driver is performing dangerous driving behavior if a specified state is detected during driving; wherein the specified state includes switching between the target seat belt and the target buckle to a separated state, or the driver leaving the driver's seat; the target buckle includes a seat belt buckle provided on the side of the driver's seat; the target seat belt is associated with the driver's seat and can engage with the target buckle.

[0255] In some embodiments, the control module 901 is further configured to, during the duration of dangerous driving behavior, if a rotational operation on the steering wheel of the vehicle is detected, determine the operating torque and the duration of the rotational operation; determine a control strategy based on the operating torque, the duration of the operation, and the second condition; and control the exit from the first driving mode based on the control strategy.

[0256] In some embodiments, the second condition includes the correlation between time period and torque;

[0257] The control module 901 is further configured to determine a target relationship from the correlation relationship based on the matching relationship between the operating torque and the torque in the correlation relationship; wherein the target relationship includes mutually correlated target torques and target time periods; the operating torque is less than the target torque;

[0258] The control module 901 is further configured to determine that the control strategy includes: if the duration of the operation is greater than the target time period, controlling the vehicle to exit the first driving mode.

[0259] In some embodiments, the control module 901 is further configured to determine the control strategy, which further includes: if the operation duration is less than or equal to the target time period, and the vehicle's ADAS determines that the vehicle is in a misuse emergency scenario, the ADAS controls the vehicle to maintain its current driving state during the operation duration.

[0260] And / or,

[0261] If the operation duration is less than or equal to the target time period, and the vehicle's EPS detects the vehicle's emergency mode signal, the ESP will control the vehicle to maintain its current driving state during the operation duration.

[0262] The current driving status is associated with the first driving mode.

[0263] In some embodiments, the control module 901 is further configured to, if the operation duration is longer than a target time period, determine the control strategy further as follows: after exiting the first driving mode, control the vehicle to switch to a second driving mode; wherein the second driving mode includes at least an active safety mode.

[0264] In some embodiments, the control module 901 is further configured to control the vehicle to output control warning information in a target form if dangerous driving behavior is detected; wherein the impact of the target form on the driver is greater than a threshold; the control warning information is at least used to prompt the driver to control the steering wheel of the vehicle with their hands.

[0265] This application also provides a condition adjustment device. Figure 10 A schematic diagram of the structure of the condition adjustment device provided in the embodiments of this application is shown below. Figure 10 As shown, the condition adjustment device 10 includes: a processor 1001 and a memory 1002; wherein:

[0266] Memory 1002 is used to store computer-executable instructions;

[0267] The processor 1001, when executing computer-executable instructions stored in the memory 1002, implements the aforementioned condition adjustment method.

[0268] This application also provides a computer-readable storage medium storing computer-executable instructions or computer programs, which, when executed by a processor, can implement any of the aforementioned condition adjustment methods.

[0269] This application also provides a computer program product, including computer-executable instructions or a computer program, which, when executed by a processor, can implement any of the aforementioned condition adjustment methods.

[0270] In some embodiments, the computer-readable storage medium may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM), etc.; or it may be a device that includes one or any combination of the above-mentioned memories.

[0271] In some embodiments, computer-executable instructions may take the form of programs, software, software modules, scripts, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as stand-alone programs or as modules, components, subroutines, or other units suitable for use in a computing environment.

[0272] As an example, computer-executable instructions may, but do not necessarily, correspond to files in a file system. They may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a Hypertext Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple co-located files (e.g., files that store one or more modules, subroutines, or code sections).

Claims

1. A condition adjustment method, characterized in that, The method includes: If the driving behavior of the vehicle meets the first condition while the vehicle is in the first driving mode, the first driving mode is exited. If dangerous driving behavior by the driver is detected, the first condition is adjusted to the second condition; wherein the second condition is different from the first condition.

2. The method according to claim 1, characterized in that, The method further includes: During the driving process, if a specified state is detected, it is determined that the driver is performing the dangerous driving behavior; wherein, the specified state includes at least the switching between the target seat belt and the target buckle to a disengaged state and the driver leaving the driver's seat; the target buckle includes a seat belt buckle provided on the side of the driver's seat; the target seat belt is associated with the driver's seat and can be engaged with the target buckle.

3. The method according to claim 1, characterized in that, The method further includes: If a rotational operation on the steering wheel of the vehicle is detected during the duration of the dangerous driving behavior, the operating torque and duration of the rotational operation are determined. A control strategy is determined based on the operating torque, the operating duration, and the second condition; Based on the control strategy, the system exits the first driving mode.

4. The method according to claim 3, characterized in that, The second condition includes the correlation between time period and torque; The step of determining a control strategy based on the operating torque, the operating duration, and the second condition includes: Based on the matching relationship between the operating torque and the torque in the correlation relationship, a target relationship is determined from the correlation relationship; wherein, the target relationship includes mutually correlated target torques and target time periods; the operating torque is less than the target torque; Determining the control strategy includes: if the duration of the operation is greater than the target time period, controlling the vehicle to exit the first driving mode.

5. The method according to claim 4, characterized in that, The method further includes: Determining the control strategy further includes: if the operation duration is less than or equal to the target time period, and the vehicle's advanced driver assistance system determines that the vehicle is in a misuse emergency scenario, the advanced driver assistance system controls the vehicle to maintain its current driving state during the operation duration; And / or, If the duration of the operation is less than or equal to the target time period, and the vehicle's electronic power steering system detects the vehicle's emergency mode signal, the electronic power steering system controls the vehicle to maintain its current driving state during the duration of the operation. The current driving status is associated with the first driving mode.

6. The method according to claim 4, characterized in that, The method further includes: If the duration of the operation is longer than the target time period, the control strategy further includes: after controlling the vehicle to exit the first driving mode, controlling the vehicle to switch to a second driving mode; the second driving mode includes at least an active safety mode.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: If the dangerous driving behavior is detected, the vehicle is controlled to output a control warning message in a target form; wherein the impact of the target form on the driver is greater than a threshold; the control warning message is at least used to prompt the driver to control the steering wheel of the vehicle.

8. A condition adjustment device, characterized in that, The condition adjustment device includes: The control module is used to exit the first driving mode if the driving behavior of the vehicle meets a first condition while the vehicle is in the first driving mode. The control module is also configured to adjust the first condition to a second condition if dangerous driving behavior of the driver is detected; wherein the second condition is different from the first condition.

9. A condition adjustment device, characterized in that, The condition adjustment device includes: Memory is used to store executable instructions for a computer; A processor, when executing computer-executable instructions stored in the memory, implements the condition adjustment method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing computer-executable instructions or a computer program, characterized in that, When the computer-executable instructions or computer program are executed by a processor, they can implement the condition adjustment method according to any one of claims 1 to 7.

11. A computer program product comprising computer-executable instructions or a computer program, characterized in that, When the computer-executable instructions or computer program are executed by a processor, they can implement the condition adjustment method according to any one of claims 1 to 7.

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