Vehicle control method, computer program product and electronic device

Abstract

The invention provides a vehicle control method, a computer program product and electronic equipment, and according to the vehicle control method provided by the invention, after a first driving assistance function of a vehicle is activated, if a recoverable degradation condition of the first driving assistance function is identified to be satisfied, the vehicle is started to recover the recoverable degradation condition. If yes, a second driving auxiliary function of the vehicle can be operated to perform driving control on the vehicle; wherein the driving automation level of the second driving assistance function can be lower than the driving automation level of the first driving assistance function; and when the duration that the recoverable degradation condition is met is longer than the first duration, or within the first duration that the second driving auxiliary function is operated to perform driving control on the vehicle, identifying that the second driving auxiliary function is changed from the activated state to the inactivated state, and identifying that the second driving auxiliary function is changed from the activated state to the inactivated state. After at least one condition that other operation conditions of the first driving auxiliary function are not met occurs, degradation processing condition information for the first driving auxiliary function can be controlled to be displayed.

Description

Technical Field

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

[0002] With the continuous development of technology, driver assistance functions have entered a stage of large-scale popularization. These functions analyze and make decisions based on data from the vehicle's surrounding environment and its own status, coordinating with actuators to assist the driver in controlling the vehicle or providing safety warnings, thereby reducing the difficulty of driving and minimizing driving risks. However, the operational stability of these functions needs improvement due to the complex driving environment and interference from sensor signals. Currently, during vehicle operation, the system automatically switches between high-level and low-level driver assistance functions based on the availability of various operating conditions, displaying real-time updates to the user. This frequent updating of driver assistance function information can easily interfere with normal driving, affecting driving safety and user experience. Summary of the Invention

[0003] Based on this, this application provides a vehicle control method, a computer program product, and an electronic device. By using this vehicle control method, the safety of the vehicle driving process can be improved and the user experience can be enhanced.

[0004] On one hand, this application provides a vehicle control method, the method comprising: After the first driving assistance function of this vehicle is activated, if it is identified that the conditions for the reversible downgrade of the first driving assistance function are met, the second driving assistance function of this vehicle is run to control the driving of this vehicle; wherein, the driving automation level of the second driving assistance function is lower than the driving automation level of the first driving assistance function. When the duration for which the recoverable degradation condition is met is greater than a first duration, the control displays information about the degradation processing status for the first driving assistance function.

[0005] On the other hand, this application also provides a vehicle control method, including: After the first driving assistance function of this vehicle is activated, if it is identified that the conditions for the reversible downgrade of the first driving assistance function are met, the second driving assistance function of this vehicle is run to control the driving of this vehicle; wherein, the driving automation level of the second driving assistance function is lower than the driving automation level of the first driving assistance function. During the first period of driving control of the vehicle by the second driving assistance function, if it is detected that the second driving assistance function changes from an active state to an inactive state, or if at least one of the following situations is identified: the other operating conditions of the first driving assistance function are not met, then the control displays information on the downgrade processing status of the first driving assistance function.

[0006] On the other hand, this application also provides a computer program product comprising a computer program that, when executed, implements the steps of the above-described vehicle control method.

[0007] On the other hand, this application also provides an electronic device, including: a processor and a memory; wherein the memory stores computer-readable instructions adapted to be loaded by the processor and to execute the steps of the above-described vehicle control method.

[0008] According to the vehicle control method provided in this application, after the first driving assistance function of the vehicle is activated, if it is identified that the reversible downgrade condition of the first driving assistance function is met, the second driving assistance function of the vehicle can be run to control the vehicle's driving. The driving automation level of the second driving assistance function can be lower than the driving automation level of the first driving assistance function. The method only controls and displays the downgrade processing information for the first driving assistance function after at least one of the following occurs: when the duration of the reversible downgrade condition being met is greater than a first duration; or, during the first duration of running the second driving assistance function to control the vehicle's driving, the second driving assistance function is identified to have changed from an activated state to an inactive state; or, other operating conditions of the first driving assistance function are not met. This method is beneficial for improving the safety of the vehicle's driving process and also for improving the user experience.

[0009] It should be understood that the description in the Summary Section is not intended to limit the key or essential features of the embodiments of this application, nor is it intended to restrict the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0010] Figure 1 A schematic flowchart of a vehicle control method provided in an embodiment of this application; Figure 2 A schematic diagram of a driving scenario provided in an embodiment of this application; Figure 3 A schematic flowchart of a vehicle control method provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. The order of some steps in the methods provided in one or more embodiments of this application can be interchanged according to actual needs, or some steps can be omitted or deleted, without specific limitations.

[0012] In the description of one or more embodiments of this application, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc., may refer to different or the same objects and are not used to limit their quantity. Other explicit and implicit definitions may also be included below.

[0013] The term "at least one" should be understood to include one or more situations. For example, "at least one of A and B" can include "A alone," "B alone," and "A and B." Similarly, "at least one of A, B, and C" can include "A alone," "B alone," "C alone," "A and B," "A and C," "C and B," and "A, B, and C." Other explicit and implicit definitions may also be included below, but are not specifically limited thereto.

[0014] In the description of one or more embodiments of this application, the term "and / or" should be understood to include one or more situations. For example, "A and / or B" may include "A alone", "B alone", and "A and B". As another example, "A and / or B and / or C" may include "A alone", "B alone", "C alone", "A and B", "A and C", "C and B", and "A, B and C".

[0015] With the continuous iteration of automotive technology, the types of driving assistance functions are becoming increasingly diverse. Currently, various driving assistance functions can be classified into different levels according to their degree of driving automation. For example, navigation assist, lane centering assist, and traffic jam assist functions can have a higher level of driving automation, while lane keeping assist and lane departure warning functions can have a lower level of driving automation. This allows for accurate decision-making regarding the appropriate driving assistance function based on the actual operating conditions of the vehicle, thereby optimizing the user's driving experience.

[0016] Currently, during the operation of advanced driving assistance functions, if some of their operating conditions are not met, the system can automatically switch to a lower-level driving assistance function. Once all operating conditions are met again, the advanced driving assistance function can be restored, rather than being directly terminated. Furthermore, during function downgrading and upgrading, relevant function change information can be displayed to the user in real time, allowing the user to promptly grasp the vehicle's operating status and providing a buffer time for them to take over the vehicle, mitigating driving panic caused by malfunctions. While this vehicle control scheme reduces the user's driving workload to some extent, frequent notifications of function changes can easily distract the user, interfere with normal driving operations, and may also affect the user's trust in the driving assistance functions, thereby impacting driving safety and user experience.

[0017] Based on this, this application proposes a vehicle control method. After a first driving assistance function of the vehicle is activated, if the reversible downgrade condition of the first driving assistance function is identified as being met, a second driving assistance function can be run to control the vehicle's driving. The driving automation level of the second driving assistance function can be lower than that of the first driving assistance function. The method only controls and displays information regarding the downgrade processing of the first driving assistance function after at least one of the following occurs: the duration for which the reversible downgrade condition is met exceeds a first duration; or, during the first duration of running the second driving assistance function to control the vehicle's driving, the second driving assistance function changes from an activated state to an inactive state; or, other operating conditions of the first driving assistance function are not met. This method not only improves the safety of the vehicle's driving process but also enhances user trust in the driving assistance function and the driving experience.

[0018] Please see Figure 1 This is a schematic flowchart illustrating a vehicle control method provided in an embodiment of this application. The executor of this process can be a program mounted on a domain controller, sensor device, or vehicle. Alternatively, the executor of this process can also be a domain controller, sensor device, or vehicle, or other device capable of communicating with a domain controller, sensor device, or vehicle; no specific limitation is made thereto.

[0019] The following is about Figure 1 The process shown will be described in detail. The vehicle control method may specifically include the following steps: Step S102: After the first driving assistance function of the vehicle is activated, if it is identified that the reversible downgrade condition of the first driving assistance function is met, then the second driving assistance function of the vehicle is run to control the vehicle; wherein, the driving automation level of the second driving assistance function may be lower than the driving automation level of the first driving assistance function.

[0020] In this embodiment, driving assistance functions may include: functions that assist the driver in completing vehicle driving-related operations, perceiving the driving environment, avoiding driving risks, and optimizing the driving experience, based on the collaborative work of hardware such as sensors, controllers, and actuators with algorithm software. Driving automation levels may include: standards for classifying the automation capability level of driving assistance functions based on the degree to which the vehicle takes over driving tasks, the system's decision-making and execution capabilities, and the monitoring and operational responsibilities required of the driver.

[0021] In this embodiment, a strategy for classifying the driving automation levels of driving assistance functions can be determined based on actual needs, so as to clarify the driving automation levels of various driving assistance functions equipped in the vehicle in conjunction with the strategy. The aforementioned strategy for classifying the driving automation levels of driving assistance functions may include, but is not limited to, the SAE J3061 standard developed by the Society of Automotive Engineers, the ISO 34501 standard developed by the International Organization for Standardization, and the "Classification of Driving Automation for Automobiles" (GB / T 40429-2021), and is not specifically limited thereto.

[0022] The vehicle can also be pre-configured with driving assistance function groups that can perform function downgrades and upgrades. This allows the vehicle to switch to a second driving assistance function with a lower level of driving automation when the conditions for the reversible downgrade of the first driving assistance function with a higher level of driving automation in the driving assistance function group are met. Furthermore, the vehicle can resume operation of the first driving assistance function when the conditions for the reversible downgrade of the first driving assistance function are no longer met, thereby improving the availability of the driving assistance functions on the vehicle.

[0023] The first and second driving assistance functions can both be driving assistance functions that are equipped with and supported by the vehicle. Their specific functions and roles can be set according to actual needs and are not specifically limited. The conditions for the first driving assistance function to be restored or downgraded may include: due to non-fatal faults such as sensor hardware malfunction, unmet environmental requirements, or limited system computing power, the first driving assistance function cannot be maintained in normal operating mode, and it is necessary to temporarily switch to the second driving assistance function with a lower level of driving automation. The first driving assistance function can be restored to normal operation only after all requirements for its restoration are met. These conditions for restoration or downgrade can be set according to the operating conditions of the first and second driving assistance functions and actual needs, and are not specifically limited.

[0024] In this embodiment, after activating the first driving assistance function of the vehicle, it is possible to continuously check whether the conditions for the reversible downgrade of the first driving assistance function are met. If so, the first driving assistance function can be stopped, and the second driving automation level, which is lower than the first driving assistance function, can be switched to control the vehicle. This is beneficial to balance the safety of vehicle driving, handling stability and functional availability.

[0025] Step S104: When the duration for which the recoverable degradation condition is met is greater than a first duration, control displays information on the degradation processing status of the first driving assistance function.

[0026] In this embodiment, the first duration can represent the shortest waiting time required to display information on the downgrade processing status of the first driving assistance function after the reversible downgrade condition is met. Typically, when the duration for which the reversible downgrade condition of the first driving assistance function is met is longer than the first duration, it indicates that the first driving assistance function has failed to return to normal operation after a prolonged downgrade, and the likelihood of it returning to normal operation is low. Therefore, information on the downgrade processing status of the first driving assistance function can be displayed so that the user is aware of the vehicle's actual operating status. Conversely, when the duration for which the reversible downgrade condition of the first driving assistance function is met is shorter than the first duration, it indicates that the first driving assistance function has the potential to return to normal operation. In this case, the downgrade processing status information can be temporarily withheld from displaying information on the first driving assistance function, which helps reduce the frequent display of related function change information due to instantaneous or occasional function upgrades or downgrades, thereby reducing interference to the user. The specific value of the first duration can be set according to actual needs, for example, from hundreds of milliseconds to tens of seconds, and is not specifically limited thereto.

[0027] In this embodiment, by controlling the display of degradation processing information for the first driving assistance function only when the duration for which the reversible degradation condition of the first driving assistance function is met is greater than a first duration, instead of immediately displaying the degradation processing information when the reversible degradation condition of the first driving assistance function is met, the user's perception of instantaneous or occasional function upgrades and downgrades can be reduced. This is beneficial to improving the reliability of the degradation processing information of the first driving assistance function obtained by the user and improving the user's trust in the driving assistance function.

[0028] The aforementioned information regarding the downgrade handling of the first driving assistance function may include: information conveyed to the user, characterizing the current state of the driving assistance function and the downgrade response measures implemented, when the first driving assistance function cannot maintain its original performance level and a second driving assistance function with a lower level of driving automation is switched to it. In practical applications, the specific content and display format of the downgrade handling information can be set according to actual needs and are not specifically limited thereto.

[0029] Figure 1 The method described herein allows for the operation of a second driving assistance function to control the vehicle's driving if the reversible downgrade condition of the first driving assistance function is detected as met after the first driving assistance function is activated. The second driving assistance function may have a lower level of driving automation than the first driving assistance function. Furthermore, the downgrade processing information for the first driving assistance function is only displayed when the duration of the reversible downgrade condition being met exceeds a first duration. This approach not only improves vehicle driving safety but also enhances the user experience.

[0030] In some feasible implementations, the first driving assistance function may include: navigation assistance function; the second driving assistance function may include: intelligent cruise assistance function, adaptive cruise control function, or lane keeping assistance function.

[0031] The recoverable degradation conditions may include at least one of the following: the vehicle's positioning signal is lost, and the road data of the vehicle's location determined based on the vehicle's surrounding environment perception data is mismatched with the electronic map data.

[0032] In the embodiments of this application, the navigation on autopilot (NOA, also known as automatic assisted driving function) can refer to: the function of planning navigation routes based on high-precision map data, vehicle positioning data and environmental perception data, and automatically completing driving tasks such as changing lanes, overtaking, and entering and exiting ramps.

[0033] Intelligent Cruise Assist (ICA) can refer to a combination of driving assistance functions that can automatically perform longitudinal functions such as constant speed driving, acceleration and deceleration control, and lane centering.

[0034] Adaptive Cruise Control (ACC) refers to the function of sensing the speed and distance of the vehicle in front by combining real-time data on the vehicle's surrounding environment, and automatically adjusting the vehicle's acceleration or braking to maintain a safe distance from the vehicle in front.

[0035] Lane Keeping Assist (LKA) refers to the function that, by combining real-time data on the lane lines ahead, automatically adjusts the steering parameters of the vehicle's steering system to keep the vehicle within its current lane when it tends to deviate from its current lane.

[0036] In this embodiment, the driving automation level of the pilot assist function is typically higher than that of the intelligent cruise assist function, adaptive cruise control function, and lane keeping assist function. Therefore, the pilot assist function can be classified as a first driving assistance function, and the intelligent cruise assist function, adaptive cruise control function, or lane keeping assist function can be classified as a second driving assistance function. After the conditions for the pilot assist function to be reversibly downgraded are met, the use of the pilot assist function to control the vehicle can be stopped, and the intelligent cruise assist function, adaptive cruise control function, or lane keeping assist function can be switched to control the vehicle. During the operation of the aforementioned lower-level driving assistance functions, the vehicle generally will not be controlled to perform high-risk driving tasks such as lane changing and overtaking, which helps control the safety risks present when driving assistance functions are downgraded and improves driving safety.

[0037] In this embodiment, when the first driving assistance function includes a navigation-assisted driving function, the accuracy and safety of the navigation-assisted driving function depend on the consistency of high-precision positioning and electronic map data. However, the positioning signal or surrounding environment perception data acquired by the vehicle may temporarily fail to meet the normal operation requirements of the navigation-assisted driving function due to sensor malfunctions, environmental interference, or other factors. In this case, the reversible degradation conditions for the navigation-assisted driving function can include: the vehicle's positioning signal is lost, and / or, the road data determined based on the vehicle's surrounding environment perception data is mismatched with the electronic map data. This allows the navigation-assisted driving function to be downgraded when the above reversible degradation conditions are not met after activation. It is understood that the reversible degradation conditions for the navigation-assisted driving function can also include other types of conditions, which can be set according to actual needs and are not specifically limited.

[0038] In some feasible implementations, the loss of the vehicle's positioning signal may include at least one of the following: the duration of the vehicle's inertial navigation system signal being in a non-convergent state is greater than or equal to a second duration; the mileage traveled by the vehicle during the period when the inertial navigation system signal is in a non-convergent state is greater than or equal to a mileage threshold; and the driving scene determined based on the vehicle's inertial navigation system signal is inconsistent with the driving scene determined based on the vehicle's surrounding environment perception data; and / or, The mismatch between the road data where the vehicle is located and the electronic map data, determined based on the vehicle's surrounding environment perception data, may include at least one of the following: the difference between the coordinate data of the first lane line at the same location and the coordinate data of the second lane line in the electronic map data is greater than or equal to a coordinate deviation threshold, and the difference between the orientation angle of the first lane line at the same location and the orientation angle of the second lane line in the electronic map data is greater than or equal to an angle deviation threshold; wherein the first lane line coordinate data and the first lane line orientation angle are data determined based on the vehicle's surrounding environment perception data.

[0039] In this embodiment, during operation, the vehicle's navigation-assisted driving function can combine the inertial navigation system (INS) signals (representing the vehicle's acceleration and angular velocity) acquired by the vehicle's inertial navigation system (INS) with the vehicle's initial position information to calculate the vehicle's position, velocity, and attitude (e.g., heading angle, pitch angle, roll angle) in real time, and then use this information to perform autonomous driving control. However, when calculating the vehicle's position, velocity, and attitude using the INS signals, if the output results cannot stably approximate the true values, but instead exhibit continuous divergence, oscillation, or increasing errors, the INS signals can be considered to be in a non-convergent state. In this case, the accuracy and reliability requirements of the navigation-assisted driving function for vehicle positioning data are usually not met, and the vehicle's positioning signal can be considered to be lost.

[0040] Based on this, when the duration of the inertial navigation system signal being in a non-convergent state is greater than or equal to the second duration, and / or the mileage traveled by the vehicle during the period when the inertial navigation system signal is in a non-convergent state is greater than or equal to the mileage threshold, it can be determined that the condition "the vehicle's positioning signal is lost" in the reversible downgrade condition of the pilot assistance function is met. The aforementioned second duration can be the minimum time limit required for the inertial navigation system signal to be in a non-convergent abnormal state when the vehicle's positioning signal is lost; it can be set according to actual needs, for example, from a few seconds to tens of seconds, without specific limitation. The aforementioned mileage threshold can be the minimum actual mileage that the vehicle needs to achieve during the period when the inertial navigation system signal is in a non-convergent abnormal state when the vehicle's positioning signal is lost; it can be set according to actual needs, for example, from hundreds of meters to tens of kilometers, without specific limitation.

[0041] In this embodiment, the current driving scenario of the vehicle can be determined by combining the real-time acquired inertial navigation system signal and the surrounding environment perception data, and by comparing whether the two are consistent. If they are inconsistent, it indicates that the accuracy and reliability of the vehicle's inertial navigation system signal are insufficient, failing to meet the normal operation requirements of the navigation assistance function. Therefore, it can be determined that the condition "the vehicle's positioning signal is lost" in the recoverable downgrade condition of the navigation assistance function is met. The types of driving scenarios can be varied, such as driving on elevated roads, driving down elevated roads, driving on uphill sections, driving on downhill sections, and driving on curved sections. These can be set according to actual needs and are not specifically limited.

[0042] In this embodiment, during operation, the navigation assistance function of this vehicle can determine the lane line data of the road where the vehicle is located by combining the vehicle's surrounding environment perception data. The electronic map data used by the vehicle can also contain the lane line data of the road where the vehicle is located, allowing for a comparison of their consistency. If they are inconsistent, it indicates that the normal operation requirements of the navigation assistance function cannot be met, thus determining that the condition "the road data determined based on the vehicle's surrounding environment perception data is in a mismatch state with the electronic map data" in the reversible downgrade condition of the navigation assistance function is met. The aforementioned surrounding environment perception data can include data obtained by detecting the area around the vehicle using radar and image acquisition equipment; the lane line data of the road where the vehicle is located can include the road boundary data of the road where the vehicle is located and the lane line data of the lane the vehicle is currently in; no specific limitations are imposed on these aspects.

[0043] Specifically, the difference between the coordinates of the first lane line determined by the vehicle's surrounding environment perception data at the same location and the coordinates of the second lane line in the electronic map data can be compared to see if it is greater than or equal to a coordinate deviation threshold. If so, the condition that "the road data of the vehicle determined by the vehicle's surrounding environment perception data is in a mismatch state with the electronic map data" can be determined to be satisfied. Similarly, the difference between the orientation angle of the first lane line determined by the vehicle's surrounding environment perception data at the same location and the orientation angle of the second lane line in the electronic map data can be compared to see if it is greater than or equal to an angle deviation threshold. If so, the condition that "the road data of the vehicle determined by the vehicle's surrounding environment perception data is in a mismatch state with the electronic map data" can also be determined to be satisfied.

[0044] The lane line coordinate data mentioned above can be the abscissa and / or ordinate data of a lane line at a certain (geographical) location in a specific coordinate system. The specific coordinate system can include: the vehicle coordinate system, the Frenet coordinate system, or other coordinate systems, without specific limitations. The lane line orientation angle mentioned above can be the angle between the tangent direction of the lane line at a certain (geographical) location and a specific direction. The specific direction can include: the vehicle orientation, the longitudinal axis direction of the vehicle coordinate system, or other directions, without specific limitations. The coordinate deviation threshold mentioned above can be the minimum value that the difference between the first lane line coordinate data and the second lane line coordinate data determined based on the vehicle's surrounding environment perception data and the electronic map data at the same location must reach when the condition "the road data determined based on the vehicle's surrounding environment perception data and the electronic map data are in a mismatch" is met. Its value can be set according to actual needs, for example, from a few centimeters to several hundred centimeters, without specific limitations. The aforementioned angle deviation threshold can be the minimum value that the difference between the first lane orientation angle and the second lane orientation angle determined by the vehicle's surrounding environment perception data and the electronic map data at the same location must reach when the condition of "the road data where the vehicle is located, determined by the vehicle's surrounding environment perception data and the electronic map data, is in a mismatch" is met. Its value can be set according to actual needs, for example, from a few degrees to tens of degrees, without specific limitation.

[0045] Figure 2 This is a schematic diagram of a driving scenario provided in an embodiment of this application. For ease of understanding, it is illustrated herein in conjunction with... Figure 2 The content explains the principles behind determining the conditions for the reversible downgrade of the navigation assistance function. For example... Figure 2 As shown, assuming vehicle 2 is traveling in the direction of the arrow above it, lane line sampling point 21 determined based on the surrounding environment perception data of vehicle 2 corresponds to the same (geographical) location as lane line sampling point 22 in the electronic map data. Ray 23 can be the lane line tangent at lane line sampling point 21, and ray 24 can represent a specific direction. The angle between ray 23 and ray 24 can be the first lane line orientation angle determined based on the surrounding environment perception data of vehicle 2. Ray 25 can be the lane line tangent at lane line sampling point 22, and ray 26 can represent the aforementioned specific direction. The angle between ray 25 and ray 26 can be the second lane line orientation angle determined based on the electronic map data. When the difference between the second lane line orientation angle and the first lane line orientation angle is greater than or equal to the angle deviation threshold, the condition that "the road data where the vehicle is located, determined based on the surrounding environment perception data of this vehicle, is in a mismatch state with the electronic map data" is satisfied.

[0046] Based on the coordinate data of lane line sampling point 21 and lane line sampling point 22 in the same coordinate system, the condition that "the road data of the vehicle determined based on the vehicle's surrounding environment perception data is in a mismatch state with the electronic map data" can also be satisfied when: the straight-line distance (e.g., the length of line segment 27) between lane line sampling point 21 and lane line sampling point 22 is greater than or equal to the coordinate deviation threshold; or the lateral distance (e.g., the projected length of line segment 27 in the direction perpendicular to ray 24) between lane line sampling point 21 and lane line sampling point 22 is greater than or equal to the coordinate deviation threshold; or the longitudinal distance (e.g., the projected length of line segment 27 in the direction indicated by ray 24) between lane line sampling point 21 and lane line sampling point 22 is greater than or equal to the coordinate deviation threshold. No specific limitations are imposed on this.

[0047] In some feasible implementations, the first driving assistance function may include: lane centering function; the second driving assistance function may include: lane keeping assist function or lane departure warning function.

[0048] The recoverable degradation conditions may include at least one of the following: the vehicle's positioning signal is lost, the visibility of the area where the vehicle is located is lower than the visibility threshold, and the field of view occlusion rate of the image acquisition device is greater than the occlusion rate threshold.

[0049] In this embodiment, Lane Centering Control (LCC) refers to a lateral control function that uses real-time perception of lane boundaries and active adjustment of steering parameters to keep the vehicle stably traveling in the center of the lane. Lane Keeping Assist (LKA) refers to a function that, by combining real-time acquired lane line data, automatically adjusts steering parameters to keep the vehicle within its lane when it tends to deviate from its current lane. Lane Departure Warning (LDW) refers to a function that promptly warns the driver when the vehicle deviates from its current lane. Typically, the level of driving automation of Lane Centering Control is higher than that of Lane Keeping Assist and Lane Departure Warning, thus allowing Lane Centering Control to be classified as a first driving assistance function, and Lane Keeping Assist and Lane Departure Warning to be classified as second driving assistance functions. It is understood that the second driving assistance function may also include other driving assistance functions with a lower level of driving automation than Lane Centering Control, without specific limitations.

[0050] In this embodiment, the accuracy of the lane centering assist function relies heavily on visual perception of the vehicle's surroundings and precise vehicle positioning. In this case, the conditions for reversible degradation of the lane centering assist function include at least one of the following: the vehicle's positioning signal is lost, the visibility of the area where the vehicle is located is below a visibility threshold, and the field-of-view occlusion rate of the image acquisition device is greater than an occlusion rate threshold. It is understood that the reversible degradation conditions for the lane centering assist function may also include other conditions depending on actual needs, and no specific limitations are imposed on these.

[0051] Among them, the visibility threshold can be the minimum visibility of the vehicle's surrounding environment when the lane centering keeping function is working properly. It can be set according to actual needs, for example, it can be tens of meters to hundreds of meters. The occlusion rate threshold can be the minimum value that the ratio of the effective field of view of the image acquisition device to the complete field of view needs to reach when the lane centering keeping function is working properly. It can be set according to actual needs, for example, it can be 60% or 70%. There are no specific limitations on these.

[0052] In some feasible implementations, the first driving assistance function may include a traffic jam assist function; the second driving assistance function may include an adaptive cruise control function.

[0053] The recoverable degradation conditions may include at least one of the following: the vehicle's positioning signal is lost, the vehicle's speed is greater than a speed threshold, the visibility of the area where the vehicle is located is lower than a visibility threshold, and the field of view occlusion rate of the image acquisition device is greater than an occlusion rate threshold.

[0054] In this embodiment, Traffic Jam Assist (TJA) can refer to the function of automatically controlling the vehicle's longitudinal acceleration and deceleration and lateral lane centering under low-speed congested conditions. Adaptive Cruise Control (ACC) can refer to the function of automatically adjusting the vehicle's acceleration or braking to maintain a safe distance from the vehicle in front. Typically, the level of driving automation of Traffic Jam Assist can be higher than that of Adaptive Cruise Control, thus classifying Traffic Jam Assist as a first-level driving assistance function and its level of driving automation as a second-level driving assistance function. It is understood that the second-level driving assistance function may also include other driving assistance functions with a lower level of driving automation than Traffic Jam Assist, without specific limitations.

[0055] In this embodiment, the traffic jam assist function is typically applicable to low-speed driving conditions, and its operational accuracy relies heavily on visual perception of the vehicle's surrounding environment and precise vehicle positioning capabilities. In this case, the reversible degradation conditions for the traffic jam assist function may include at least one of the following: the vehicle's positioning signal is lost, the vehicle's speed exceeds a speed threshold, the visibility of the area where the vehicle is located is below a visibility threshold, and the field-of-view occlusion rate of the image acquisition device exceeds an occlusion rate threshold. It is understood that the reversible degradation conditions for the traffic jam assist function may also include other conditions depending on actual needs, and no specific limitations are imposed on these.

[0056] Among them, the vehicle speed threshold can be the maximum vehicle speed applicable to the traffic jam assist function, which can be set according to actual needs, for example, tens of kilometers per hour; the visibility threshold can be the minimum visibility of the surrounding environment of the vehicle when the traffic jam assist function can operate normally, which can be set according to actual needs, for example, tens to hundreds of meters; the occlusion rate threshold can be the minimum value required for the ratio of the effective field of view of the image acquisition device to the complete field of view when the traffic jam assist function can operate normally, which can be set according to actual needs, for example, 60% or 70%; there are no specific limitations on these.

[0057] In some feasible implementations, after the first driving assistance function of the vehicle is activated, if it is identified that the reversible degradation condition of the first driving assistance function is met, then the second driving assistance function of the vehicle is run to control the vehicle's driving. This may include: After the first driving assistance function of this vehicle is activated, if it is identified that the conditions for the first driving assistance function to be restored and downgraded are met, and other operating conditions of the first driving assistance function and the operating conditions of the second driving assistance function are also met, then the second driving assistance function of this vehicle is operated to control the driving of this vehicle.

[0058] In this embodiment, the operating conditions (also known as Operational Design Domain, ODD) of the first driving assistance function can be multiple. Besides the operating conditions corresponding to reversible degradation conditions, other operating conditions may also be included. The second driving assistance function can also have corresponding operating conditions, without specific limitations. Since the failure to meet some operating conditions of the first driving assistance function indicates that the current situation has exceeded its Operational Design Domain (ODD), the system should not attempt to perform function degradation processing but should immediately exit the first driving assistance function to ensure driving safety. Alternatively, if the operating conditions of the second driving assistance function are not currently met, the system typically lacks the ability to enable the second driving assistance function for driving control, making it unable to perform function degradation processing and requiring the immediate exit of the first driving assistance function to ensure driving safety.

[0059] Therefore, after the first driving assistance function of this vehicle is activated, if the reversible degradation condition of the first driving assistance function is found to be met, the second driving assistance function can only be operated to control the vehicle if other operating conditions of the first driving assistance function and the operating conditions of the lower-level second driving assistance function are also met. Conversely, if after the first driving assistance function is activated, if the reversible degradation condition of the first driving assistance function is found to be met, but other operating conditions of the first driving assistance function and / or the operating conditions of the lower-level second driving assistance function are not met, the first driving assistance function needs to be terminated, and the second driving assistance function can be operated without automatically switching to control the vehicle, offering good flexibility.

[0060] To facilitate understanding, examples are provided to illustrate the operating conditions of various driving assistance functions. For instance, the operating conditions of the navigation-assisted driving function may include at least one of the following: a navigation route has been set for the vehicle; the vehicle's current lane is not an emergency lane or a non-motorized vehicle lane; the distance between the vehicle and toll booths, navigation endpoints, or electronic fence areas is greater than or equal to a distance threshold; and the road data determined based on the vehicle's surrounding environment perception data is not in a state of serious mismatch with the electronic map data. No specific limitations are imposed on these conditions.

[0061] The operating conditions of the traffic congestion assist function may include at least one of the following conditions: the vehicle is running on a specific type of road such as a highway, urban expressway, or urban arterial road; the vehicle is not in a toll station, road construction area, or temporary control area; and the vehicle is identified as being in a traffic congestion situation through the vehicle's surrounding environment data or road network data. No specific limitations are imposed on these conditions.

[0062] The operating conditions for the intelligent cruise assist function may include at least one of the following: the duration for which the vehicle drives over lane lines is less than or equal to a specified duration; the radius of curvature of the road where the vehicle is currently located is greater than or equal to a radius of curvature threshold; at least one of the left and right lane line data has been acquired; and the width of the lane where the vehicle is currently located is within a preset width range. No specific limitations are imposed on these conditions.

[0063] The operating conditions for adaptive cruise control may include at least one of the following: all doors, hood, and tailgate are closed, and the driver is wearing a seatbelt. The operating conditions for lane keeping assist may include at least one of the following: turn signals and hazard lights are off, and the driver has not performed any driving intervention (e.g., brake pedal operation, accelerator pedal operation, steering wheel operation). No specific limitations are imposed on these conditions.

[0064] In some feasible implementations, Figure 1 The methods mentioned may also include: After the first driving assistance function of the vehicle is activated, if it is identified that the reversible downgrade condition of the first driving assistance function is met, and other operating conditions of the first driving assistance function and the operating conditions of the second driving assistance function are also met, then an instruction is generated to control the first driving assistance function to change from an activated state to a downgraded state or an inactive state.

[0065] In this embodiment, the first driving assistance function can have multiple operating states, such as an active state, a degraded state, and an inactive state. In practical applications, the first driving assistance function can be in an active state during normal operation; when the reversible degrade condition of the first driving assistance function is met and the function is degraded, the first driving assistance function can be in a degraded state (e.g., waiting to resume operation) or an inactive state (e.g., successfully exited operation), without specific limitations. It is understood that the first driving assistance function can also have other types of operating states, such as an inactive state representing the first driving assistance function waiting to be activated when the operating conditions are met, or a fault state representing the first driving assistance function failing and unable to continue operating, without specific limitations.

[0066] In this embodiment of the application, after the first driving assistance function of the vehicle is activated, if it is identified that the reversible degradation condition of the first driving assistance function is met, and other operating conditions of the first driving assistance function and the operating conditions of the second driving assistance function are also met, then an instruction for controlling the first driving assistance function to change from the activated state to the degraded state or the inactive state can be generated, and the operating state information of the first driving assistance function recorded in the state machine can also be changed accordingly.

[0067] In practical applications, if the second driving assistance function is also active during the activation of the first driving assistance function, there is no need to generate instructions to change the operating status information of the second driving assistance function, nor is it necessary to change the operating status information of the second driving assistance function recorded in the state machine. However, if the second driving assistance function is inactive during the activation of the first driving assistance function, and the second driving assistance function is changed to an active state during function downgrade processing, then instructions can be generated to control the change of the second driving assistance function from an inactive state to an active state, and the operating status information of the second driving assistance function recorded in the state machine can be changed accordingly. This facilitates accurate identification of the operating status of relevant driving assistance functions and maintains the normal operation of driving assistance functions.

[0068] In some feasible implementations, the control display of degradation processing information for the first driving assistance function may include: The control display provides a prompt message indicating that the first driving assistance function has been downgraded or has ceased operation, wherein the prompt message includes information in at least one of the following formats: audio, text, and video; and / or, When the second driving assistance function is active, the control changes the first icon corresponding to the first driving assistance function displayed on the screen to the second icon corresponding to the second driving assistance function; or... When the second driving assistance function is inactive, the control stops displaying the first icon corresponding to the first driving assistance function on the screen device.

[0069] In this embodiment, when the first driving assistance function is downgraded while the second driving assistance function continues to run, if the duration for which the reversible downgrade condition of the first driving assistance function is met exceeds a first duration, the downgrade processing information to be displayed may include a prompt indicating that the first driving assistance function has been downgraded or has stopped running. This not only offers good flexibility but also helps users accurately understand the operating status of the relevant driving assistance functions.

[0070] In this embodiment, during vehicle operation, a visual icon displaying the status information of relevant driving assistance functions can be shown to the user, allowing for convenient and efficient understanding of the vehicle and related driving assistance functions' operational status. Based on this, if the first driving assistance function is downgraded while the second driving assistance function continues to operate, and if the duration for which the reversible downgrade condition of the first driving assistance function is met exceeds a first duration, and the second driving assistance function is currently active, the first icon corresponding to the first driving assistance function displayed on the screen can be changed to the second icon corresponding to the second driving assistance function. Conversely, if the second driving assistance function cannot continue operating, the display of the first icon corresponding to the first driving assistance function on the screen can be stopped; in this case, the display of the second icon corresponding to the second driving assistance function may also be unnecessary, without specific limitations.

[0071] In this embodiment, there can be multiple ways to display information regarding the downgrade processing status of the first driving assistance function. For ease of understanding, the following methods are used in conjunction with... Figure 2 This document provides an example of how to display information regarding the downgrade process of the first driving assistance function. Figure 2 As shown, the audio playback device 201 or user terminal device on vehicle 2 can be used to play the audio format prompts in the downgrade processing information. Alternatively, the text format or video format prompts in the downgrade processing information can be displayed using the screen device 202 on vehicle 2 or the user terminal device. Furthermore, the display of the first icon corresponding to the first driving assistance function can be stopped at screen device 202 and screen device 203, and / or the display of the second icon corresponding to the second driving assistance function can be shown. Screen device 202 may include a device with a human-machine interface or an instrument panel. Screen device 203 may include a windshield display or an OLED (Organic Light-Emitting Diode) vehicle panel in the driver's forward field of vision; no specific limitations are imposed on this.

[0072] In some feasible implementations, after the second driving assistance function of the vehicle performs driving control, it may further include: If the conditions for resuming operation of the first driving assistance function are met, the first driving assistance function is activated to control the vehicle.

[0073] The recovery conditions may include: the time interval between the change of the recoverable degradation condition from a satisfied state to a non-satisfied state is less than or equal to the first time interval; or... The conditions for resuming operation may include: the interval between the change of the resumable degradation condition from a satisfied state to a non-satisfied state is less than or equal to the first duration; other operating conditions of the first driving assistance function are satisfied; and the second driving assistance function is activated.

[0074] In this embodiment, the conditions for restoring the operation of the first driving assistance function may include: after downgrading the first driving assistance function, the conditions required to stop the operation of the lower-level second driving assistance function and switch to the operation of the first driving assistance function. The above-mentioned conditions for restoring the operation of the first driving assistance function can be set according to actual needs, and are not specifically limited thereto.

[0075] Specifically, if the interval between the change of the reversible degradation condition of the first driving assistance function from the satisfied state to the unsatisfied state is less than or equal to the first time interval, it usually indicates that the factor causing the first driving assistance function to degrade has been eliminated in a short period of time. Thus, the second driving assistance function of this vehicle can be stopped from being used to control the vehicle, and the first driving assistance function can be reactivated to control the vehicle, which is beneficial to improving the availability and operational stability of the vehicle's driving assistance function.

[0076] Alternatively, if the interval between the change of the reversible degradation condition of the first driving assistance function from a satisfied state to a non-satisfied state is less than or equal to the first time interval, and other operating conditions of the first driving assistance function are satisfied, and the second driving assistance function is active, it can generally indicate that the conditions for function upgrade processing are currently available. Thus, it is also possible to stop using the second driving assistance function of this vehicle to control the vehicle, and to reactivate the first driving assistance function to control the vehicle, which is beneficial to improving the availability and operational stability of the vehicle's driving assistance functions.

[0077] Please see Figure 3 This is a schematic flowchart illustrating a vehicle control method provided in an embodiment of this application. The executor of this process can be a program mounted on a domain controller, sensor device, or vehicle. Alternatively, the executor of this process can also be a domain controller, sensor device, or vehicle, or other device capable of communicating with a domain controller, sensor device, or vehicle; no specific limitation is made thereto.

[0078] The following is about Figure 3 The process shown will be described in detail. The vehicle control method may specifically include the following steps: Step S302: After the first driving assistance function of the vehicle is activated, if it is identified that the reversible downgrade condition of the first driving assistance function is met, then the second driving assistance function of the vehicle is run to control the vehicle; wherein, the driving automation level of the second driving assistance function may be lower than the driving automation level of the first driving assistance function.

[0079] In this embodiment of the application, step S302 and Figure 1 The implementation principle of step S102 can be consistent, and the meanings of the first driving assistance function, the second driving assistance function, the driving automation level, and the reversible downgrade conditions mentioned in step S302 and step S102 can also be consistent, so we will not elaborate on them.

[0080] Step S304: During the first period of driving control of the vehicle by the second driving assistance function, if it is identified that the second driving assistance function changes from an active state to an inactive state, or that other operating conditions of the first driving assistance function are not met, then the control displays information on the downgrade processing status of the first driving assistance function.

[0081] In this embodiment, after the first driving assistance function is downgraded and the second driving assistance function is used for driving control, within a certain period of time (e.g., a first duration), if the second driving assistance function is detected to change from an active state to an inactive state, it indicates that the downgraded safety backup has failed, and the vehicle faces a state without driving assistance function support. If other operating conditions of the first driving assistance function are not met, it indicates that even if the factors triggering this downgrade are eliminated, the first driving assistance function cannot resume normal operation. In the above situations, information regarding the downgrade processing of the first driving assistance function can be immediately displayed without waiting for the duration for which the recoverable downgrade conditions of the first driving assistance function are met to reach the first duration, which improves the timeliness and accuracy of informing users about the downgrade status.

[0082] In practical applications, the values ​​of the first duration mentioned in step S304 and step S104 may be consistent or different, and no specific limitation is made. Similarly, the types and display methods of the degradation processing information for the first driving assistance function mentioned in step S304 and step S104 may be consistent or different, and no specific limitation is made. Other operating conditions for the aforementioned first driving assistance function may include: other conditions required for the normal operation of the first driving assistance function besides the functional operating conditions corresponding to the recoverable degradation conditions.

[0083] It is understandable that the other operating conditions mentioned above may differ for different types of primary driving assistance functions. For example, when the navigation-assisted driving function is used as a primary driving assistance function, the corresponding other operating conditions may include at least one of the following: a navigation route has been set for the vehicle; the vehicle's current lane is not an emergency lane or a non-motorized vehicle lane; and the distance between the vehicle and the toll station, navigation endpoint, or electronic fence area is greater than or equal to a distance threshold. When the traffic jam assist function is used as a primary driving assistance function, the corresponding other operating conditions may include at least one of the following: the vehicle is traveling on specific types of roads such as highways, urban expressways, and urban arterial roads; the vehicle is not located at toll stations, road construction areas, or temporary control zones; and the vehicle is identified as being in a traffic jam situation through surrounding environmental data or road network data, without specific limitations.

[0084] Figure 3 The method described herein allows for the operation of a second driving assistance function to control the vehicle after the first driving assistance function is activated, provided that the reversible downgrade conditions for the first driving assistance function are met. The second driving assistance function may have a lower level of driving automation than the first driving assistance function. Furthermore, during the first period of operation of the second driving assistance function, the display of downgrade processing information for the first driving assistance function is only initiated after at least one of the following conditions is detected: the second driving assistance function changes from an activated state to an inactive state; or other operating conditions of the first driving assistance function are not met. This approach enhances vehicle driving safety and improves user trust in driving assistance functions and overall driving experience.

[0085] In some feasible implementations, the control display of degradation processing information for the first driving assistance function may include: The control display provides a prompt message indicating that the first driving assistance function has been downgraded or has ceased operation, wherein the prompt message includes information in at least one of the following formats: audio, text, and video; and / or, When the second driving assistance function is active, the control changes the first icon corresponding to the first driving assistance function displayed on the screen to the second icon corresponding to the second driving assistance function; or... When the second driving assistance function is inactive, the control stops displaying the first icon corresponding to the first driving assistance function on the screen device.

[0086] In this embodiment, during the first period of driving control of the vehicle through the second driving assistance function via function degradation processing, if it is detected that the second driving assistance function has changed from an active state to an inactive state, it is usually necessary to terminate the operation of the first driving assistance function. Therefore, it is possible to control the display of a prompt indicating that the first driving assistance function has exited operation. Furthermore, it is possible to control the termination of the display of the first icon corresponding to the first driving assistance function on the screen device. In this case, it is unnecessary to display the second icon corresponding to the second driving assistance function on the screen device, so that the user is aware that neither of the aforementioned driving assistance functions is running.

[0087] During the first duration of driving control of the vehicle via the second driving assistance function after function degradation processing, if it is identified that other operating conditions of the first driving assistance function are not met, but the second driving assistance function remains active, it is usually necessary to terminate the operation of the first driving assistance function and continue to use the second driving assistance function for driving control. This allows for the controllability of displaying a prompt message indicating that the first driving assistance function has undergone function degradation. Furthermore, it is also possible to control the display of the first icon corresponding to the first driving assistance function on the screen device to change to the second icon corresponding to the second driving assistance function, so that the user is aware of the currently operating driving assistance function.

[0088] During the first period of driving control of the vehicle by the second driving assistance function through function degradation processing, if the other operating conditions of the first driving assistance function are continuously met and the second driving assistance function remains active, it is not necessary to display the degradation processing information for the first driving assistance function. In addition, it is possible to wait for verification on whether the first driving assistance function can be restored to operation. This is beneficial to improving the reliability of the displayed function degradation processing information and user experience, and no specific limitations are made here.

[0089] This application also provides a computer program product, which may include a computer program. When the computer program is executed, it can implement the steps of the vehicle control method provided in at least some of the above embodiments. For the specific execution process, please refer to the specific description in the above embodiments, which will not be repeated here.

[0090] This application also provides Figure 4 The diagram shows the structure of the electronic device. Figure 4 As shown, at the hardware level, the electronic device may include a processor 41 and a memory 45, and may also include an internal bus 42, a network interface 43, a memory 44, and other hardware required for the business. The processor 41 can read the corresponding computer program from the memory 45 into the memory and then run it to implement the above-described vehicle control method. The specific execution process can be found in the detailed description in the above embodiments, and will not be repeated here.

[0091] In some feasible implementations, the electronic device may include at least one of a domain controller, an image acquisition device, and a radar device, without being specifically limited thereto.

[0092] Finally, the various embodiments in this application are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for embodiments such as computer program products and electronic devices, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments.

[0093] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application.

Claims

1. A vehicle control method, comprising: After the first driving assistance function of this vehicle is activated, if it is identified that the conditions for the reversible downgrade of the first driving assistance function are met, the second driving assistance function of this vehicle is run to control the driving of this vehicle; wherein, the driving automation level of the second driving assistance function is lower than the driving automation level of the first driving assistance function. When the duration for which the recoverable degradation condition is met is greater than a first duration, the control displays information about the degradation processing status for the first driving assistance function.

2. The method according to claim 1, wherein the first driving assistance function includes: Navigation assistance function; The second driving assistance function includes: intelligent cruise assist, adaptive cruise control, or lane keeping assist; The recoverable degradation conditions include at least one of the following: the vehicle's positioning signal is lost, and the road data of the vehicle's location determined based on the vehicle's surrounding environment perception data is mismatched with the electronic map data.

3. The method according to claim 2, wherein the vehicle's positioning signal is lost includes: The duration of the inertial navigation system signal being in a non-convergent state is greater than or equal to a second duration; the mileage traveled by the vehicle during the period when the inertial navigation system signal is in a non-convergent state is greater than or equal to a mileage threshold; and at least one of the following: the driving scene determined based on the vehicle's inertial navigation system signal is inconsistent with the driving scene determined based on the vehicle's surrounding environment perception data; and / or The mismatch between the road data where the vehicle is located and the electronic map data, determined based on the vehicle's surrounding environment perception data, includes at least one of the following: the difference between the coordinate data of the first lane line at the same location and the coordinate data of the second lane line in the electronic map data is greater than or equal to a coordinate deviation threshold, and the difference between the orientation angle of the first lane line at the same location and the orientation angle of the second lane line in the electronic map data is greater than or equal to an angle deviation threshold; wherein, the first lane line coordinate data and the first lane line orientation angle are data determined based on the vehicle's surrounding environment perception data.

4. The method according to claim 1, wherein the first driving assistance function includes: Lane centering assist function; The second driving assistance function includes: lane keeping assist function or lane departure warning function; The recoverable degradation conditions include at least one of the following: the vehicle's positioning signal is lost, the visibility of the area where the vehicle is located is lower than the visibility threshold, and the field of view occlusion rate of the image acquisition device is greater than the occlusion rate threshold.

5. The method according to claim 1, wherein the first driving assistance function includes: Traffic congestion assistance function; The second driving assistance function includes: adaptive cruise control function; The recoverable degradation conditions include at least one of the following: the vehicle's positioning signal is lost, the vehicle's speed is greater than a speed threshold, the visibility of the area where the vehicle is located is lower than a visibility threshold, and the field of view occlusion rate of the image acquisition device is greater than an occlusion rate threshold.

6. The method according to claim 1, wherein after the first driving assistance function of the vehicle is activated, if it is identified that the reversible degradation condition of the first driving assistance function is met, then the second driving assistance function of the vehicle is run to control the vehicle's driving, comprising: After the first driving assistance function of this vehicle is activated, if it is identified that the conditions for the first driving assistance function to be restored and downgraded are met, and other operating conditions of the first driving assistance function and the operating conditions of the second driving assistance function are also met, then the second driving assistance function of this vehicle is operated to control the driving of this vehicle.

7. The method according to claim 6, further comprising: After the first driving assistance function of the vehicle is activated, if it is identified that the reversible downgrade condition of the first driving assistance function is met, and other operating conditions of the first driving assistance function and the operating conditions of the second driving assistance function are also met, then an instruction is generated to control the first driving assistance function to change from an activated state to a downgraded state or an inactive state.

8. The method according to claim 1, wherein the control display of degradation processing information for the first driving assistance function includes: The control display provides a prompt message indicating that the first driving assistance function has been downgraded or has ceased operation, wherein the prompt message includes information in at least one of the following formats: audio, text, and video; and / or, When the second driving assistance function is active, the control changes the first icon corresponding to the first driving assistance function displayed on the screen to the second icon corresponding to the second driving assistance function; or... When the second driving assistance function is inactive, the control stops displaying the first icon corresponding to the first driving assistance function on the screen device.

9. The method according to claim 1, further comprising, after the second driving assistance function of the vehicle is activated to control the vehicle's driving, the method further comprises: If it is determined that the conditions for resuming operation of the first driving assistance function are met, then the first driving assistance function is activated to control the vehicle's operation. The recovery conditions include: the interval between the change of the recoverable degradation condition from a satisfied state to a non-satisfied state is less than or equal to the first duration; or, The conditions for resuming operation include: the interval between the change of the resumable degradation condition from a satisfied state to a non-satisfied state is less than or equal to the first duration; other operating conditions of the first driving assistance function are satisfied; and the second driving assistance function is activated.

10. A vehicle control method, comprising: After the first driving assistance function of this vehicle is activated, if it is identified that the conditions for the reversible downgrade of the first driving assistance function are met, the second driving assistance function of this vehicle is run to control the driving of this vehicle; wherein, the driving automation level of the second driving assistance function is lower than the driving automation level of the first driving assistance function. During the first period of driving control of the vehicle by the second driving assistance function, if it is detected that the second driving assistance function changes from an active state to an inactive state, or if at least one of the following situations is identified: the other operating conditions of the first driving assistance function are not met, then the control displays information on the downgrade processing status of the first driving assistance function.

11. The method according to claim 10, wherein the control display of degradation processing information for the first driving assistance function includes: The control display provides a prompt message indicating that the first driving assistance function has been downgraded or has ceased operation, wherein the prompt message includes information in at least one of the following formats: audio, text, and video; and / or, When the second driving assistance function is active, the control changes the first icon corresponding to the first driving assistance function displayed on the screen to the second icon corresponding to the second driving assistance function; or... When the second driving assistance function is inactive, the control stops displaying the first icon corresponding to the first driving assistance function on the screen device.

12. A computer program product comprising a computer program that, when executed, performs the steps of the method according to any one of claims 1 to 11.

13. An electronic device, comprising: A processor and a memory; wherein the memory stores computer-readable instructions adapted to be loaded by the processor and to perform the steps of the method as claimed in any one of claims 1 to 11.

14. The electronic device of claim 13, wherein the electronic device comprises: At least one of a domain controller, an image acquisition device, and a radar device.

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