Automatic driving mode control method and device, electronic equipment, medium and product

Abstract

The application discloses an automatic driving mode control method and device, electronic equipment, medium and product. The method comprises the following steps: after the automatic driving system state is set as an unusable state by default, determining the current automatic driving mode of the vehicle; wherein the current automatic driving mode is a driver mode or a non-driver mode; when the standby condition is met, switching the automatic driving system state to a standby state, and locking the current automatic driving mode; in the standby state, if the activation condition is met, the automatic driving system state is switched to an activated state, the vehicle is controlled by corresponding automatic driving, and the gear switching request input by the driver is prohibited; in the activated state, the vehicle is controlled to perform corresponding safety control operation according to the fault detection condition of the vehicle. The method can solve the problems that different control cannot be performed according to different operation modes, and state constraint and targeted response are lacked when a fault occurs.

Description

Technical Field

[0001] This application relates to the field of vehicle control, specifically to an autonomous driving mode control method, device, electronic device, readable storage medium, and computer program product. Background Technology

[0002] With the continuous development of autonomous driving technology, its application in scenarios such as logistics delivery and shared mobility is becoming increasingly widespread. As the scale of autonomous driving expands, the control and constraint of autonomous driving states and fault handling measures become particularly critical. Existing autonomous driving control schemes typically use state machines to manage vehicle behavior, but in practice, it has been found that the system cannot perform differentiated control for different autonomous driving modes after the function is activated, and in the event of a fault, the autonomous driving state is not constrained and corresponding fault handling is not implemented, thereby reducing the safety of the autonomous driving system. Summary of the Invention

[0003] In view of the above problems, this application provides an autonomous driving mode control method, device, electronic device, readable storage medium and computer program product, which can solve the problems of insufficient system safety caused by the inability to perform differentiated control according to different operating modes and the lack of state constraints and targeted responses in the event of a fault.

[0004] Firstly, this application provides an autonomous driving mode control method, including: After the autonomous driving system is set to an unavailable state by default, the current autonomous driving mode of the vehicle is determined; wherein, the current autonomous driving mode is either a driver-enabled mode or a driverless mode. When the standby conditions are met, the autonomous driving system is switched to standby mode, and the current autonomous driving mode is locked. In the standby state, if the activation conditions are met, the autonomous driving system will be switched to the active state, and the vehicle will be controlled accordingly according to the current autonomous driving mode, while the driver's input gear shifting request will be prohibited from being responded to. In the activated state, the vehicle is controlled to perform corresponding safety control operations based on the vehicle's fault detection status.

[0005] In the above technical solution, the method can achieve differentiated state management and operation constraints for two autonomous driving modes: with a driver and without a driver. It ensures the stability of autonomous driving execution by means of mode locking and prohibiting unnecessary driver input. At the same time, it triggers safety control operations in a timely manner by combining fault detection results, which enhances the ability to accurately distinguish and control autonomous driving modes and the ability to handle fault emergencies. This significantly improves the safety and reliability of the autonomous driving system in different operating scenarios.

[0006] In some embodiments, the method further includes: After the vehicle is powered on and initialized, the autonomous driving system status is set to unavailable by default, and the step of determining the current autonomous driving mode of the vehicle is executed.

[0007] In the above technical solution, the method can put the autonomous driving system in an unavailable state by default after the vehicle is powered on and initialized, and start safety management from the start-up stage. Then, based on this, the autonomous driving mode determination and subsequent state switching process are promoted in an orderly manner, thereby avoiding the hidden danger of accidental triggering in the unready stage of the system, and thus improving the standardization and safety of autonomous driving state management.

[0008] In some implementations, determining the vehicle's current autonomous driving mode includes: Receive an autonomous driving mode request sent by the intelligent driving controller, and determine the current autonomous driving mode of the vehicle based on the autonomous driving mode request.

[0009] In the above technical solution, the method can accurately determine the current autonomous driving mode of the vehicle by receiving the mode request sent by the intelligent driving controller, ensuring the accuracy and timeliness of mode determination, laying a reliable foundation for subsequent differentiated state management and autonomous driving operation, and further improving the accuracy and coordination of system control.

[0010] In some implementations, after determining the vehicle's current autonomous driving mode, the method further includes: When it is detected that the intelligent driving controller has no communication fault, the vehicle powertrain system has no fault, and the current autonomous driving mode is either driver-enabled or driverless, the standby conditions are determined to be met, and the step of switching the autonomous driving system state to standby state is executed.

[0011] In the above technical solution, the method can accurately determine whether the system meets the standby conditions by verifying the communication status of the intelligent driving controller, the operating condition of the vehicle power transmission system, and the effectiveness of the autonomous driving mode in multiple dimensions. This ensures that the autonomous driving system switches to the standby state only when the status of each key component is normal and the mode parameters are compliant, thereby avoiding operational risks caused by equipment failure or abnormal mode from the source.

[0012] In some implementations, after locking the current autonomous driving mode, the method further includes: In the standby state, if no brake pedal control command input by the driver is detected, and a request to enter the autonomous driving mode is received from the intelligent driving controller, then the activation conditions are determined to be met, and the step of switching the autonomous driving system state to the active state is executed.

[0013] In the above technical solution, this method can construct a dual-judgment condition by combining the driver's brake pedal operation state and the mode request of the intelligent driving controller to confirm the activation timing. This ensures the accuracy of the system response while avoiding abnormal autonomous driving startup caused by erroneous triggering commands. In addition, it can maintain the stability of the current autonomous driving mode by relying on the mode locking mechanism, providing a reliable execution prerequisite for subsequent differentiated autonomous driving control.

[0014] In some implementations, the step of performing corresponding autonomous driving control on the vehicle according to the current autonomous driving mode includes: If the current autonomous driving mode is a driver-enabled mode, then the drive torque request sent by the intelligent driving controller will be responded to with the highest priority. When the driver's input accelerator pedal intervention control depth is detected to reach a preset depth threshold, the response to the drive torque request is interrupted, and the intervention control operation on the accelerator pedal is responded to. After detecting that the intervention control operation of the accelerator pedal has been released, the response to the drive torque request is resumed; If the current autonomous driving mode is driverless mode, it will only respond to the drive torque request sent by the intelligent driving controller and will not respond to the accelerator pedal operation input by the driver.

[0015] In the above technical solution, the method can formulate differentiated torque request response strategies for two modes: with a driver and without a driver. In the mode with a driver, it takes into account the needs of intelligent driving control and the active intervention of the driver, and realizes a smooth switch between human and machine control. In the mode without a driver, it relies entirely on the intelligent driving controller to perform operations, shielding invalid driver input interference, and ensuring the accurate adaptation and stable execution of autonomous driving control logic in different scenarios.

[0016] In some implementations, controlling the vehicle to perform corresponding safety control operations based on the vehicle's fault detection includes: When a fault is detected in the vehicle's powertrain system or a communication failure exists between the vehicle and the intelligent driving controller, the autonomous driving system state is switched from the active state to the degraded state. In the degraded state, the vehicle speed is limited according to a preset speed limit threshold; The vehicle's powertrain system is diagnosed to determine the fault type and the fault level based on the fault type. Perform appropriate safety procedures based on the fault level and the current autonomous driving mode.

[0017] In the above technical solution, the method can quickly switch the autonomous driving system to a degraded state and execute speed limit control when the vehicle experiences a powertrain system failure or intelligent driving controller communication failure. At the same time, it combines the fault diagnosis results to clarify the fault type and level, and then matches the current autonomous driving mode to perform targeted safety handling operations, forming a closed-loop safety management process of "fault detection-state switching-graded handling", which minimizes the impact of faults on vehicle operation and ensures the safety and controllability of the autonomous driving process.

[0018] In some embodiments, the method further includes: When the autonomous driving system is in a degraded state, if it receives an autonomous driving exit request from the intelligent driving controller, or if it completely loses communication with the intelligent driving controller, the autonomous driving system will switch from the degraded state to the unavailable state. When the autonomous driving system is in standby mode, if a communication anomaly is detected with the intelligent driving controller, or if a fault occurs in the vehicle's powertrain system, the autonomous driving system will be switched from standby mode to unavailable mode. When the autonomous driving system becomes unavailable, exit autonomous driving mode control.

[0019] In the above technical solution, the method can set clear state switching trigger conditions for different operating states (degraded, standby) of the autonomous driving system. Once communication abnormalities, system failures or exit requests are detected, the system is immediately switched to an unavailable state and exits autonomous driving control, thereby forming a closed loop of state safety management and control throughout the entire process, avoiding the system from continuing to operate under abnormal conditions, and further improving the safety redundancy and operational controllability of the autonomous driving system.

[0020] Secondly, this application provides an autonomous driving mode control device, comprising: The determining unit is used to determine the current autonomous driving mode of the vehicle after the autonomous driving system state is set to an unavailable state by default; wherein the current autonomous driving mode is a driver-enabled mode or a driverless mode. The switching unit is used to switch the autonomous driving system to standby state when the standby conditions are met. A locking unit is used to lock the current autonomous driving mode; The switching unit is also used to switch the autonomous driving system state to the active state if the activation conditions are met in the standby state. The driving control unit is used to perform corresponding automatic driving control on the vehicle according to the current automatic driving mode, and to prohibit responding to the driver's input gear shifting request. The safety control unit is used to control the vehicle to perform corresponding safety control operations based on the vehicle's fault detection status in the activated state.

[0021] In the above technical solution, the device can achieve differentiated state management and operation constraints for two autonomous driving modes: with a driver and without a driver. It ensures the stability of autonomous driving execution by means of mode locking and prohibiting unnecessary driver input. At the same time, it can trigger safety control operations in a timely manner by combining fault detection results, thereby enhancing the ability to accurately distinguish and control autonomous driving modes and the ability to handle fault emergencies. This significantly improves the safety and reliability of the autonomous driving system in different operating scenarios.

[0022] Thirdly, this application provides an electronic device, the electronic device including a memory and a processor, the memory for storing a computer program, the processor running the computer program to cause the electronic device to perform the automatic driving mode control method described in any one of the first aspects.

[0023] Fourthly, this application provides a readable storage medium storing a computer program, which, when executed by a processor, performs the autonomous driving mode control method described in any one of the first aspects.

[0024] Fifthly, this application provides a computer program product, which includes a computer program that, when executed by a processor, performs the automatic driving mode control method described in any one of the first aspects.

[0025] The beneficial effects of this application are as follows: by distinguishing between driver-assisted and driverless autonomous driving modes and implementing refined control, combined with vehicle fault level classification and real-time feedback mechanism, the intelligent driving controller can accurately execute response measures for different working conditions and fault levels, thereby effectively avoiding safety risks caused by mode confusion and improper fault handling, and significantly improving the driving safety and operational stability of autonomous vehicles. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a flowchart illustrating the autonomous driving mode control method in some embodiments of this application; Figure 2This is a diagram illustrating the conditions for the VCU to determine the autonomous driving state in some embodiments of this application; Figure 3 This is a diagram showing the switching relationship between autonomous driving modes in some embodiments of this application; Figure 4 This is a schematic diagram of the structure of the autonomous driving mode control device in some embodiments of this application; Figure 5 This is a schematic diagram of the structure of an electronic device in some embodiments of this application. Detailed Implementation

[0028] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0030] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more (including two), similarly, "multiple sets" refers to two or more sets (including two sets), and "multiple pieces" refers to two or more pieces (including two pieces) unless otherwise explicitly defined.

[0031] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0032] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0033] With the continuous development of autonomous driving technology, its application in scenarios such as logistics delivery and shared mobility is becoming increasingly widespread. As the scale of autonomous driving expands, the control and constraint of autonomous driving states and fault handling measures become particularly critical. Existing autonomous driving control schemes typically use state machines to manage vehicle behavior, but in practice, it has been found that the system cannot perform differentiated control for different autonomous driving modes after the function is activated, and in the event of a fault, the autonomous driving state is not constrained and corresponding fault handling is not implemented, thereby reducing the safety of the autonomous driving system.

[0034] To address the aforementioned technical issues, this application provides an autonomous driving mode control method. This method can divide the autonomous driving function into two modes: with a driver and without a driver. It then combines this with the fault status of the vehicle's powertrain system to perform refined control of the autonomous driving mode. Simultaneously, it classifies vehicle faults by level and feeds the fault information back to the intelligent driving controller in real time. This allows the intelligent driving controller to accurately execute corresponding fault handling operations based on the current autonomous driving conditions and fault levels, thereby significantly improving the driving safety of autonomous vehicles.

[0035] like Figure 1 As shown, some embodiments of this application provide an autonomous driving mode control method, which includes: S101. After the autonomous driving system is set to an unavailable state by default, determine the current autonomous driving mode of the vehicle; wherein the current autonomous driving mode is either driver-enabled mode or driverless mode. S102. When the standby conditions are met, switch the autonomous driving system to standby mode and lock the current autonomous driving mode. S103. In the standby state, if the activation conditions are met, the autonomous driving system state is switched to the activated state, and the vehicle is controlled accordingly according to the current autonomous driving mode, and the driver's input gear shifting request is prohibited from being responded to. S104. In the active state, control the vehicle to perform corresponding safety control operations based on the vehicle's fault detection status.

[0036] In some embodiments, an unavailable state refers to a system state in which the autonomous driving system does not have the conditions to enable autonomous driving-related functions such as standby or activation, and is unable to respond to any autonomous driving mode switching or activation request.

[0037] In some embodiments, a driver-only mode refers to an autonomous driving mode in which a driver is present in the driver's seat and the driver can intervene in vehicle control under preset conditions when the vehicle is in autonomous driving mode.

[0038] In some embodiments, driverless mode refers to an autonomous driving operation mode in which the vehicle is in autonomous driving mode, with no driver in the driver's seat and the vehicle being controlled entirely by the autonomous driving system.

[0039] In some embodiments, standby conditions refer to the preconditions that an autonomous driving system must meet to switch from an unavailable state to a standby state, typically including normal communication of the intelligent driving controller, no faults in the vehicle's powertrain system, and valid autonomous driving mode determination.

[0040] In some embodiments, the standby state refers to an intermediate state in the system where the autonomous driving system has completed all preparations and can switch to the active state once the activation conditions are met, and the current autonomous driving mode has been locked.

[0041] In some embodiments, activation conditions refer to the triggering conditions that the autonomous driving system must meet to switch from a standby state to an active state, typically including not detecting a driver's brake pedal control command, receiving a request from the intelligent driving controller to enter the autonomous driving mode, etc.

[0042] In some embodiments, the active state refers to a system operating state in which the autonomous driving system has been officially started, can perform corresponding control operations according to the locked autonomous driving mode, and is prohibited from responding to the driver's gear shifting requests.

[0043] In some embodiments, safety control operations refer to a series of actions performed by the autonomous driving system to ensure vehicle safety in response to detected vehicle malfunctions when the system is in an active state. These actions typically include state degradation, speed limit control, fault diagnosis, and graded handling.

[0044] In some embodiments, for autonomous vehicles, driving modes are divided into two types: Manual Mode and AutoDrive Mode. AutoDrive Mode is further divided into Driver-Only Mode (VO Mode) and Driverless Mode (NVO Mode).

[0045] In some embodiments, the system state of the autonomous driving mode can be further subdivided based on the fault state of the vehicle's powertrain system, as shown in Table 1 below.

[0046] Table 1. Correspondence between Autonomous Driving System Status and VCU Decisions

[0047] In some embodiments, the vehicle controller (VCU) only allows switching between VO mode and NVO mode in an unavailable state to avoid switching modes after the autonomous driving function is activated, which would prevent the driver or passengers from accurately determining the current operating mode of the vehicle.

[0048] In some embodiments, the conditions for switching from the active state to the standby state are: there is no abnormality in the communication between the vehicle controller (VCU) and the autonomous driving controller (ADS), and the ADS sends a request to the VCU to exit the autonomous driving mode (AD mode).

[0049] In some embodiments, Figure 2 A diagram illustrating the conditions for VCU to determine the state of autonomous driving is shown.

[0050] In some embodiments, Figure 3 A diagram illustrating the switching relationships between autonomous driving modes is shown. Figure 3 The allowed switching paths between the three modes (NVO, Unknown, VO) are shown.

[0051] In the above embodiments, the method can achieve differentiated state management and operation constraints for two autonomous driving modes: with a driver and without a driver. By means of mode locking and prohibiting unnecessary driver input, the stability of autonomous driving execution is ensured. At the same time, safety control operations are triggered in a timely manner based on fault detection results, which enhances the ability to accurately distinguish and control autonomous driving modes and the ability to handle fault emergencies, thereby significantly improving the safety and reliability of the autonomous driving system in different operating scenarios.

[0052] In some embodiments, the method further includes: After the vehicle is powered on and initialized, the autonomous driving system is set to an unavailable state by default, and the steps to determine the vehicle's current autonomous driving mode are executed.

[0053] In some embodiments, after the vehicle is powered on and the powertrain system is initialized, if the vehicle control unit (VCU) does not receive a specific driver intervention suppression request from the intelligent driving controller (ADS), the vehicle's current driving mode defaults to the unknown mode.

[0054] In some embodiments, when the vehicle's current driving mode is unknown, it can be switched to manual driving mode by default. This application does not limit this aspect.

[0055] In some embodiments, after the vehicle is powered on and initialized, the autonomous driving system is set to an unavailable state by default. In this state, the Autopilot Controller (ADS) makes a judgment based on the data collected by the in-vehicle cameras and sensors and its own operational needs, and sends a signal to the Vehicle Controller (VCU) to determine whether the current autonomous driving mode is VO mode, NVO mode, or Unknown mode. If the VCU does not receive a specific mode request from the ADS after the vehicle is powered on, it will default to Unknown mode.

[0056] In the above embodiments, the method can put the autonomous driving system in an unavailable state by default after the vehicle is powered on and initialized, and start safety management from the start of the startup phase. Then, based on this, the autonomous driving mode determination and subsequent state switching process are promoted in an orderly manner, thereby avoiding the hidden danger of accidental triggering in the unready stage of the system, and thus improving the standardization and safety of autonomous driving state management.

[0057] In some embodiments, determining the vehicle's current autonomous driving mode includes: Receive the autonomous driving mode request sent by the intelligent driving controller, and determine the current autonomous driving mode of the vehicle based on the autonomous driving mode request.

[0058] In some embodiments, before the autonomous driving system activates the autonomous driving function, the Intelligent Driving Controller (ADS) selects the autonomous driving mode of the vehicle based on information collected by the in-vehicle camera and sensors, as well as its own operational needs. Specifically, it is divided into a driver-operated mode (VO mode, Vehicle Operator Mode) and a driverless mode (NVO mode, NoVehicle Operator Mode).

[0059] In some embodiments, when no autonomous driving mode request is received from the intelligent driving controller, the vehicle's current driving mode defaults to the unknown mode.

[0060] In the above embodiments, the method can accurately determine the current autonomous driving mode of the vehicle by receiving the mode request sent by the intelligent driving controller, ensuring the accuracy and timeliness of mode determination, laying a reliable foundation for subsequent differentiated state management and autonomous driving operation, and further improving the accuracy and coordination of system control.

[0061] In some embodiments, after determining the vehicle's current autonomous driving mode, the method further includes: When it is detected that the intelligent driving controller has no communication faults, the vehicle powertrain system has no faults, and the current autonomous driving mode is either driver-enabled or driverless, the standby conditions are determined to be met, and the step of switching the autonomous driving system state to standby state is executed.

[0062] In some embodiments, the conditions for switching from the unavailable state to the standby state are: there is no abnormality in the communication between the vehicle controller (VCU) and the intelligent driving controller (ADS), there is no fault in the vehicle powertrain system, and the current autonomous driving mode is either driver-enabled mode (VO mode) or driverless mode (NVO mode).

[0063] In the above embodiments, the method can accurately determine whether the system meets the standby conditions by verifying the communication status of the intelligent driving controller, the operating condition of the vehicle power transmission system, and the effectiveness of the autonomous driving mode in multiple dimensions. This ensures that the autonomous driving system switches to the standby state only when the status of each key component is normal and the mode parameters are compliant, thereby avoiding operational risks caused by equipment failure or abnormal mode from the source.

[0064] In some embodiments, after locking the current autonomous driving mode, the method further includes: In standby mode, if no brake pedal control command input by the driver is detected, and a request to enter autonomous driving mode is received from the intelligent driving controller, the activation conditions are determined to be met, and the steps to switch the autonomous driving system to the active state are executed.

[0065] In some embodiments, the condition for switching from the standby state to the active state is: no driver intervention on the brake pedal is detected, and the driver control system (ADS) sends a request to the vehicle control unit (VCU) to enter the autonomous driving mode (AD mode).

[0066] In some embodiments, when the autonomous driving system is in an unavailable or standby state, the vehicle's driving mode is manual driving mode; when the autonomous driving system is in an active or degraded state, the vehicle's driving mode is autonomous driving mode.

[0067] In the above embodiments, this method can construct dual judgment conditions to confirm the activation timing by combining the driver's brake pedal operation state and the mode request of the intelligent driving controller. This ensures the accuracy of the system response while avoiding abnormal autonomous driving startup caused by erroneous triggering commands. Furthermore, it can maintain the stability of the current autonomous driving mode through a mode locking mechanism, providing a reliable execution prerequisite for subsequent differentiated autonomous driving control.

[0068] In some embodiments, the vehicle is subjected to corresponding autonomous driving control based on the current autonomous driving mode, including: If the current autonomous driving mode is driver-controlled, then the drive torque request sent by the intelligent driving controller will be responded to with the highest priority. When the driver's input accelerator pedal intervention control depth is detected to reach a preset depth threshold, the response to the drive torque request is interrupted, and the intervention control operation on the accelerator pedal is responded to. After detecting that the intervention control operation of the accelerator pedal has been released, the response to the drive torque request is resumed; If the current autonomous driving mode is driverless mode, it will only respond to the drive torque request sent by the intelligent driving controller and will not respond to the accelerator pedal operation input by the driver.

[0069] In some embodiments, in manual mode, the vehicle control unit (VCU) only responds to the driver's input to the accelerator pedal and does not execute drive torque requests and shift requests sent by the intelligent driving controller (ADS).

[0070] In some embodiments, in autonomous driving mode, the VCU is prohibited from responding to the driver's gear shifting request; if the current mode is a driverless mode (NVO mode) that suppresses driver intervention, the VCU only responds to the drive torque request from the ADS and ignores the driver's input to the accelerator pedal; if the current mode is a driver-enabled mode (VO mode) that allows driver intervention, when the depth of the driver's intervention on the accelerator pedal is detected to reach a preset threshold, the VCU temporarily interrupts the response to the ADS drive torque request and instead responds to the driver's accelerator pedal operation; after the driver's intervention is released, the response to the ADS drive torque request is resumed.

[0071] In some embodiments, VO mode allows the driver to intervene in the vehicle, while NVO mode blocks all kinds of driver intervention.

[0072] In the above embodiments, the method can formulate differentiated torque request response strategies for two modes: with a driver and without a driver. In the mode with a driver, it takes into account the needs of intelligent driving control and the driver's active intervention, and realizes a smooth switch between human and machine control. In the mode without a driver, it relies entirely on the intelligent driving controller to perform operations, shielding invalid driver input interference, and ensuring accurate adaptation and stable execution of autonomous driving control logic in different scenarios.

[0073] In some embodiments, the vehicle is controlled to perform corresponding safety control operations based on the vehicle's fault detection status, including: When a fault is detected in the vehicle's powertrain system or a communication failure exists between the vehicle and the intelligent driving controller, the autonomous driving system will be switched from an active state to a degraded state. In downgraded mode, the vehicle's speed is limited based on a preset speed limit threshold; Perform fault diagnosis on the vehicle's powertrain system to obtain the fault type, and determine the fault level based on the fault type; Perform appropriate safety procedures based on the fault level and the current autonomous driving mode.

[0074] In some embodiments, the conditions for switching from the active state to the degraded state are: a fault occurs in the vehicle powertrain system that affects the autonomous driving function, or a communication failure occurs between the vehicle controller (VCU) and the intelligent driving controller (ADS).

[0075] In some embodiments, when the autonomous driving system transitions to a degraded state, it indicates a vehicle malfunction, and the autonomous driving system enters a degraded operation mode. To ensure occupant safety, the VCU imposes a speed limit constraint on the ADS, restricting the maximum driving speed to 60 kph; simultaneously, the ADS must execute a fault backup process under safe conditions and report the vehicle fault information to the back-end management system. In this state, the vehicle must be inspected on-site by maintenance personnel, and only after confirming that the vehicle condition has returned to normal can it re-enter the autonomous driving mode (AD mode).

[0076] In some embodiments, the VCU further classifies powertrain system faults and classifies fault levels according to fault type, and synchronizes the current vehicle fault information to the ADS, so that the ADS can perform corresponding fault handling operations based on the fault level and the current autonomous driving condition.

[0077] In some embodiments, the specific fault classification and handling strategies are as follows: Level 1 fault: Defined as a power-limiting fault in the powertrain system, including electrical power faults, speed limit faults, limp-drive faults, etc. If currently in driver-enabled mode (VO mode), ADS issues a takeover request to the safety driver and continues to control the vehicle until the driver completes the takeover and exits the autonomous driving mode; if currently in driverless mode (NVO mode), ADS executes the fallback safety strategy, controls the vehicle to a safe location, exits the autonomous driving mode, and switches to manual mode.

[0078] Level 2 fault: Defined as a specific fault in the powertrain system that requires a power-down process within a specified time. Upon triggering such a fault, the VCU synchronizes the fault information to the ADS. If the current system is in driver-enabled mode (VO mode), the ADS sends a takeover request to the safety driver, requiring them to bring the vehicle to a stop within a specified time and exit the autonomous driving mode after responding to the takeover request. If the current system is in driverless mode (NVO mode), the ADS, based on the premise of "power-down after a specified time," executes a fallback safety strategy, controlling the vehicle to a safe location before exiting the autonomous driving mode.

[0079] Level 3 faults are defined as emergency power failures or loss of power. These faults are of a high severity and pose a significant risk of sudden occurrence, leaving insufficient time for the ADS to execute complex fault handling procedures. If the current driver-enabled mode (VO mode) is engaged, the ADS sends a takeover request to the safety operator and immediately stops the vehicle. After responding to the takeover operation, it exits the autonomous driving mode. If the current driverless mode (NVO mode) is engaged, the ADS performs an emergency stop operation based on the premise of "immediate power failure," and exits the autonomous driving mode after completing the stop.

[0080] In the above embodiments, when a vehicle experiences a powertrain system failure or a communication failure with the intelligent driving controller, the method can quickly switch the autonomous driving system to a degraded state and execute speed limit control. At the same time, it combines the fault diagnosis results to determine the fault type and level, and then matches the current autonomous driving mode to perform targeted safety handling operations, forming a closed-loop safety management process of "fault detection - state switching - graded handling", minimizing the impact of faults on vehicle operation and ensuring the safety and controllability of the autonomous driving process.

[0081] In some embodiments, the method further includes: When the autonomous driving system is in a degraded state, if it receives an autonomous driving exit request from the intelligent driving controller, or if it completely loses communication with the intelligent driving controller, the autonomous driving system will switch from the degraded state to the unavailable state. When the autonomous driving system is in standby mode, if a communication anomaly is detected with the intelligent driving controller, or if a fault occurs in the vehicle's powertrain system, the autonomous driving system will be switched from standby mode to unavailable mode. When the autonomous driving system becomes unavailable, exit autonomous driving mode control.

[0082] In some embodiments, the conditions for switching from the standby state to the unavailable state are: abnormal communication between the vehicle controller (VCU) and the intelligent driving controller (ADS), or a malfunction in the vehicle powertrain system.

[0083] In some embodiments, the conditions for switching from the Degraded state to the Unavailable state are: the Autopilot Controller (ADS) sends a request to the Vehicle Controller (VCU) to exit the Autopilot Mode (AD mode), or communication between the VCU and ADS is completely lost.

[0084] In the above embodiments, the method can set clear state switching trigger conditions for different operating states (degraded, standby) of the autonomous driving system. Once communication abnormalities, system failures or exit requests are detected, the system is immediately switched to an unavailable state and exits autonomous driving control, thereby forming a closed loop of state safety management throughout the entire process, avoiding the system from continuing to operate under abnormal conditions, and further improving the safety redundancy and operational controllability of the autonomous driving system.

[0085] Figure 4 A schematic diagram of an autonomous driving mode control device is shown. It should be understood that this device is related to... Figure 1 The method executed in the middle corresponds to the steps involved in the aforementioned method. The specific functions and effects of the device can be found in the description above. To avoid repetition, detailed descriptions are omitted here.

[0086] The autonomous driving mode control device includes: The determining unit 210 is used to determine the current autonomous driving mode of the vehicle after the autonomous driving system state is set to an unavailable state by default; wherein the current autonomous driving mode is either a driver-enabled mode or a driverless mode. The switching unit 220 is used to switch the state of the autonomous driving system to standby state when the standby conditions are met. Locking unit 230 is used to lock the current autonomous driving mode; The switching unit 220 is also used to switch the autonomous driving system to the active state if the activation conditions are met while in the standby state. The driving control unit 240 is used to perform corresponding automatic driving control on the vehicle according to the current automatic driving mode, and to prohibit responding to the driver's input gear shifting request. The safety control unit 250, when activated, controls the vehicle to perform corresponding safety control operations based on the vehicle's fault detection status.

[0087] In some embodiments, the determining unit 210 is specifically configured to determine the current autonomous driving mode of the vehicle by setting the autonomous driving system state to an unavailable state by default after the vehicle is powered on and initialized.

[0088] In some embodiments, the determining unit 210 is specifically configured to receive an autonomous driving mode request sent by the intelligent driving controller, and determine the current autonomous driving mode of the vehicle based on the autonomous driving mode request.

[0089] In some embodiments, the switching unit 220 is specifically used to determine that the standby conditions are met and switch the autonomous driving system state to standby state after the determining unit 210 determines the current autonomous driving mode of the vehicle, when it detects that the intelligent driving controller has no communication fault, the vehicle powertrain system has no fault, and the current autonomous driving mode is a driver-enabled mode or a driverless mode.

[0090] In some embodiments, the switching unit 220 is specifically used to determine that the activation conditions are met and switch the autonomous driving system state to the active state if no brake pedal control command input by the driver is detected in the standby state after the locking unit 230 locks the current autonomous driving mode and the intelligent driving controller sends a request to enter the autonomous driving mode.

[0091] In some embodiments, the driving control unit 240 includes: The response subunit 241 is used to respond to the drive torque request sent by the intelligent driving controller with the highest priority when the current autonomous driving mode is the driver-in-charge mode. The response subunit 241 is also configured to interrupt the response to the drive torque request and respond to the intervention control operation of the accelerator pedal when the intervention control depth of the accelerator pedal input by the driver is detected to reach a preset depth threshold. The recovery subunit 242 is used to restore the response to the drive torque request after detecting that the intervention control operation of the accelerator pedal has been released; The response subunit 241 is also configured to respond only to the drive torque request sent by the intelligent driving controller when the current autonomous driving mode is driverless mode, and not to respond to the accelerator pedal operation input by the driver.

[0092] In some embodiments, the safety control unit 250 includes: The switching subunit 251 is used to switch the state of the autonomous driving system from the active state to the degraded state when a fault is detected in the powertrain system of the vehicle or a communication fault exists between the system and the intelligent driving controller. Control subunit 252 is used to control the speed of the vehicle according to a preset speed limit threshold in a degraded state; The diagnostic subunit 253 is used to diagnose faults in the vehicle's powertrain system, obtain the fault type, and determine the fault level based on the fault type. The control subunit 252 is also used to perform corresponding safety handling operations based on the fault level and the current autonomous driving mode.

[0093] In some embodiments, the safety control unit 250 further includes: The switching subunit 251 is also used to switch the autonomous driving system state from the degraded state to the unavailable state when the autonomous driving system state is in the degraded state and receives an autonomous driving exit request sent by the intelligent driving controller, or when the communication with the intelligent driving controller is completely lost. The switching subunit 251 is also used to switch the autonomous driving system from standby to unavailable state when an abnormal communication with the intelligent driving controller is detected or a fault occurs in the vehicle's powertrain system while the autonomous driving system is in standby state. The control subunit 252 is also used to exit the autonomous driving mode control when the autonomous driving system state switches to an unavailable state.

[0094] like Figure 5 As shown, this application provides an electronic device 300, which includes a processor 301 and a memory 302. The processor 301 and the memory 302 are interconnected and communicate with each other through a communication bus 303 and / or other forms of connection mechanism (not shown). The memory 302 stores a computer program that can be executed by the processor 301. When the computing device is running, the processor 301 executes the computer program to perform the method in any of the aforementioned optional implementations.

[0095] This application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the method in any of the aforementioned optional implementations.

[0096] The computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0097] This application provides a computer program product, which includes a computer program that, when run by a processor, executes the method in any of the aforementioned optional implementations.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. An automatic driving mode control method, characterized in that, include: After the autonomous driving system is set to an unavailable state by default, the current autonomous driving mode of the vehicle is determined; wherein, the current autonomous driving mode is either a driver-enabled mode or a driverless mode. When the standby conditions are met, the autonomous driving system is switched to standby mode, and the current autonomous driving mode is locked. In the standby state, if the activation conditions are met, the autonomous driving system will be switched to the active state, and the vehicle will be controlled accordingly according to the current autonomous driving mode, while the driver's input gear shifting request will be prohibited from being responded to. In the activated state, the vehicle is controlled to perform corresponding safety control operations based on the vehicle's fault detection status; Determining the vehicle's current autonomous driving mode includes: Receive an autonomous driving mode request sent by the intelligent driving controller, and determine the current autonomous driving mode of the vehicle based on the autonomous driving mode request; The step of performing corresponding autonomous driving control on the vehicle according to the current autonomous driving mode includes: If the current autonomous driving mode is a driver-enabled mode, then the drive torque request sent by the intelligent driving controller will be responded to with the highest priority. When the driver's input accelerator pedal intervention control depth is detected to reach a preset depth threshold, the response to the drive torque request is interrupted, and the intervention control operation on the accelerator pedal is responded to. After detecting that the intervention control operation of the accelerator pedal has been released, the response to the drive torque request is resumed; If the current autonomous driving mode is driverless mode, it will only respond to the drive torque request sent by the intelligent driving controller and will not respond to the accelerator pedal operation input by the driver.

2. The autonomous driving mode control method according to claim 1, characterized in that, The method further includes: After the vehicle is powered on and initialized, the autonomous driving system status is set to unavailable by default, and the step of determining the current autonomous driving mode of the vehicle is executed.

3. The autonomous driving mode control method according to claim 1, characterized in that, After determining the vehicle's current autonomous driving mode, the method further includes: When it is detected that the intelligent driving controller has no communication fault, the vehicle powertrain system has no fault, and the current autonomous driving mode is either driver-enabled or driverless, the standby conditions are determined to be met, and the step of switching the autonomous driving system state to standby state is executed.

4. The automatic driving mode control method according to claim 1, characterized in that, After locking the current autonomous driving mode, the method further includes: In the standby state, if no brake pedal control command input by the driver is detected, and a request to enter the autonomous driving mode is received from the intelligent driving controller, then the activation conditions are determined to be met, and the step of switching the autonomous driving system state to the active state is executed.

5. The autonomous driving mode control method according to claim 1, characterized in that, The method of controlling the vehicle to perform corresponding safety control operations based on the vehicle's fault detection includes: When a fault is detected in the vehicle's powertrain system or a communication failure exists between the vehicle and the intelligent driving controller, the autonomous driving system state is switched from the active state to the degraded state. In the degraded state, the vehicle speed is limited according to a preset speed limit threshold; The vehicle's powertrain system is diagnosed to determine the fault type and the fault level based on the fault type. Perform appropriate safety procedures based on the fault level and the current autonomous driving mode.

6. The autonomous driving mode control method according to claim 1, characterized in that, The method further includes: When the autonomous driving system is in a degraded state, if it receives an autonomous driving exit request from the intelligent driving controller, or if it completely loses communication with the intelligent driving controller, the autonomous driving system will switch from the degraded state to the unavailable state. When the autonomous driving system is in standby mode, if a communication anomaly is detected with the intelligent driving controller, or if a fault occurs in the vehicle's powertrain system, the autonomous driving system will be switched from standby mode to unavailable mode. When the autonomous driving system becomes unavailable, exit autonomous driving mode control.

7. An automatic driving mode control device, characterized in that, The autonomous driving mode control device includes: The determining unit is used to determine the current autonomous driving mode of the vehicle after the autonomous driving system state is set to an unavailable state by default; wherein the current autonomous driving mode is a driver-enabled mode or a driverless mode; The switching unit is used to switch the autonomous driving system to standby state when the standby conditions are met. A locking unit is used to lock the current autonomous driving mode; The switching unit is also used to switch the autonomous driving system state to the active state if the activation conditions are met in the standby state. The driving control unit is used to perform corresponding automatic driving control on the vehicle according to the current automatic driving mode, and to prohibit responding to the driver's input gear shifting request. The safety control unit is used to control the vehicle to perform corresponding safety control operations based on the vehicle's fault detection status in the activated state. Specifically, the determining unit is used to receive an autonomous driving mode request sent by the intelligent driving controller, and determine the current autonomous driving mode of the vehicle based on the autonomous driving mode request. The driving control unit includes: The response subunit is configured to respond to the drive torque request sent by the intelligent driving controller with the highest priority when the current autonomous driving mode is a driver-enabled mode. The response subunit is also configured to interrupt the response to the drive torque request and respond to the intervention control operation of the accelerator pedal when the intervention control depth of the accelerator pedal input by the driver is detected to reach a preset depth threshold. The recovery subunit is used to restore the response to the drive torque request after detecting that the intervention control operation of the accelerator pedal has been released; The response subunit is also configured to, when the current autonomous driving mode is driverless mode, only respond to the drive torque request sent by the intelligent driving controller, and not respond to the accelerator pedal operation input by the driver.

8. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory being used to store a computer program, and the processor running the computer program to cause the electronic device to perform the autonomous driving mode control method according to any one of claims 1 to 6.

9. A readable storage medium, characterized in that, The readable storage medium stores a computer program, which, when executed by a processor, performs the autonomous driving mode control method according to any one of claims 1 to 6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, performs the autonomous driving mode control method according to any one of claims 1 to 6.

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