Working mode switching method and device, vehicle and storage medium

Abstract

The invention provides a working mode switching method and device, a vehicle and a storage medium, and the method comprises the steps: responding to the monitored working mode switching information of an automatic driving system in an operation state of the automatic driving system, determining a second working mode to be switched to by a first host in the automatic driving system indicated by the working mode switching information, according to the method, the first host is switched from the current first working mode to the second working mode, and the working modes are switched when the automatic driving system runs, so that restarting of the automatic driving system is avoided, rapid switching of the working modes is realized, and the switching efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a method, apparatus, vehicle, and storage medium for switching operating modes. Background Technology

[0002] Autonomous driving is an important function of intelligent electric vehicles. In actual use, autonomous driving will operate in multiple modes. For example, it will run in sentry mode when the vehicle is dormant, and it needs to enter calibration mode for calibration in the factory or after-sales process. Therefore, it is necessary to switch the operating mode of autonomous driving function.

[0003] However, in related technologies, switching the working mode of autonomous driving functions requires restarting the hardware chip that runs the autonomous driving function, and this hardware restart method makes the switching efficiency low. Summary of the Invention

[0004] This application aims to at least partially address one of the technical problems in the related art.

[0005] Therefore, this application proposes a working mode switching method, device, vehicle, and storage medium to improve the efficiency of working mode switching by switching the working mode while the autonomous driving system is in operation.

[0006] One embodiment of this application proposes a method for switching working modes, including:

[0007] When the autonomous driving system is in operation, in response to detecting the working mode switching information of the autonomous driving system, the second working mode to which the first host in the autonomous driving system is to be switched as indicated by the working mode switching information is determined;

[0008] Switch the first host from the current first working mode to the second working mode.

[0009] Another embodiment of this application proposes a working mode switching device, including:

[0010] The determination module is used to determine, in response to detecting the working mode switching information of the autonomous driving system during the operation of the autonomous driving system, the second working mode to which the first host in the autonomous driving system is to be switched as indicated by the working mode switching information.

[0011] The switching module is used to switch the first host from the current first working mode to the second working mode.

[0012] Another embodiment of this application proposes a vehicle including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the method described in the foregoing aspect.

[0013] Another embodiment of this application proposes a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the foregoing aspect.

[0014] Another embodiment of this application proposes a computer program product having a computer program stored thereon, which, when executed by a processor, implements the method described in the foregoing aspect.

[0015] The working mode switching method, device, vehicle, and storage medium proposed in this application, in response to detecting the working mode switching information of the autonomous driving system during the operation of the autonomous driving system, determine the second working mode to which the first host in the autonomous driving system indicated by the working mode switching information should switch, and switch the first host from the current first working mode to the second working mode. By switching the working mode while the autonomous driving system is running, the restart of the autonomous driving system is avoided, the working mode is switched quickly, and the switching efficiency is improved.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0018] Figure 1 A flowchart illustrating a working mode switching method provided in an embodiment of this application;

[0019] Figure 2 This application provides a schematic diagram of the structure of an autonomous driving system according to an embodiment of the present application.

[0020] Figure 3 A flowchart illustrating another working mode switching method provided in an embodiment of this application;

[0021] Figure 4 A schematic diagram of the structure of a host provided in an embodiment of this application;

[0022] Figure 5 A schematic diagram illustrating the principle of computing node state switching provided in an embodiment of this application;

[0023] Figure 6A flowchart illustrating another working mode switching method provided in an embodiment of this application;

[0024] Figure 7 A schematic diagram illustrating multi-host interaction provided in an embodiment of this application;

[0025] Figure 8 This is a schematic diagram of the structure of a working mode switching device provided in an embodiment of this application;

[0026] Figure 9 This is a block diagram of a vehicle provided in an embodiment of this application. Detailed Implementation

[0027] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0028] The following description, with reference to the accompanying drawings, outlines a method, apparatus, vehicle, and storage medium for switching operating modes according to embodiments of this application.

[0029] Figure 1 This is a flowchart illustrating a working mode switching method provided in an embodiment of this application.

[0030] like Figure 1 As shown, the method may include the following steps:

[0031] Step 101: In the autonomous driving system operation state, in response to the detection of the autonomous driving system's working mode switching information, determine the second working mode to which the first host in the autonomous driving system, as indicated by the working mode switching information, needs to be switched.

[0032] As an example, the execution subject of the working mode switching method in this application embodiment is the controller of the autonomous driving system, specifically the first host in the controller, which can be any host in the autonomous driving system.

[0033] The working mode switching information is used to indicate the second working mode to which the first host in the autonomous driving system should switch, that is, to switch from the current first working mode to the second working mode.

[0034] In this embodiment, due to the complexity of the autonomous driving system and the need for high-performance computing, the system typically employs a distributed computing architecture. This architecture involves multiple hosts, each responsible for different tasks such as perception, decision-making, and control. A central host is designated among these hosts, while the others are non-central hosts. The central host receives operating mode switching information from the autonomous driving system and forwards this information to the other non-central hosts. For illustrative purposes, as an example... Figure 2 This is a schematic diagram of the structure of an autonomous driving system provided in an embodiment of this application. Taking the autonomous driving system as an example, it includes two hosts, one of which is a central host and the other is a non-central host. The central host is referred to as host A and the non-central host is referred to as host B.

[0035] In the first scenario, the first host is the central host, i.e., host A. The working mode switching information received by the first host can be implemented in two ways: First, it can be proactively sent by the system state machine when it detects that the autonomous driving system needs to switch modes, such as in response to a user's switching request; second, it can be requested by the first host from the system state machine when it detects that the autonomous driving system needs to switch modes. In the autonomous driving system, the system state machine is responsible for tracking the current state of the system and performing state transitions based on specific events and conditions, thereby ensuring that the system correctly executes its corresponding functions under different scenarios and conditions.

[0036] In the second scenario, the first host is a non-central host, referred to as host B, and the central host is host A. In this case, the working mode switching information received by the first host is forwarded from the central host A to the first host. One implementation method is as follows: Figure 2 As shown, the central host A communicates via Transmission Control Protocol (TCP) to forward the working mode switching information to the first host B.

[0037] In this embodiment, the autonomous driving system is in operation, meaning the software for the vehicle's autonomous driving function is running. Each host in the autonomous driving system runs a management process; therefore, a management process for the autonomous driving system runs on the first host. The first operating mode is the current operating mode of the vehicle's autonomous driving system, and the second operating mode is the mode the vehicle's autonomous driving system is about to switch to. The operating mode can be set based on requirements; as an example, such as... Figure 2As shown, the operating modes include Sentry Mode, Autonomous Driving Mode, and Calibration Mode. Calibration Mode is used for calibration at the factory or after-sales level, and each host unit can be set to operate in the corresponding mode. Sentry Mode is built upon the vehicle's existing sensors, cameras, and other hardware, aiming to help the driver maintain real-time vehicle safety information even when leaving the vehicle. The vehicle's autonomous driving system monitors operating mode switching information. As an example, when a user locks the car and leaves, they will switch the autonomous driving system's operating mode. In response to the user's switching request, the vehicle's autonomous driving system needs to switch from Autonomous Driving Mode to Sentry Mode. Conversely, when the user returns and needs to drive the vehicle away, the vehicle's autonomous driving system can switch from Sentry Mode to Autonomous Driving Mode.

[0038] Step 102: Switch the first host from the current first working mode to the second working mode.

[0039] In this embodiment, the first host switches from the currently running first working mode to the second working mode according to the working mode switching information, thereby enabling the vehicle's autonomous driving system to switch working modes while in operation. Compared to related technologies, which require restarting the hardware chip corresponding to the autonomous driving system when a working mode switch is needed, such as restarting the system-on-chip (SOC), this method of switching working modes by restarting hardware is time-consuming, has low switching efficiency, requires users to wait for a long time, and increases the complaint rate.

[0040] In the working mode switching method of this application embodiment, in response to the detection of working mode switching information of the autonomous driving system, the second working mode to which the first host in the autonomous driving system indicated by the working mode switching information is to be switched is determined, and the first host is switched from the current first working mode to the second working mode. By switching the working mode while the autonomous driving system is running, the restart of the autonomous driving system is avoided, the working mode is switched quickly, and the switching efficiency is improved.

[0041] Based on the above embodiments, Figure 3 A flowchart illustrating another working mode switching method provided in this application embodiment is shown below. Figure 3 As shown, the method includes the following steps:

[0042] Step 301: In the autonomous driving system operation state, in response to the detection of the autonomous driving system's working mode switching information, determine the second working mode to which the first host in the autonomous driving system, as indicated by the working mode switching information, needs to be switched.

[0043] The first operating mode switching information is used to instruct the first host in the autonomous driving system to switch from the first operating mode to the second operating mode.

[0044] Step 301 can be explained in the foregoing embodiments, as the principle is the same, and will not be repeated here.

[0045] Step 302: Determine the node difference information between the node corresponding to the first working mode and the node corresponding to the second working mode.

[0046] In this embodiment of the application, each host in the autonomous driving system runs a management process and a functional process. There is at least one functional process, which implements different business functions. The management process manages the functional processes. As an example... Figure 4 A schematic diagram of the structure of a host provided in an embodiment of this application is shown below. Figure 4 As shown, a management process runs on the host, which manages two functional processes. Each functional process can implement part of the functions of the autonomous driving system. They are called functional process 1 and functional process 2, respectively. Multiple computing models run in both functional process 1 and functional process 2. Information is transmitted between computing models through channels. The entire framework forms a complete computing graph to realize the functions of the functional processes. The computing model is called a computing node, or a business node. For example, functional process 1 includes node a and node b; functional process 2 includes node c, node d, and node e.

[0047] Therefore, the working mode switching instruction of the first host indicates that the first host switches from the currently running first working mode to the second working mode. In order to improve the efficiency of working mode switching, the node differential information between the nodes corresponding to the two working modes can be determined, and the working mode switching can be performed based on the node differential information.

[0048] One implementation involves determining information about the first computing node operating in the first working mode and the second computing node operating in the second working mode. This information can be stored in a designated storage unit within the vehicle. The information can be retrieved by querying this storage unit. The first computing node refers to all computing nodes activated or used by the autonomous driving system when the first host is operating in the first working mode. Similarly, the second computing node refers to all computing nodes activated or used by the driving system when the first host is operating in the second working mode. Furthermore, node differential information is determined based on the information of the first and second computing nodes. This node differential information includes the number, type, connection relationships, and differences in the tasks or functions performed by nodes in the two working modes. Based on the node differential information, it can be determined which computing nodes need to be turned off and which need to be turned on when switching from the first working mode to the second working mode.

[0049] Step 303: Based on the node differential information, switch the working mode from the first working mode to the second working mode.

[0050] In this embodiment, based on the node differential information, a first target computing node to be shut down in the first computing node and a second target computing node to be turned on in the second computing node are determined. Then, the first target computing node is shut down and the second target computing node is turned on, so as to quickly switch the working mode from the first working mode to the second working mode. This achieves the switching of working modes through software architecture without restarting the autonomous driving system, resulting in higher switching efficiency.

[0051] One approach to shutting down the first target computing node involves generating a shutdown request based on its attribute information and sending this request to the corresponding functional process. Figure 4 As shown, the management process running on the first host is set as the client, and the various functional processes managed by the management process are set as servers. Communication is carried out based on the inter-process communication protocol between the client and the server to send the computing node shutdown request. The inter-process communication protocol is, for example, the Inter-Process Communication (IPC) protocol, which is not limited in this embodiment.

[0052] Furthermore, the functional process corresponding to the first target computing node shuts down the first target computing node based on the shutdown request. In other words, when the functional process of the first target computing node receives the shutdown request, it will call the application programming interface of the first target computing node to complete the state switch of the first target computing node, such as switching from the on state to the off state. Figure 5 This application provides a schematic diagram illustrating the principle of computing node state switching in an embodiment, as shown below. Figure 5 As shown, when it is necessary to shut down the first target computing node, the state of the first target computing node is switched from the on state to the off state. Specifically, from the STARTED state, the state is changed to the INITIALIZED state by calling the Stop API, and then the Release API is called to change the state from the INITIALIZED state to the UNINITIALIZED state, thus shutting down the first target computing node. Here, the first target computing node can be one or more.

[0053] One implementation method involves starting the second target computing node. This includes generating a startup request for the second target computing node based on its attribute information and sending this request to the corresponding functional process. Figure 4 As shown, the management process running on the first host is set as a client, and the various functional processes managed by the management process are set as servers. Communication is established between the client and servers based on a predefined communication protocol to send the compute node startup request. The communication protocol may be, for example, an IPC communication protocol, but this embodiment is not limited to this. The second target compute node can be one or more.

[0054] Furthermore, the functional process corresponding to the second target computing node starts the second target computing node based on its startup request. In other words, when the functional process of the second target computing node receives the startup request, it calls the application programming interface (API) of the second target computing node to complete the state switch of the second target computing node, for example, from the off state to the startup state. The process of switching the second target computing node from the off state to the startup state can be referred to... Figure 5The state switching process involves calling various application programming interfaces (APIs) to switch the second target computing node from the uninitialized (UNINITIALIZED) state to the initialized (INITIALIZED) state, then calling the Init API to switch it to the STARTED state, and finally calling Start SPI to transition it from the INITIALIZED state to the STARTED state, thus starting the second target computing node.

[0055] In the working mode switching method of this application embodiment, the working mode switching is performed while the autonomous driving system is running, which avoids the problem of needing to restart the hardware chip of the autonomous driving system to run in the conventional switching method. At the same time, by calculating the difference information between the two working modes, the set of computing nodes that need to be shut down and the set of computing nodes that need to be turned on are determined. By shutting down and starting the nodes, the purpose of quickly switching the working mode is achieved.

[0056] Based on the above embodiments, in another implementation of the method by which the first host switches from the first working mode to the second working mode according to the working mode switching instruction, the working mode switching is not based on node differential information. Specifically, the information of the first computing node running in the first working mode is determined. The first computing node is all computing nodes running in the first working mode. The first computing node can be regarded as the set of all computing nodes running in the first working mode. The information of the second computing node running in the second working mode is also determined. The second computing node can be regarded as the set of all computing nodes running in the second working mode. Based on the information of the first computing node, the first computing node is shut down, and based on the information of the second computing node running in the second working mode, the second computing node is started. That is, all the first computing nodes running in the first working mode are shut down, and then all the second computing nodes running in the second working mode are started, thereby realizing the switch from the first working mode to the second working mode. This realizes the working mode switching during the operation of the autonomous driving system, avoiding the problem of needing to restart the hardware chip running the autonomous driving system in the conventional switching method. The set of computing nodes to be shut down and the set of computing nodes to be started are determined. By shutting down and starting the nodes, the purpose of fast mode switching is achieved.

[0057] Based on the above embodiments, this application provides another method for switching operating modes. In the aforementioned embodiments, the first host can be a central host or a non-central host. Specifically, it describes how the first host switches operating modes upon receiving operating mode switching information without performing a hardware restart. In practical scenarios, to achieve consistency in the operating mode switching of multiple hosts in the system, it is necessary to designate one of the multiple hosts as a central host. Therefore, this application describes how, when the first host is the central host, the operating modes of multiple hosts are switched to ensure the consistency of the operating modes of the entire autonomous driving system. Figure 6 A flowchart illustrating another working mode switching method provided in this application embodiment is shown below. Figure 6 As shown, the method includes the following steps:

[0058] Step 601: In the autonomous driving system operation state, in response to the detection of the autonomous driving system's working mode switching information, determine the second working mode to which the first host in the autonomous driving system, as indicated by the working mode switching information, needs to be switched.

[0059] The first operating mode switching information is used to instruct the first host in the autonomous driving system to switch from the first operating mode to the second operating mode.

[0060] Step 602: Switch from the current first working mode to the second working mode.

[0061] The method for the first host to switch modes in steps 601 and 602 can be referred to the relevant explanations in the foregoing embodiments, as the principle is the same and will not be repeated here.

[0062] It should be noted that steps 601 and 602 can be executed before step 603, after step 603, or synchronously with step 603. This embodiment does not impose any limitations.

[0063] Step 603: In response to detecting the working mode switching information of the autonomous driving system in operation, the working mode switching information is sent to the second host in the autonomous driving system.

[0064] In this embodiment, when the autonomous driving system is running, if the first host is the central host receiving the working mode switching information sent by the autonomous driving system, and if it receives the working mode switching information from the autonomous driving system in operation, it sends the working mode switching information to the second host in the autonomous driving system. The second host is not the central host. Therefore, upon receiving the working mode switching information, the second host will switch its working mode accordingly. For details, please refer to the explanation and corresponding beneficial effects of the first host switching working modes in the aforementioned embodiment; the principle is the same and will not be repeated here.

[0065] As an example, Figure 7 This is a schematic diagram of multi-host interaction provided in an embodiment of this application, such as... Figure 7 As shown, Figure 7 The demonstration showed an autonomous driving system consisting of three hosts, namely A, B, and C. Host A is the central host, which is used to receive the autonomous driving system's working mode switching information sent by the system state machine. Then, host A forwards the working mode switching information to host B and host C through TCP communication links, thereby realizing the synchronization of the working modes among the multiple hosts of the autonomous driving system.

[0066] Step 604: Receive the reception feedback information sent by the second host.

[0067] The feedback information indicates whether the second host has successfully received the working mode switching information sent by the first host.

[0068] Step 605: In response to the feedback information indicating that the second host has not received the working mode switching information, the working mode switching information is resent to the second host.

[0069] In this embodiment, the first host determines, based on the received feedback information, that the second host has not received the working mode switching information. Then, it resends the working mode switching information to the second host to ensure that the second host receives the working mode switching information. If the second host successfully receives the working mode switching instruction, it will switch the working mode, thus avoiding the failure of the working mode switching information transmission due to transmission abnormalities. This allows the second host to complete the working mode switching as soon as possible and realize timely correction of the working status of the second host.

[0070] In the working mode switching method of this application embodiment, in a multi-host distributed architecture, it is necessary to solve the mode synchronization problem between multiple hosts. One host is selected from multiple hosts as the central host. The central host will accept the request from the system state machine and send the working mode switching information to other hosts through TCP communication, so that each host in the autonomous driving system can switch working modes, ensuring the synchronization of working modes of multiple hosts in the local and remote hosts, improving the maintainability and usability of the system, as well as improving the reliability and stability of the system.

[0071] To achieve the above embodiments, this application also proposes a working mode switching device.

[0072] Figure 8 This is a schematic diagram of a working mode switching device provided in an embodiment of this application.

[0073] like Figure 8 As shown, the device may include:

[0074] The determining module 81 is used to determine the second working mode to which the first host in the autonomous driving system is to be switched when the autonomous driving system is in operation, in response to the detection of the working mode switching information of the autonomous driving system.

[0075] The switching module 82 is used to switch the first host from the current first working mode to the second working mode.

[0076] Furthermore, in one implementation of this application embodiment, the switching module 82 is also used to perform:

[0077] Determine the node difference information between the node corresponding to the first working mode and the node corresponding to the second working mode;

[0078] Based on the node differential information, the working mode is switched from the first working mode to the second working mode.

[0079] In one implementation of this application embodiment, the switching module 82 is further configured to perform:

[0080] Determine the information of the first computing node running in the first working mode, and the information of the second computing node running in the second working mode;

[0081] The node differential information is determined based on the information of the first computing node and the information of the second computing node.

[0082] In one implementation of this application embodiment, the switching module 82 is further configured to perform:

[0083] Based on the node differential information, determine the first target computing node to be shut down in the first computing node and the second target computing node to be turned on in the second computing node;

[0084] The first target computing node is shut down, and the second target computing node is started, so as to switch the working mode from the first working mode to the second working mode.

[0085] In one implementation of this application embodiment, the switching module 82 is further configured to perform:

[0086] Based on the attribute information of the first target computing node, generate a shutdown request for the first target computing node;

[0087] Send the shutdown request of the first target computing node to the target process corresponding to the first target computing node;

[0088] The target process corresponding to the first target computing node shuts down the first target computing node based on the shutdown request of the first target computing node.

[0089] In one implementation of this application, the apparatus further includes a forwarding module, which is used to perform:

[0090] In response to the detection of operating mode switching information of the autonomous driving system in operation, the operating mode switching information is sent to the second host in the autonomous driving system.

[0091] In one implementation of this application embodiment, the apparatus further includes a retransmission module, which is used to perform:

[0092] Receive the reception feedback information sent by the second host;

[0093] In response to the feedback information indicating that the second host has not received the working mode switching information, the working mode switching information is resent to the second host.

[0094] In one implementation of this application embodiment, the switching module 82 is further configured to perform:

[0095] Determine the information of the first computing node running in the first working mode, and the information of the second computing node running in the second working mode;

[0096] Based on the information of the first computing node, the first computing node is shut down, and based on the information of the second computing node operating in the second working mode, the second computing node is started.

[0097] It should be noted that the foregoing explanation of the method embodiments also applies to the apparatus of this embodiment, and will not be repeated here.

[0098] In the working mode switching device of this application embodiment, in response to the detection of working mode switching information of the autonomous driving system, the device determines the second working mode to which the first host in the autonomous driving system indicated by the working mode switching information should be switched, and switches the first host from the current first working mode to the second working mode. By switching the working mode while the autonomous driving system is running, the device avoids restarting the autonomous driving system, realizes fast switching of working modes, and improves switching efficiency.

[0099] To implement the above embodiments, this application also proposes a vehicle, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the method described in the foregoing method embodiments.

[0100] To implement the above embodiments, this application also proposes a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the method described in the foregoing method embodiments.

[0101] To implement the above embodiments, this application also proposes a computer program product having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method described in the foregoing method embodiments.

[0102] Figure 9 This is a block diagram of a vehicle provided in an embodiment of this application. For example, vehicle 600 can be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. Vehicle 600 can be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0103] Reference Figure 9 The vehicle 600 may include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. The vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and each component of the vehicle 600 can be interconnected via wired or wireless means.

[0104] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, and a navigation system, etc.

[0105] The perception system 620 may include several sensors for sensing information about the environment surrounding the vehicle 600. For example, the perception system 620 may include a global positioning system (which may be GPS, BeiDou, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0106] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0107] The drive system 640 may include components that provide powered motion to the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0108] Some or all of the functions of vehicle 600 are controlled by computing platform 650. Computing platform 650 may include at least one processor 651 and memory 652, and processor 651 may execute instructions 653 stored in memory 652.

[0109] Processor 651 can be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphics Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0110] The memory 652 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0111] In addition to instruction 653, memory 652 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 652 can be used by computing platform 650.

[0112] In this embodiment of the disclosure, processor 651 may execute instructions 653 to complete all or part of the steps of the above method embodiments.

[0113] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0114] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0115] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0116] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0117] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0118] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0119] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0120] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for switching working modes, characterized in that, include: When the autonomous driving system is in operation, in response to detecting the working mode switching information of the autonomous driving system, the second working mode to which the first host in the autonomous driving system is to be switched as indicated by the working mode switching information is determined; Switch the first host from the current first working mode to the second working mode.

2. The method as described in claim 1, characterized in that, Switching the first host from its current first operating mode to the second operating mode includes: Determine the node difference information between the node corresponding to the first working mode and the node corresponding to the second working mode; Based on the node differential information, the first host is switched from the first working mode to the second working mode.

3. The method as described in claim 2, characterized in that, Determining the node difference information between the node corresponding to the first working mode and the node corresponding to the second working mode includes: Determine the information of the first computing node running in the first working mode, and the information of the second computing node running in the second working mode; The node differential information is determined based on the information of the first computing node and the information of the second computing node.

4. The method as described in claim 3, characterized in that, The step of switching the first host from the first working mode to the second working mode based on the node differential information includes: Based on the node differential information, determine the first target computing node to be shut down in the first computing node and the second target computing node to be turned on in the second computing node; The first target computing node is shut down, and the second target computing node is started, so as to switch the first host from the first working mode to the second working mode.

5. The method as described in claim 4, characterized in that, Shutting down the first target computing node includes: Based on the attribute information of the first target computing node, generate a shutdown request for the first target computing node; Send the shutdown request of the first target computing node to the target process corresponding to the first target computing node; The target process corresponding to the first target computing node shuts down the first target computing node based on the shutdown request of the first target computing node.

6. The method as described in claim 1, characterized in that, The first host is a central host that receives the working mode switching request sent by the autonomous driving system. The method further includes: In response to the detection of operating mode switching information of the autonomous driving system in operation, the operating mode switching information is sent to the second host in the autonomous driving system.

7. The method as described in claim 6, characterized in that, The method further includes: Receive the reception feedback information sent by the second host; In response to the feedback information indicating that the second host has not received the working mode switching information, the working mode switching information is resent to the second host.

8. The method as described in claim 1, characterized in that, Switching the first host from its current first operating mode to the second operating mode includes: Determine the information of the first computing node running in the first working mode, and the information of the second computing node running in the second working mode; Based on the information of the first computing node, the first computing node is shut down, and based on the information of the second computing node operating in the second working mode, the second computing node is started.

9. A working mode switching device, characterized in that, include: The determination module is used to determine, in response to detecting the working mode switching information of the autonomous driving system during the operation of the autonomous driving system, the second working mode to which the first host in the autonomous driving system is to be switched as indicated by the working mode switching information. The switching module is used to switch the first host from the current first working mode to the second working mode.

10. A vehicle, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured as follows: The steps of implementing the method according to any one of claims 1 to 8.

11. A non-transitory computer-readable storage medium, wherein instructions in the storage medium, when executed by a processor of a mobile terminal, enable the mobile terminal to perform the steps of the method according to any one of claims 1 to 8.

12. A computer program product, characterized in that, It includes a computer program, which, when executed by a processor, implements the method of any one of claims 1 to 8.

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