Method for managing driving mode of intelligent driving automobile and automobile

Abstract

The invention discloses a driving mode management method for an intelligent driving automobile. The method comprises a manual driving mode, an automatic driving mode and a background control mode. Wherein in the manual driving mode, a manual vehicle control signal is received to control the vehicle; in the automatic driving mode, an intelligent driving control signal is received to control the vehicle; in the background control mode, a remote background operation vehicle signal is received to control the vehicle; controlling the manual driving mode to be switched to the automatic driving mode through a preset first judgment condition; and controlling the automatic driving mode to be switched to the background control mode through a preset second judgment condition. The method has the advantages that the driving risk generated under the condition that the user is distracted or sleeps in the auxiliary driving mode is reduced, and the reliability of auxiliary driving is improved. Three driving modes of manual driving, auxiliary driving and remote control are set for the automobile, and an interactive switching strategy among the driving modes is designed, so that the driving safety is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving, and in particular to a method for managing driving modes in intelligent driving vehicles and a vehicle thereof. Background Technology

[0002] The level of autonomous driving is constantly improving. Currently, most manufacturers' cars are at the L1 / L2 level, providing assisted driving functions. Breakthroughs in key technologies, such as sensor technology, artificial intelligence algorithms, big data processing, and 5G communication, have significantly improved the perception, decision-making, and control capabilities of autonomous driving systems. However, autonomous driving still cannot reach L3 or higher. Furthermore, with current technology, drivers often over-rely on assisted driving systems. For example, many accidents occur because drivers believe the system can handle all situations and neglect supervision, leading to distraction or delayed reactions, ultimately causing traffic accidents.

[0003] In existing technologies, common vehicle operating modes include manual mode and autonomous driving mode. In manual mode, the driver controls the vehicle, while in autonomous driving mode, the intelligent driving system controls the vehicle and the driver provides assistance. Although these two modes can effectively improve driving safety, they still cannot meet the needs of some drivers who are distracted or fall asleep in autonomous driving mode, which can lead to traffic accidents caused by assisted driving. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method and vehicle for managing the driving mode of an intelligent driving vehicle, which reduces the driving risks caused by user distraction or sleep in assisted driving mode and improves the reliability of assisted driving.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A method for managing the driving modes of an intelligent driving vehicle includes setting a manual driving mode, an autonomous driving mode, and a background control mode; wherein in the manual driving mode, the vehicle is controlled by receiving signals from a human operator; in the autonomous driving mode, the vehicle is controlled by receiving intelligent driving control signals; and in the background control mode, the vehicle is controlled by receiving signals from a remote background operator.

[0007] The system controls the switching from manual driving mode to autonomous driving mode based on a first preset condition; and controls the switching from autonomous driving mode to background control mode based on a second preset condition.

[0008] In the aforementioned background control mode, a remote server controls the vehicle and sends the control data to the vehicle via the network to execute vehicle control.

[0009] The system inputs switching condition data through the human-computer interaction module. Based on the input switching condition data, it determines whether the first judgment condition is met. If the condition is met, the system switches from manual driving mode to automatic driving mode.

[0010] When the vehicle is in autonomous driving mode, the current driver status and vehicle status data are monitored in real time. Based on the driver status and vehicle status data, it is determined whether the second judgment condition is met. If the second judgment condition is met, the vehicle mode is switched to background control mode.

[0011] In autonomous driving mode, the driver's status data is monitored in real time to determine whether the current driver's status meets the requirements of autonomous driving mode; if not, the vehicle status data is used to determine whether the conditions required for background control mode are met; if they are met, the system switches to background control mode.

[0012] In autonomous driving mode, the DMS system and steering wheel force feedback monitoring are used to identify whether the driver is in a state of being unable to control the vehicle. If so, the driver state does not meet the requirements of autonomous driving mode.

[0013] Determining whether the conditions required for the background control mode are met based on vehicle status data includes analyzing and identifying the current communication status and statistically identifying the traffic flow in the current driving environment of the vehicle.

[0014] When the traffic volume exceeds the set threshold and the communication status meets the requirements of the background control mode, switch to the background control mode; otherwise, switching is prohibited.

[0015] When the traffic flow is less than the set threshold or the communication status does not meet the requirements of the background control mode, a pull-to-the-side command is generated and set as the highest priority. The intelligent driving system executes the pull-to-the-side command and completes the pull-to-the-side parking.

[0016] When controlling the vehicle in intelligent driving mode and background control mode, the driver's operation signals are monitored in real time. Once the driver's operation signal is detected, the current mode is immediately exited and manual control mode is entered.

[0017] An automobile that uses the method to manage driving modes.

[0018] The advantages of this invention are: it reduces driving risks caused by user distraction or drowsiness in assisted driving mode, thus improving the reliability of assisted driving. It sets three driving modes for the car: manual driving, assisted driving, and remote control, and designs an interaction switching strategy between these modes to improve driving safety. Attached Figure Description

[0019] The following is a brief explanation of the contents of each of the accompanying drawings and the markings in the drawings:

[0020] Figure 1 This is a flowchart illustrating the driving mode switching process of the present invention.

[0021] Figure 2 This is a diagram showing the driving mode transitions of the present invention. Detailed Implementation

[0022] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and the description of the preferred embodiments.

[0023] The intelligent driving vehicle driving mode management method provided in this embodiment adds a DMS system and steering wheel force detection. When driver distraction is detected or no steering wheel force feedback is detected for 10 seconds, the steering wheel vibrates and an alarm sound is emitted to prompt the driver to monitor the vehicle status. At the same time, the alarm information is uploaded to the background monitoring platform, prompting the background monitoring personnel to pay attention to and take over the vehicle in a timely manner, and control the vehicle to slow down and stop safely at the side of the road. If the background and the driver take over the vehicle at the same time, the driver's control will be responded to first. Since this patent design has the function of remotely controlling the vehicle from the background, the addition of background monitoring function during autonomous driving increases the safety of vehicle operation without changing the overall system structure.

[0024] This patent discloses a method for managing driving modes in intelligent driving vehicles. It adds a background monitoring system to the vehicle management system, providing an extra layer of protection for the safe operation of the vehicle. The specific management method is as follows:

[0025] 1. In manual driving mode, when the driver is distracted, fatigued, or unable to control the vehicle due to physical conditions, the vehicle will analyze the above dangerous driving behaviors through the DMS system and steering wheel force feedback monitoring system, and promptly upload the dangerous driving signal to the back-end system. Back-end personnel will immediately monitor the vehicle's operating status, and if necessary, send a back-end takeover request. At the same time, the instrument panel will remind the driver to pay attention to driving safety and control the vehicle. If the driver still cannot control the vehicle after 2 seconds, the vehicle will enter remote driving mode and the instrument panel will indicate that the vehicle has entered remote driving mode, temporarily taking over the control of the vehicle and driving it to a safe place to park.

[0026] 2. In autonomous driving mode, when the autonomous driving system is operating on complex road sections or malfunctions, and the autonomous driving system is unable to control the vehicle, the vehicle actively sends a request to the backend to take over the vehicle. The backend personnel then control the vehicle to enter remote driving mode and display a message on the instrument panel indicating that the vehicle has entered remote driving mode. They temporarily take over the control of the vehicle and control its movement until the autonomous driving system can continue to control the vehicle. At this point, the vehicle actively sends a request to enter autonomous driving mode, and the backend personnel transfer the control of the vehicle back to the autonomous driving system.

[0027] 3. When the driver activates the autonomous driving mode in the car, there may be instances where the driver over-trusts the intelligent driving system and neglects to monitor the vehicle's operating status. This could lead to the driver being unable to take over the vehicle in time when problems arise with the intelligent driving system or when manual intervention is required to handle complex road conditions. In such cases, the intelligent driving system will remind the driver to take over and simultaneously send a takeover request to the backend monitoring system. Upon receiving the request, the backend personnel will immediately take control of the vehicle by entering remote driving mode, controlling the vehicle and displaying that the vehicle is in remote driving mode. The system will also continuously remind the driver to pay attention to the vehicle's operating environment and take over the vehicle in a timely manner. Once the driver has control of the vehicle, it will immediately switch to manual driving mode.

[0028] like Figure 1 , 2 As shown, the vehicle's mode switching process is as follows: When the vehicle is woken up, it defaults to the preparation mode. Then, it checks for the presence of a key ON signal. If there is no ON signal, it remains in the preparation mode and continues to check for the ON signal. If a key ON signal is detected, it switches to the manual mode. In the manual mode, it checks for requests to enter autonomous driving / remote driving / control driving. If a relevant request is received, it enters the corresponding driving mode and continues to check for the presence of the request signal. If the request signal disappears, it switches to checking for the presence of a key ON signal. If a key signal is received, it enters the manual driving mode; otherwise, it enters the preparation mode and waits for the vehicle to go into sleep mode.

[0029] This embodiment has multiple modes, including six driving modules: standby mode, manual control mode, automatic driving mode, remote control mode, background control mode, and emergency mode. Figure 2 The diagram shown illustrates the switching relationships between different driving modes.

[0030] The ready mode is the mode when the car is running, at which point the vehicle is stationary.

[0031] The manual control mode is a state in which the vehicle is controlled by manual control signals. In this state, manual control signals are executed, such as steering wheel rotation signals, brake and accelerator signals, etc.

[0032] Autonomous driving mode refers to the vehicle being under the control of the intelligent driving system, where the vehicle's movement is controlled by the intelligent driving system. Background control mode refers to receiving signals from a remote background system to control the vehicle. Emergency mode refers to the vehicle undergoing emergency braking when emergency commands, switches, or other signals are triggered; in this mode, the vehicle is controlled by executing emergency braking commands. Remote control mode refers to remotely controlling the vehicle to move slowly via a mobile app, suitable for scenarios such as parking.

[0033] The switching conditions between the above modes are as follows:

[0034] Entering preparation mode: The vehicle enters preparation mode by default after being woken up.

[0035] To switch from ready mode to manual mode, all of the following conditions must be met: 1. There is an ON signal; 2. The gear is in N gear.

[0036] To switch from manual mode to ready mode, one of the following conditions must be met: 1. The vehicle is stationary and there is no key ON signal.

[0037] The following conditions must be met before switching from preparation mode to remote control mode: 1. Emergency stop switch not pressed; 2. Request signal to enter remote control mode; 3. Vehicle stationary; 4. No malfunction affecting remote driving; 5. Gear in neutral (N); 6. Driver and passenger doors closed; 7. Charging device not connected; 8. Front and rear bumper bars not triggered.

[0038] The following conditions must be met before switching from preparation mode to background control mode: 1. Emergency stop switch not pressed; 2. Request signal to enter background control; 3. Vehicle stationary; 4. No malfunction affecting background control driving; 5. Driver and passenger doors closed; 6. Charging gun not connected; 7. Front and rear anti-collision bars not triggered.

[0039] The following conditions must be met before transitioning from preparation mode to autonomous driving mode: 1. Emergency stop switch not pressed; 2. Request signal to enter autonomous driving mode; 3. Vehicle stationary; 4. No vehicle malfunction affecting autonomous driving; 5. Driver and passenger doors closed; 6. Charging device not connected; 7. Front and rear bumper bars not triggered.

[0040] The following conditions must be met for the remote control mode to switch to the ready mode: 1. Keyless ON signal; 2. Vehicle stationary; 3. No autonomous driving request signal in autonomous driving mode.

[0041] The following conditions must be met for the background control mode to switch to the ready mode: 1. Keyless ON signal; 2. Vehicle stationary; 3. No background control request signal in background control mode.

[0042] The following conditions must be met for the vehicle to transition from autonomous driving mode to ready mode: 1. Keyless entry signal; 2. Vehicle is stationary; 3. No autonomous driving request signal in autonomous driving mode.

[0043] To switch from manual mode to remote control mode, all of the following conditions must be met: 1. Emergency stop switch not pressed; 2. Remote driving request signal received; 3. Front and rear anti-collision bars not triggered; 4. Vehicle stationary; 5. No vehicle malfunction affecting remote driving; 6. Driver and passenger doors closed; 7. Charging device not connected; 8. Gear in neutral (N).

[0044] To switch from manual mode to background control mode, all of the following conditions must be met: 1. The emergency stop switch has not been pressed; 2. A remote driving request has been made; 3. The front and rear anti-collision bars have not been triggered; 4. There are no malfunctions in the vehicle that would affect remote driving; 5. The driver and passenger doors are closed; 6. The charging gun is not plugged in.

[0045] The following conditions must be met to switch from manual mode to autonomous driving mode: 1. Emergency stop switch not pressed; 2. Autonomous driving request received; 3. Front and rear anti-collision bars not triggered; 4. No vehicle malfunction affecting autonomous driving; 5. Driver and passenger doors closed; 6. Charging gun not plugged in.

[0046] To switch from manual driving / back-end control mode / autonomous driving mode to manual mode, one of the following conditions must be met: 1. Accelerator pedal opening > 10%; 2. Brake pedal depressed; 3. Manual intervention with steering wheel; 4. No auto driving request in autonomous driving mode / no remote driving request in remote driving mode / no remote control request signal and an "on" signal in remote control mode; 5. Driver and passenger doors open and vehicle stationary.

[0047] The following conditions must be met before switching from manual driving / back-end control mode / autonomous driving mode to emergency mode: 1. Vehicle level 4 fault; 2. Vehicle level 3 fault and vehicle stationary; 3. Vehicle level 3 fault during automatic driving mode / vehicle level 3 fault during remote driving mode / vehicle level 3 fault during remote driving mode; 4. Vehicle is moving and (no automatic driving request in automatic driving mode / no remote driving request in remote driving mode / no remote control request signal in remote control mode); 5. Emergency stop switch is pressed; 6. Driver and passenger doors are opened while the vehicle is moving; 7. Front / rear bumper is triggered.

[0048] To switch from emergency mode to manual mode, one of the following conditions must be met: 1. Accelerator pedal opening > 10%; 2. Brake pedal depressed; 3. Manual intervention via steering wheel; 4. Vehicle stationary, EPB engaged, and emergency stop switch not pressed.

[0049] The following conditions must be met for the vehicle to switch from emergency mode to ready mode: 1. The vehicle is stationary and there is no ON signal and the EPB is engaged; 2. The emergency stop switch has not been pressed.

[0050] The following conditions must be met for the automatic driving mode to switch to background control mode: 1. There are no malfunctions affecting the background control mode; 2. There is a request signal to enter background control mode.

[0051] The following conditions must be met for the vehicle to switch from autonomous driving mode to remote control mode: 1. The vehicle is stationary; 2. There are no malfunctions affecting remote control mode; 3. There is a request signal to enter remote control mode.

[0052] The following conditions must be met for the system to switch from background control mode to autonomous driving mode: 1. There are no malfunctions affecting autonomous driving mode; 2. There is a request signal to enter driverless mode.

[0053] To switch from background control mode to remote control mode, all of the following conditions must be met: 1. The vehicle is stationary; 2. There are no malfunctions affecting remote control mode; 3. There is a request signal to enter remote control mode.

[0054] To switch from remote control mode to background control mode, all of the following conditions must be met: 1. The vehicle is stationary; 2. There are no malfunctions affecting background control mode; 3. There is a request signal to enter background control mode.

[0055] The following conditions must be met for the vehicle to switch from remote control mode to autonomous driving mode: 1. The vehicle is stationary; 2. There is no malfunction affecting autonomous driving mode; 3. There is a request signal to enter driverless mode.

[0056] This embodiment of a method for managing the driving modes of an intelligent driving vehicle includes setting a manual driving mode, an autonomous driving mode, and a background control mode; wherein in the manual driving mode, the vehicle is controlled by receiving a signal from a human operator; in the autonomous driving mode, the vehicle is controlled by receiving a signal from an intelligent driving control system; and in the background control mode, the vehicle is controlled by receiving a signal from a remote background operator.

[0057] The system switches from manual driving mode to autonomous driving mode based on a first preset condition; and switches from autonomous driving mode to background control mode based on a second preset condition. In background control mode, a remote server controls the vehicle and sends control data to the vehicle via the network to execute vehicle controls.

[0058] In this embodiment, switching condition data is input through a human-computer interaction module. Based on the input switching condition data, it is determined whether the first judgment condition is met. If the first judgment condition is met, the manual driving mode is switched to the autonomous driving mode. When the vehicle is in autonomous driving mode, the current driver status and vehicle status data are monitored in real time. Based on the driver status and vehicle status data, it is determined whether the second judgment condition is met. If the second judgment condition is met, the vehicle mode is switched to the background control mode.

[0059] In autonomous driving mode, the system monitors the driver's status data in real time to determine if the driver's current state meets the requirements for autonomous driving mode. If not, it further determines whether the conditions required for background control mode are met based on vehicle status data. If they are met, it switches to background control mode. In autonomous driving mode, the system uses the DMS system and steering wheel force feedback monitoring to identify whether the driver is in a state of being unable to control the vehicle. If so, the driver's state does not meet the requirements for autonomous driving mode.

[0060] The system determines whether the conditions for background control mode are met based on vehicle status data. This includes analyzing and identifying the current communication status and the traffic flow in the current driving environment. When the traffic flow exceeds a set threshold and the communication status meets the requirements for background control mode, the system switches to background control mode; otherwise, switching is prohibited. If the traffic flow is less than the set threshold or the communication status does not meet the requirements for background control mode, a pullover command is generated and set as the highest priority. The intelligent driving system executes the pullover command and completes the pullover. The system determines whether autonomous driving can perform the pullover based on traffic flow to ensure safety. If the traffic flow is too high, remote control is required to switch to background control mode for safe driving purposes.

[0061] In this embodiment, the driver's control signals have the highest priority. When controlling the vehicle in intelligent driving mode and background control mode, the driver's control signals are monitored in real time. Once a driver control signal is detected, the current mode is immediately exited and manual control mode is entered. As the primary operator of the vehicle, once the driver regains consciousness, the driver's control signals take precedence, and the driver's control information is executed first.

[0062] In autonomous driving mode, to prevent user fatigue, drowsiness, or loss of control over the system, this embodiment employs an interactive logic. Interactive tasks are periodically issued via the in-vehicle display and voice system. The driver's state is assessed based on the completion of these tasks. If the task is incomplete, the driver is deemed distracted, and the task is retried. If both tasks fail, the system switches to remote control mode. Interactive tasks include displaying text on the in-vehicle display (instrument panel) and instructing the driver to read it aloud. The voice system captures the driver's voice and compares the text in the driver's speech with the text on the display. If the text matches and the driver's voice volume exceeds a set threshold, the autonomous driving mode is maintained. Because the interactive tasks are timed, such as generating one every hour or half hour, the driver can alleviate fatigue or regain alertness while performing these tasks. For example, if the interactive task involves reading the text displayed on the screen aloud, it can have a certain sobering effect on the driver. The in-vehicle voice interaction system uses voice recognition to determine whether the user's voice-recognized text matches the text to be read aloud, and whether the voice volume exceeds the set requirements. If all conditions are met, the autonomous driving mode is maintained. This interactive task method can detect whether the driver is distracted or fatigued, and it can also relieve driver fatigue and keep the driver alert, preventing numbness and fatigue that may develop over a long period of time.

[0063] This embodiment also provides a vehicle that uses the method described in the above embodiments to manage driving modes. This vehicle includes all the features of the methods described in the above embodiments, and therefore also possesses technical advantages such as reducing driving risks arising from user distraction or drowsiness in assisted driving modes, and improving the reliability of assisted driving.

[0064] Obviously, the specific implementation of this invention is not limited to the above-described methods. Any non-substantial improvements made using the inventive concept and technical solution of this invention are within the protection scope of this invention.

Claims

1. A method for managing driving modes in an intelligent driving vehicle, characterized in that: This includes the option to set up a manual driving mode, an automatic driving mode, and a background control mode; In manual driving mode, the vehicle is controlled by receiving signals from a human operator; in autonomous driving mode, the vehicle is controlled by receiving intelligent driving control signals. In background control mode, the vehicle can be controlled by receiving signals from the remote background control system. The system controls the switching from manual driving mode to autonomous driving mode based on a preset first judgment condition; and controls the switching from autonomous driving mode to background control mode based on a preset second judgment condition.

2. The method for managing driving modes of an intelligent driving vehicle as described in claim 1, characterized in that: In the aforementioned background control mode, a remote server controls the vehicle and sends the control data to the vehicle via the network to execute vehicle control.

3. The method for managing driving modes of an intelligent driving vehicle as described in claim 1, characterized in that: The system inputs switching condition data through the human-computer interaction module. Based on the input switching condition data, it determines whether the first judgment condition is met. If the condition is met, the system switches from manual driving mode to automatic driving mode.

4. A method for managing driving modes of an intelligent driving vehicle as described in claim 1 or 3, characterized in that: When the vehicle is in autonomous driving mode, the current driver status and vehicle status data are monitored in real time. Based on the driver status and vehicle status data, it is determined whether the second judgment condition is met. If the second judgment condition is met, the vehicle mode is switched to background control mode.

5. The method for managing driving modes of an intelligent driving vehicle as described in claim 4, characterized in that: In autonomous driving mode, the driver's status data is monitored in real time to determine whether the current driver's status meets the requirements of autonomous driving mode; if not, the vehicle status data is used to determine whether the conditions required for background control mode are met; if they are met, the system switches to background control mode.

6. The method for managing driving modes of an intelligent driving vehicle as described in claim 5, characterized in that: In autonomous driving mode, the DMS system and steering wheel force feedback monitoring are used to identify whether the driver is in a state of being unable to control the vehicle. If so, the driver state does not meet the requirements of autonomous driving mode.

7. The method for managing driving modes of an intelligent driving vehicle as described in claim 6, characterized in that: Determining whether the conditions required for the background control mode are met based on vehicle status data includes analyzing and identifying the current communication status and statistically identifying the traffic flow in the current driving environment of the vehicle. When the traffic volume exceeds the set threshold and the communication status meets the requirements of the background control mode, switch to the background control mode; otherwise, switching is prohibited.

8. The method for managing driving modes of an intelligent driving vehicle as described in claim 7, characterized in that: When the traffic flow is less than the set threshold or the communication status does not meet the requirements of the background control mode, a pull-to-the-side command is generated and set as the highest priority. The intelligent driving system executes the pull-to-the-side command and completes the pull-to-the-side parking.

9. The method for managing driving modes of an intelligent driving vehicle as described in claim 8, characterized in that: When controlling the vehicle in intelligent driving mode and background control mode, the driver's operation signals are monitored in real time. Once the driver's operation signal is detected, the current mode is immediately exited and manual control mode is entered.

10. A car, characterized in that: The vehicle uses the method described in any one of claims 1-9 to manage driving modes.

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