Control device, control method, and computer program product

Abstract

This invention provides a control device for transitioning states related to driving assistance used to alleviate some driving tasks for drivers of mobile devices. The device includes: a determination unit for determining the likelihood of a transition in the driving assistance-related state; a notification unit disposed in the interior of the mobile device and notifying the driver by illuminating the interior; and a control unit for controlling the notification unit based on the determination result of the determination unit. The states include: a first state where the driver needs to monitor the system performing the driving assistance and needs to hold the steering wheel of the mobile device; a second state where the driver does not need to hold the steering wheel but needs to monitor the system; and a third state where the driver does not need to monitor the system or hold the steering wheel. When the determination unit predicts a transition in the state, the control unit changes the notification method of the notification unit. According to the control device of this invention, during an upcoming change in the level of autonomous driving or a state transition, the vehicle can convey state change information to the driver in a conspicuous, intuitive, and timely manner.

Description

Technical Field

[0001] This invention relates to a control device, a control method, and a computer program product. Background Technology

[0002] In recent years, with increasing societal demands for traffic safety and convenience, especially in enhancing the travel experience for all road users, autonomous driving technology has developed rapidly. Autonomous driving technology automatically controls vehicle acceleration, deceleration, and steering to achieve different levels of driver assistance and automated driving.

[0003] In existing autonomous driving technologies, vehicle status information is typically displayed to the driver via the dashboard or in-vehicle display screen. For example, known technologies can show the vehicle's current lane, images of surrounding vehicles, and the vehicle's future route on the screen. However, the existing methods of providing this information have the following limitations:

[0004] The switching status of driver assistance levels is only indicated by text or simple icons, which is not eye-catching enough and makes it difficult to quickly attract the driver's attention.

[0005] The prompts are often concentrated on a single display device, lacking intuitiveness and diversity, and failing to fully meet the needs of drivers in different driving scenarios.

[0006] Currently, autonomous driving levels can be divided into multiple levels from low to high, for example:

[0007] Level 1 (Driver Assistance): The vehicle provides lane keeping assist, cruise control, collision mitigation and other functions, but the driver must maintain control of the steering wheel at all times.

[0008] Level 2 (Partial Automation): The vehicle is capable of partially automated operation, and the driver does not need to hold the steering wheel for extended periods of time, but must be able to take over the vehicle at any time.

[0009] Level 3 (Conditional Automation): The vehicle can operate autonomously under specific conditions. The driver can briefly take their eyes off the vehicle, but must quickly take over when prompted.

[0010] As autonomous driving technology advances to higher levels, drivers' intuitive understanding of driving assistance status and automation levels becomes increasingly important. Existing prompting methods are insufficient to effectively meet drivers' needs for quickly assessing vehicle status, potentially leading to delays or misunderstandings in information delivery, thereby affecting driving safety. Summary of the Invention

[0011] To address the shortcomings of existing technologies in providing intuitive, eye-catching, and diverse prompts, the control device, control method, and computer program products of this invention aim to provide an improved prompting mechanism. This mechanism enables the vehicle to convey status change information to the user in a more eye-catching, intuitive, and timely manner when switching autonomous driving levels, thereby improving the driver's attention and cognitive efficiency regarding the vehicle's status. It is particularly suitable for reminding drivers when autonomous driving levels are about to change or during status transitions, and helps to improve driving safety and user experience.

[0012] This invention provides a control device for switching states related to driving assistance, the driving assistance being used to alleviate some of the driving tasks of a driver of a mobile device, comprising: a determination unit for determining the probability of a switch in the state related to driving assistance; a notification unit disposed in the interior of the mobile device and notifying the driver by illuminating light; and a control unit for controlling the notification unit according to the determination result of the determination unit; wherein the states include: a first state: a state in which the driver needs to monitor the system executing the driving assistance and needs to hold the steering wheel of the mobile device; a second state: a state in which the driver does not need to hold the steering wheel but needs to monitor the system; and a third state in which the driver does not need to monitor the system and does not need to hold the steering wheel; when the determination unit predicts a switch in the state, the control unit changes the notification method of the notification unit.

[0013] The present invention also provides a control method for transitioning states related to driving assistance, wherein the driving assistance is used to alleviate some of the driving tasks of a driver of a mobile device, and the interior of the mobile device is provided with a notification unit that notifies the driver by emitting light, comprising: a determination step for determining the probability of transition of the driving assistance-related state; and a control step for controlling the notification unit according to the determination result of the determination step; wherein the state includes: a first state: a state in which the driver needs to monitor the system executing the driving assistance and needs to hold the steering wheel of the mobile device; a second state: a state in which the driver does not need to hold the steering wheel but needs to monitor the system; and a third state in which the driver does not need to monitor the system and does not need to hold the steering wheel; when the transition of the state is predicted in the determination step, the notification method of the notification unit is changed in the control step.

[0014] The present invention also provides a computer program product comprising a computer program, wherein when the computer program is executed by a processor, it implements the steps of the above-described control method.

[0015] Invention Effects

[0016] According to the control device, control method, and computer program product of the present invention, when the autonomous driving level is about to change or during a state transition, the vehicle can transmit the state change information to the driver in a conspicuous manner, intuitively and promptly, thereby improving the driver's attention and cognitive efficiency of the vehicle's state, and helping to improve safety and user experience during driving. Attached Figure Description

[0017] Figure 1 This is a structural block diagram illustrating an example of a vehicle system equipped with a control device according to an embodiment of the present invention.

[0018] Figure 2 The figure shows an example of the interior layout of a vehicle equipped with a control device according to an embodiment of the present invention.

[0019] Figure 3 A diagram illustrating one example of the correspondence between the color of a light source and the driving level.

[0020] Figure 4 A diagram illustrating one example of the illumination mode of a light-emitting device when the level of autonomous driving is downgraded.

[0021] Figure 5 A diagram illustrating one example of the illumination mode of a light-emitting device when the autonomous driving level is upgraded.

[0022] Explanation of reference numerals in the attached figures

[0023] 1 Vehicle System

[0024] 10 cameras

[0025] 12 radar devices

[0026] 14 detectors

[0027] 16 Object Recognition Device

[0028] 20 communication devices

[0029] 30, 30A~30F Light-emitting devices

[0030] 40 Driving Condition Detection Department

[0031] 50 navigation devices

[0032] 51GNSS receiver

[0033] 52 Navigation HMI

[0034] 53 Path Decision Department

[0035] 54 First Map Information

[0036] 60 map positioning units

[0037] 61-lane decision-making department

[0038] 62 Second Map Information

[0039] 70 vehicle sensors

[0040] 80 Driving control device

[0041] 100 Main Control Unit

[0042] 110 Switching Control Unit

[0043] 120 Light Control Unit

[0044] 200 Driver Assistance Control Unit

[0045] 300 Autonomous Driving Control Unit

[0046] 320 First Control Unit

[0047] 321 External Environment Identification Department

[0048] 322 Vehicle Location Identification Unit

[0049] 323 Behavior Planning Generation Department

[0050] 340 Second Control Unit

[0051] 341 Driving Control Department

[0052] 500 driving force output device

[0053] 510 Braking Device

[0054] 520 Steering System Detailed Implementation

[0055] Hereinafter, specific embodiments of the present invention will be described in detail with reference to the accompanying drawings. Identical structures are labeled with the same symbols in all the drawings. The control device of the embodiments of the present invention is applicable to vehicles with autonomous driving functions. Autonomous driving refers to a technology that automatically drives a vehicle by controlling one or both of the following: steering or speed, without the need for driver operation; it is a type of driver assistance technology.

[0056] Autonomous driving levels are typically classified from L0 to L5. The autonomous driving support technologies involved in this invention are mainly applied to notification control during transitions between levels L1 and L3. The detailed definitions and requirements for levels L1 to L3 are as follows:

[0057] L1 (Assisted Driving):

[0058] At this level, the vehicle offers basic driver assistance features such as Lane Keeping Assist (LKA) and Adaptive Cruise Control (ACC) to help the driver maintain vehicle stability and safety.

[0059] However, the driver still needs to maintain full control of the vehicle, with hands always on the steering wheel and eyes always focused on the road ahead.

[0060] In this state, the system can only provide assistance for certain driving tasks, and the driver must be ready to take over at any time.

[0061] L2 (Partial Automation):

[0062] At Level 2, a vehicle can perform two or more autonomous driving functions simultaneously, typically including automatic acceleration, deceleration, and lane keeping.

[0063] Although vehicles can be partially automated in certain situations, drivers still need to remain alert and ready to take over control at any time. Drivers can temporarily remove their hands from the steering wheel, but must maintain attention to the road and traffic conditions and be prepared to intervene at any moment.

[0064] If the system detects that the driver has become less alert (for example, by releasing the steering wheel or no longer focusing on the road), the system will alert the driver and ask them to regain control as soon as possible.

[0065] L3 (Conditional Automation):

[0066] At Level 3, a vehicle is capable of fully autonomous driving under specific conditions. These conditions typically include specific road environments (such as highways) and low-complexity driving tasks.

[0067] Drivers can temporarily look away from their phones under these conditions (such as checking their phones or closing their eyes to rest) because the system can operate fully in these situations.

[0068] However, the system still requires the driver to quickly take over control in emergency situations. For example, if an unexpected obstacle appears on the road ahead or the system malfunctions, the driver needs to quickly regain control of the vehicle.

[0069] <Overall Structure>

[0070] Figure 1This is a structural diagram of a vehicle system 1 including the control device for the implementation method. The vehicle equipped with vehicle system 1 (hereinafter referred to as vehicle M) can be, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle, and its drive source can be an internal combustion engine (such as a diesel engine or a gasoline engine), an electric motor, or a combination thereof. The electric motor is driven by electricity generated by a generator connected to the internal combustion engine, or by electricity discharged from a secondary battery or fuel cell.

[0071] Vehicle system 1 includes, for example: camera 10, radar device 12, detector 14, object recognition device 16, communication device 20, light-emitting device 30, driving status detection unit 40, navigation device 50, map positioning unit 60, vehicle sensor 70, driving operation device 80, main control unit 100, driving assistance control unit 200, automatic driving control unit 300, driving force output device 500, braking device 510, and steering device 520. These devices and equipment are connected via multiple communication lines such as CAN (Controller Area Network) communication lines, serial communication lines, and wireless communication networks. Figure 1 The structure shown is for illustrative purposes only; the actual structure may omit some parts or add other components.

[0072] Camera 10 captures images of the surrounding environment of vehicle M and generates captured images. Camera 10 can use a solid-state image sensor such as a CCD (charge-coupled device) or CMOS (complementary metal-oxide-semiconductor). Camera 10 can be mounted at any location on vehicle M. The surrounding environment of the vehicle can include areas in front, to the sides, or behind. When capturing images from the front, camera 10 is typically mounted on the upper part of the windshield or behind the rearview mirror; when capturing images from the rear, camera 10 can be mounted on the upper part of the rear windshield or on the rear door; when capturing images from the sides, camera 10 is typically mounted on door mirrors. Camera 10 typically captures images of the surrounding environment periodically. Camera 10 can also be a stereo camera.

[0073] Radar device 12 emits electromagnetic waves such as millimeter waves into the surrounding environment of vehicle M, and detects the position (including distance and orientation) of objects by receiving the electromagnetic waves reflected by objects (reflected waves). Radar device 12 can be installed at any location on vehicle M, and there can be one or more radar devices. Radar device 12 can detect information such as the position and speed of objects using FM-CW (frequency modulated continuous wave) method.

[0074] Detector 14 detects the distance to an object by measuring the scattered light from the illuminating light, employing LIDAR (Light Detection and Ranging) technology, also known as laser imaging detection and ranging. Detector 14 can be installed at any location on the vehicle M, and there can be one or more of them.

[0075] The object recognition device 16 performs sensor fusion processing on the detection results from the camera 10, radar device 12, and detector 14 to identify information such as the position, type, and speed of objects. The object recognition device 16 outputs the recognition results to the driver assistance control unit 200 and the automatic driving control unit 300.

[0076] The communication device 20 communicates with other vehicles around vehicle M using, for example, cellular networks, Wi-Fi networks, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), etc., or communicates with various server devices via wireless base stations. Furthermore, the communication device 20 can also communicate with terminal devices carried by personnel outside the vehicle.

[0077] The light-emitting device 30 may be, for example, an LED (light-emitting diode) or other lighting device or indicator. The light-emitting device 30 will statically illuminate or flash according to a predetermined color when the driver assistance of the vehicle M is activated or when the driver assistance level is switched. Furthermore, the light-emitting device 30 may also continuously illuminate or flash statically while driver assistance is in operation. The detailed structure of the light-emitting device 30 will be described later.

[0078] The driving state detection unit 40 is used to detect information related to the driver's driving state, including, for example, a grip sensor to detect whether the driver is holding the steering wheel, a gaze detector to detect the driver's gaze state, and may also include a switch to switch driving assistance on or off, or to switch the level of driving assistance. The detailed structure of the driving state detection unit 40 will be described later.

[0079] The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a route decision unit 53, and stores first map information 54 in a storage device such as a hard disk drive (HDD) or flash memory. The GNSS receiver 51 determines the position of the vehicle M based on the received GNSS satellite signals. The position of the vehicle M can be determined or supplemented by the output data of the vehicle sensors 70 combined with an inertial navigation system (INS). The navigation HMI 52 includes a display device, a speaker, a touch panel, buttons, etc. Based on the position of the vehicle M determined by the GNSS receiver 51 (or any input position), the route decision unit 53 uses the destination input by the driver in the navigation HMI 52 to determine the driving route from the current position to the destination (e.g., including relevant information about the places along the way), and refers to the first map information 54 to perform route planning. The first map information 54 typically represents the road shape through road links and the nodes connecting these links. The first map information 54 may include road curvature, points of interest (POI) information, etc. The route determined by the route decision unit 53 is output to the map positioning unit (MPU) 60. In addition, the navigation device 50 can also provide route guidance through the navigation HMI 52 based on the route determined by the route decision unit 53.

[0080] The MPU 60, functioning as the lane decision unit 61, stores second map information 62 in a storage device such as an HDD or flash memory. The lane decision unit 61 determines recommended lanes by road blocks based on the driving route provided by the navigation device 50 and with reference to the second map information 62.

[0081] The second map information 62 has higher accuracy than the first map information 54. The second map information 62 includes, for example, information about lane centers, lane boundaries, roads, traffic control measures, addresses, facilities, and telephone numbers. Furthermore, the second map information 62 may contain information about areas where lanes can be changed or where overtaking is permitted.

[0082] The vehicle sensor 70 includes a vehicle speed sensor for detecting the speed of the vehicle M, an acceleration sensor for detecting acceleration, a heading sensor for detecting the vertical axis angular velocity, and an orientation sensor for detecting the direction of the vehicle M.

[0083] The driving control device 80 may include, for example, an accelerator pedal, a brake pedal, a gear shift lever, a steering wheel, and other operating devices. The driving control device 80 is equipped with sensors that detect the amount of operation or whether an operation has occurred. The sensor detection results are output to one or more components, such as the main control unit 100, the driving assistance control unit 200, the automatic driving control unit 300, or the driving force output device 500, the braking device 510, and the steering device 520.

[0084] <Main Control Unit>

[0085] The main control unit 100 includes, for example, a switching control unit 110 and a light emission control unit 120. These components are implemented by executing programs (software) through a hardware processor such as a CPU (Central Processing Unit). Furthermore, some or all of these components can be implemented using hardware (including circuitry) such as large-scale integrated circuits (LSI), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), and graphics processing units (GPU), or through the coordinated operation of software and hardware.

[0086] The switching control unit 110 switches the level of driving assistance based on, for example, a detection signal from the driving state detection unit 40. Furthermore, the switching control unit 110 can also cancel driving assistance and switch to manual driving mode based on, for example, acceleration, deceleration, or steering operations of driving operation devices 80 such as the accelerator pedal, brake pedal, or steering wheel. Functional details of the switching control unit 110 will be described later.

[0087] The switching control unit 110 can also switch the level of driving assistance based on the behavior plan generated by the behavior plan generation unit 323. For example, the switching control unit 110 can terminate the driving assistance function at a predetermined location specified in the behavior plan as the end of automatic driving.

[0088] The light emission control unit 120 controls the light emission mode of the light emission device 30 based on information related to the level of driver assistance and information related to level switching. Detailed functions of the light emission control unit 120 will be described later.

[0089] <Driver Assist Control Unit>

[0090] The driver assistance control unit 200 performs Level 1 driver assistance. The driver assistance control unit 200 can perform other driver assistance controls such as ACC (Adaptive Cruise Control) and LKAS (Lane Keeping Assist System). For example, when ACC is executed, the driver assistance control unit 200 controls the driving force output device 500 and the braking device 510 based on information input from the camera 10, radar device 12, and detector 14 via the object recognition device 16, maintaining the distance between vehicle M and the vehicle in front within a certain range. That is, the driver assistance control unit 200 performs distance-based acceleration / deceleration control (speed control). When LKAS is executed, the driver assistance control unit 200 controls the steering device 520 to keep vehicle M in the current lane. That is, the driver assistance control unit 200 performs lane-keeping steering control. Level 1 driver assistance types include various controls other than automated driving (Levels 2 and 3) that do not require operation of the driving control device 80.

[0091] <Autonomous driving control unit>

[0092] The autonomous driving control unit 300 performs Level 2 and Level 3 driving assistance. The autonomous driving control unit 300 includes, for example, a first control unit 320 and a second control unit 340. The first control unit 320 and the second control unit 340 are implemented by executing programs via a processor such as a CPU. Furthermore, some or all of these functional components can be implemented in hardware such as large-scale integrated circuits (LSI), application-specific integrated circuits (ASIC), and field-programmable gate arrays (FPGA), or through the coordinated operation of software and hardware.

[0093] The first control unit 320 includes, for example, an external environment recognition unit 321, a vehicle position recognition unit 322, and a behavior planning generation unit 323. The external environment recognition unit 321 identifies the position, speed, acceleration, and other states of surrounding vehicles based on information input from the camera 10, radar device 12, and detector 14 via the object recognition device 16. The position of surrounding vehicles can be represented by representative points such as the vehicle's center of mass or corners, or by a region represented by the vehicle's outline. The "state" of surrounding vehicles may include the vehicle's acceleration, sway, or "behavioral state" (e.g., whether it is currently or preparing to change lanes).

[0094] The external environment recognition unit 321 can recognize at least one of the following: vehicles, obstacles (such as guardrails, utility poles, parked vehicles, pedestrians, etc.), road shapes, and other objects in the surrounding environment.

[0095] The vehicle position recognition unit 322 can identify, for example, the lane in which vehicle M is traveling (driving lane), and the position and orientation of vehicle M relative to the driving lane. The vehicle position recognition unit 322 can identify the driving lane by comparing road marking patterns (e.g., the arrangement of solid and dashed lines) obtained from the second map information 62 with surrounding road marking patterns identified in images captured by the camera 10. The vehicle position recognition unit 322 can identify the position and orientation of vehicle M relative to the driving lane.

[0096] The behavior planning generation unit 323 generates a behavior plan for vehicle M to autonomously drive towards its destination. For example, based on the recommended lane determined by the lane decision unit 61 and considering the surrounding conditions of vehicle M, the behavior planning generation unit 323 determines the events to be executed sequentially in autonomous driving control. Events in autonomous driving may include, for example, constant speed driving events (driving at a constant speed in the same lane), low-speed following events (e.g., following the vehicle in front at speeds below 40 km / h), lane changing events, overtaking events, merging events (merging at a merging point), fork events (causing vehicle M to travel in the correct direction), and emergency stopping events. Furthermore, when executing these events, avoidance behaviors may be planned based on the surrounding conditions (e.g., the presence of surrounding vehicles or pedestrians, or lane narrowing due to road construction). The behavior planning generation unit 323 generates the target trajectory that vehicle M will travel in the future based on the aforementioned events. The target trajectory consists of a series of trajectory points that should be reached.

[0097] The second control unit 340 includes, for example, a driving control unit 341. The driving control unit 341 controls the driving force output device 500, the braking device 510, and the steering device 520, so that the vehicle M passes through each trajectory point within a predetermined time according to the target trajectory generated by the behavior planning generation unit 323.

[0098] The driving force output device 500 outputs driving force (torque) to the drive wheels to propel the vehicle. The driving force output device 500 includes, for example, a combination of an internal combustion engine, an electric motor, and a transmission, as well as an ECU (electronic control unit) that controls these components. The braking device 510 includes, for example, brake calipers, a hydraulic cylinder that transmits hydraulic pressure, an electric motor that generates hydraulic pressure, and a brake ECU. The brake ECU controls the electric motor based on input information from the driving control unit 341 or the driving operation device 80, and outputs braking torque to each wheel according to the braking operation requirements. The steering device 520 includes, for example, a steering ECU and an electric motor. The steering ECU drives the electric motor based on input information from the driving control unit 341 or the driving operation device 80, thereby changing the direction of the steering wheels.

[0099] Interior Layout

[0100] The following will describe an example of the interior layout of vehicle M according to an embodiment of the present invention. Figure 2 An example of the interior layout in vehicle M is shown. For example... Figure 2 As shown, the vehicle M is equipped with multiple light-emitting devices 30 (light-emitting devices 30A to 30F). Light-emitting devices 30A to 30F can be, for example, lighting devices or indicators such as LEDs (light-emitting diodes). Light-emitting devices 30A to 30F will statically illuminate or flash according to a predetermined color when the vehicle M's driving assistance is activated or when the driving assistance level is switched. Furthermore, light-emitting devices 30A to 30F can also continuously illuminate or flash statically while driving assistance is in operation.

[0101] Illuminating devices 30A and 30B are disposed on the steering wheel, which is part of the driving control device 80. Illuminating device 30C is, for example, mounted near the display screen on the instrument panel. "Near" here means that the shortest distance between the illuminating device 30C and the display screen 31 is less than, for example, 3 centimeters. Figure 2 In the example, the light-emitting device 30C is mounted at the upper edge of the display screen 31. The light-emitting device 30D may be mounted, for example, in front of the dashboard passenger seat. The light-emitting devices 30E and 30F may be mounted, for example, on the left and right front doors of the vehicle M, respectively.

[0102] The driving state detection unit 40 includes, for example, a grip sensor 41 for detecting whether the driver is holding the steering wheel and a gaze detector 42 for detecting the driver's gaze state. Figure 2 As shown, the grip sensor 41 is mounted on the steering wheel of the driving operation device 80 to detect whether the driver is gripping the steering wheel. The driving state detection unit 40 may also include, for example, a switch (not shown) for switching driving assistance on or off, or switching the level of driving assistance, to receive the driver's switch operation and output the switching information for switching driving assistance on or off or the level of driving assistance to the switching control unit 110.

[0103] like Figure 2 As shown, the grip sensor 41 is installed in the grip area of ​​the vehicle's steering wheel, covering both sides of the steering wheel, or it can be arranged in a ring around the entire steering wheel to accurately detect the driver's hand contact. The grip sensor 41 is embedded in the surface of the steering wheel, so it does not affect the driver's normal grip and steering wheel operation. It can be a capacitive sensor that determines contact by detecting changes in capacitance between the driver's palm and the steering wheel, or a pressure sensor that senses the pressure applied by the driver's hand and detects whether the driver is gripping the steering wheel tightly by sensing the magnitude and distribution of the pressure, or it can be a combination of multiple sensors.

[0104] In this embodiment of the invention, the gaze detector 42 is a camera used to detect the driver's gaze state. It is positioned in front of the driver's seat, near the windshield, or near the dashboard, as long as it provides a clear view of the driver's face and minimizes obstruction. Dual cameras or a multi-camera array can also be used to improve detection accuracy and fault tolerance. The gaze detector 42, combined with the switching control unit 110, can identify the driver's facial orientation, head posture, and eye opening / closing state, thereby determining the driver's focus of attention. In this way, it is possible to distinguish whether the driver is looking at the road ahead or the dashboard.

[0105] <Switching Control>

[0106] Next, the control during the switching of autonomous driving levels according to the embodiments of the present invention will be described.

[0107] In this embodiment, the vehicle system 1 anticipates changes in the driving assistance status through external information (e.g., high-precision map data, real-time weather information, road traffic information, driver's operating status, etc.). When it is detected that the driving task may change from L1 state to L2 state, from L2 state to L3 state, from L3 state to L2 state, or from L2 state to L1 state, the vehicle system 1 notifies the driver by changing the illumination pattern of the light-emitting device.

[0108] Scenario 1: Switching autonomous driving levels based on map information

[0109] Scenario 1 involves Vehicle System 1 issuing a notification to switch autonomous driving levels based on map information. Vehicle System 1 dynamically adjusts the autonomous driving level by comprehensively analyzing map information and real-time driving environment information to ensure driving safety and user experience.

[0110] The navigation device 50 provides first map information 54 as basic map data, covering the vehicle's driving path and key navigation information, such as the target location and major road structures. The lane decision unit 61 further utilizes second map information 62 for more detailed analysis. For example, second map information 62 contains precise data such as lane center, lane boundaries, and traffic control rules, supporting the execution of higher levels of autonomous driving.

[0111] Within the high-precision map area (covered by the second map information 62), vehicles can perform more complex autonomous driving tasks, such as Level 2 autonomous driving, based on rich map details and road attribute information. The second map information 62 can also define areas where Level 3 autonomous driving is permitted (such as specific highways or specific parking lots).

[0112] When the system detects that it is about to exit the high-precision map area (only the first map information 54 covers it) and enter the lower-precision map area (such as rural roads and some urban roads), the switching control unit 110 will actively reduce the autonomous driving level (from L2 or L3 to L1) and promptly notify the driver to take over the vehicle.

[0113] The switching control unit 110 is responsible for dynamically adjusting the autonomous driving level based on map information and environmental perception data. The following is an example of the switching logic in scenario one:

[0114] 1. Enter the high-precision map area

[0115] When the system detects that a vehicle is about to enter the coverage area of ​​the second map information 62, it will give the driver a heads-up.

[0116] The advance notification threshold is set to 1km to 0.5km, with the specific distance dynamically adjusted based on the current vehicle speed.

[0117] The switching control unit 110 analyzes in real time whether the vehicle meets other conditions of L2 state (such as vehicle speed, weather, traffic density, etc.).

[0118] If the conditions are met, the system will prompt the driver to temporarily release their hands while maintaining monitoring of the vehicle and switch to L2 mode.

[0119] 2. Exit the high-precision map area

[0120] When the system detects that the vehicle is about to leave the coverage area of ​​the second map information 62, it will give the driver an advance notice.

[0121] The advance notification threshold is set to 2km to 1km, with the specific distance dynamically adjusted based on the current vehicle speed to ensure that the driver has enough time to take over.

[0122] The level of autonomous driving will gradually be reduced to L1, at which point the driver will need to take full control of the vehicle.

[0123] 3. Enter the L3 permitted area

[0124] Highways or specific parking lots are marked as areas where L3 status is permitted.

[0125] The advance notification threshold is set to 1km to 0.5km, with the specific distance dynamically adjusted based on the current vehicle speed.

[0126] The switching control unit 110 analyzes in real time whether the vehicle meets other conditions for L3 state (such as vehicle speed, weather, traffic density, etc.).

[0127] If the conditions are met, the system will prompt the driver to release their continuous monitoring duties on the vehicle and switch to L3 status.

[0128] 4. Exit the L3 permitted area

[0129] When the system detects that the vehicle is about to leave the L3 permitted area, it will give the driver an advance warning.

[0130] The advance notification threshold is set to 2km to 1km, with the specific distance dynamically adjusted based on the current vehicle speed to ensure that the driver has enough time to take over.

[0131] The level of autonomous driving is gradually being reduced to L2, requiring drivers to continuously monitor the vehicle.

[0132] After the switching control unit 110 adjusts the autonomous driving level, the light-emitting control unit 120 controls the light-emitting mode of the light-emitting device 30, allowing the driver to perceive changes in the autonomous driving status in a timely manner. Figure 3 A diagram illustrating one example of the correspondence between the light emission color of the light-emitting device 30 and the driving level, such as... Figure 3 As shown,

[0133] Green light: indicates that the vehicle is in L3 mode, the system is fully under control, and the driver can briefly relax their attention.

[0134] Yellow light: indicates that the vehicle is in L2 mode and the driver must continue to monitor the vehicle.

[0135] Red light: indicates that the vehicle has been downgraded to L1 mode, and the driver must immediately take full control of the vehicle.

[0136] To ensure that drivers can quickly perceive changes when switching between different driving modes, the vehicle's lighting system 30 integrates and coordinates color modes to provide unified yet layered visual cues in different scenarios. Figure 4 A diagram illustrating one example of the light emission mode of a light-emitting device when the level of autonomous driving is downgraded. Figure 5 A diagram illustrating one example of the illumination mode of a lighting device during an upgrade to a higher level of autonomous driving. (See below for reference.) Figure 4 , Figure 5 The lighting pattern when switching driving levels is described in detail.

[0137] 1. Switching from L3 to L2 (downgrading of autonomous driving level)

[0138] When the system detects that a vehicle is about to leave the L3 permitted area and enter the L2 area, the illumination control unit 120 controls the illumination device 30 in the following mode to alert the driver in advance.

[0139] First stage (2 kilometers ahead) tips:

[0140] The steering wheel lighting devices 30A and 30B: The green light begins to flash slowly in a cycle of dimming and brightening, indicating to the driver that they are about to switch to L2 mode and need to restore monitoring of the vehicle.

[0141] The light source 30C at the display screen: the green light gradually dims.

[0142] The 30D lighting unit on the dashboard features green lights that flash slowly in sync, creating a gradual transition atmosphere.

[0143] The illuminated devices 30E and 30F at the car doors: green lights are statically lit to enhance the coverage of the status indicator.

[0144] Tips for Phase 2 (1 km ahead):

[0145] The steering wheel lighting devices 30A and 30B: the green light flashes at a slightly faster frequency and gradually turns yellow to enhance the driver's attention.

[0146] The light-emitting device 30C on the display screen flashes green and yellow lights alternately to alert the driver that a switch is about to occur.

[0147] The 30D lighting unit on the dashboard: green light flashes rapidly, creating a transitional atmosphere.

[0148] The illuminated devices 30E and 30F at the car doors: green lights flash rapidly in sync to enhance the coverage of status indicators.

[0149] After the switch is complete, the following message will appear:

[0150] When the switch is complete and the vehicle is fully in L2 mode, the lights 30A and 30B on the steering wheel and the lights 30C on the display screen are stably yellow, while the lights 30D on the dashboard and the lights 30E and 30F on the doors are no longer lit, creating a stable driving atmosphere.

[0151] 2. Switching from L2 to L1 (downgrading of autonomous driving level)

[0152] When the system detects that a vehicle is about to leave the high-precision map coverage area L2 and enter the L1 area, the illumination control unit 120 controls the illumination device 30 in the following mode to alert the driver in advance.

[0153] First stage (2 kilometers ahead) tips:

[0154] The steering wheel lighting devices 30A and 30B: The yellow light begins to flash slowly in a cycle of dimming and brightening, indicating to the driver that they are about to switch to L1 mode and need to restore monitoring of the vehicle.

[0155] The yellow light from the light source 30C on the display screen gradually dims.

[0156] The 30D lighting unit on the dashboard features yellow lights that flash slowly in sync, creating a gradually changing atmosphere.

[0157] The illuminated devices 30E and 30F at the car doors: yellow lights are statically lit to enhance the coverage of the status indicator.

[0158] Tips for Phase 2 (1 km ahead):

[0159] The steering wheel lighting devices 30A and 30B have a slightly faster yellow light flashing frequency, gradually turning red to enhance the driver's attention.

[0160] The light-emitting device 30C on the display screen flashes yellow and red lights alternately to alert the driver that a switch is about to occur.

[0161] The 30D lighting unit on the dashboard: yellow lights flash rapidly to create a transitional atmosphere.

[0162] The illuminated devices 30E and 30F at the car doors: yellow lights flash rapidly in sync to enhance the coverage of the status indicator.

[0163] After the switch is complete, the following message will appear:

[0164] When the switch is complete and the vehicle is fully in L1 mode, the lights 30A and 30B on the steering wheel and the lights 30C on the display screen are stably red, while the lights 30D on the dashboard and the lights 30E and 30F on the doors are no longer lit, creating a stable driving atmosphere.

[0165] 3. Switching from L2 to L3 (Autonomous Driving Level Upgrade)

[0166] When the system detects that a vehicle is about to enter the L3 permitted area from the L2 area, the illumination control unit 120 controls the illumination device 30 in the following mode to alert the driver in advance.

[0167] First stage (1 kilometer ahead) tips:

[0168] The steering wheel lighting devices 30A and 30B: The yellow light begins to flash slowly in a cycle of dimming and brightening, indicating to the driver that a more advanced autonomous driving mode is about to be entered, allowing them to relax their attention appropriately.

[0169] The yellow light from the light source 30C on the display screen gradually dims.

[0170] The 30D lighting unit on the dashboard features yellow lights that flash slowly in sync, creating a gradually changing atmosphere.

[0171] The illuminated devices 30E and 30F at the car doors: yellow lights are statically lit to enhance the coverage of the status indicator.

[0172] Tips for Phase Two (0.5 km ahead):

[0173] The steering wheel lighting devices 30A and 30B have a slightly faster yellow light flashing frequency, gradually turning green to enhance the driver's attention.

[0174] The light-emitting device 30C on the display screen flashes yellow and green lights alternately to alert the driver that a switch is about to occur.

[0175] The instrument panel lighting device 30D, and the door lighting devices 30E and 30F: yellow lights flash slowly to enhance the coverage of the status indicator, but without increasing the frequency, so as to avoid excessive driver stress.

[0176] After the switch is complete, the following message will appear:

[0177] When the switch is complete and the vehicle is fully in L3 mode, the lights 30A and 30B on the steering wheel and the lights 30C on the display screen are stably green, while the lights 30D on the dashboard and the lights 30E and 30F on the doors are no longer lit, creating a stable driving atmosphere.

[0178] Scenario 2: Switching autonomous driving levels based on weather conditions

[0179] Scenario 2 involves Vehicle System 1 dynamically adjusting its autonomous driving level based on real-time weather data, combined with environmental perception sensors and map information. Vehicle System 1 dynamically adjusts its autonomous driving level by comprehensively analyzing map information and real-time weather conditions to cope with different weather conditions and improve driving safety.

[0180] Vehicle system 1 connects to the network via communication device 20 and navigation device 50 to obtain current weather information, including rainfall, visibility, and wind speed. Vehicle M is equipped with sensors (not shown) such as rain sensors and humidity sensors, as well as cameras, which provide real-time weather feedback, such as detecting raindrops, snow, or fog. Simultaneously, some intelligent road infrastructure provides real-time information on slippery road conditions or low-visibility areas.

[0181] The switching control unit 110 dynamically adjusts the autonomous driving level based on real-time weather data. If it detects that the weather conditions are deteriorating (such as heavy rain, fog, or snow), the switching control unit 110 proactively lowers the autonomous driving level and notifies the driver to take over the vehicle. When the weather conditions improve (such as the rain stopping or visibility returning), the switching control unit 110 reassesses the conditions and restores the original autonomous driving level. The following is an example of the switching logic in scenario two.

[0182] 1. Downgrade due to worsening weather

[0183] If the rainfall intensity exceeds the threshold (e.g., more than 10 mm / h), the visibility is less than 100 meters, or the road surface is slippery, the switching control unit 110 determines that the current driving environment is not suitable for high-level autonomous driving and prompts the driver to prepare to take over.

[0184] Downgrade by one level: When rainfall is moderate and visibility is low but still acceptable, the autonomous driving level is downgraded by one level, such as from L3 to L2. The driver must resume monitoring responsibilities for the vehicle.

[0185] Downgrade by two levels: In severe weather conditions such as heavy rain and dense fog, the autonomous driving level needs to be downgraded by two levels, such as from L3 to L1, and the driver needs to take full control of the vehicle.

[0186] 2. Upgrade due to improved weather

[0187] Once the rain stops or visibility improves to a safe level (e.g., more than 500 meters) and road conditions are confirmed to be good, the switching control unit 110 reassesses whether the autonomous driving level can be restored.

[0188] Level 1 Restoration: When visibility returns to a manageable range and road surface slipperiness decreases, Level 1 restoration is permitted. For example, if the original L3 state was downgraded to L1 state, it can be restored to L2 state.

[0189] Full Recovery: Full recovery is permitted when visibility is fully restored and there is no rain or other interference. If the driver was downgraded from L3 to L1, the system will prompt the driver to restore to L3 and release the continuous monitoring duties.

[0190] After the switching control unit 110 adjusts the autonomous driving level, the light-emitting control unit 120 controls the light-emitting mode of the light-emitting device 30, allowing the driver to perceive changes in the autonomous driving status in a timely manner. The control of the light-emitting mode is the same as in scenario one, and will not be described again here.

[0191] Scenario 3: Switching autonomous driving levels based on driving status detection

[0192] Scenario 3 is a scenario where vehicle system 1 dynamically adjusts the level of autonomous driving based on the driver's state (including how they hold the steering wheel and their line of sight). Through the driving state detection unit 40, the vehicle can monitor the driver's attention and operating behavior in real time, ensuring that the level of autonomous driving is adapted to the current driving state, thereby improving safety and user experience.

[0193] The data collected by the grip sensor 41 and the gaze detector 42 of the driving state detection unit 40 are transmitted to the switching control unit 110. When the driver's state is detected to be inconsistent with the requirements of the current autonomous driving level, the switching control unit 110 adjusts the level in a timely manner and prompts the driver through the illumination control unit 120. The following is an example of the switching logic in scenario three.

[0194] 1. Downgrade due to driving conditions

[0195] In L2 mode, when the grip sensor 41 detects that the driver has regained grip on the steering wheel and remains stable (e.g., without releasing it for more than 10 seconds), the switching control unit 110 determines that the driver wants to take over the vehicle, downgrades the autonomous driving level from L2 to L1, and provides an advance warning to the driver that the downgrade is about to occur and that they should be prepared to take over.

[0196] In L3 mode, when the gaze detector 42 detects that the driver is looking ahead again for more than a threshold (e.g., 5 seconds), the switching control unit 110 determines that the driver wants to continue monitoring the vehicle, downgrades the autonomous driving level from L3 to L2, and prompts the driver in advance to prepare to monitor the vehicle as the level is about to be downgraded.

[0197] 2. Upgrades caused by driving conditions

[0198] In L1 mode, when the grip sensor 41 detects that the driver has released the steering wheel for an extended period of time (e.g., more than 5 seconds), the switching control unit 110 determines that the driver wants to release control of the vehicle. If the autonomous driving level can be upgraded to L2 after evaluation, the autonomous driving level is upgraded from L1 to L2, and the driver is given an advance warning that L2 mode is about to be entered, allowing the driver to appropriately relax control of the vehicle.

[0199] In L2 mode, when the gaze detector 42 detects that the driver's gaze deviates for more than a predetermined threshold (e.g., 5 seconds), or detects that the driver closes his eyes to rest (suspected of dozing off), the switching control unit 110 determines that the driver wants to relax the monitoring of the vehicle. If the autonomous driving level can be upgraded to L3 after evaluation, the autonomous driving level is upgraded from L2 to L3, and the driver is given an advance notice that L3 mode is about to be entered, and the monitoring of the vehicle can be appropriately relaxed.

[0200] After the switching control unit 110 adjusts the autonomous driving level, the light-emitting control unit 120 controls the light-emitting mode of the light-emitting device 30, allowing the driver to perceive changes in the autonomous driving status in a timely manner. The control of the light-emitting mode is the same as in scenario one, and will not be described again here.

[0201] This invention is not limited to the aforementioned embodiments and can be appropriately modified and improved. For example, the above embodiments illustrate a case where a notification is given through the light-emitting mode of the light-emitting device when a level switch is triggered, but it is not limited to this. It can also combine sound prompts and vibration feedback to ensure that the driver quickly understands the changes in the current autonomous driving state and the need for responsibility transfer.

[0202] Furthermore, in the aforementioned embodiments, the coordinated flashing and color gradient of multiple light-emitting devices on the steering wheel, display screen, dashboard, etc., are used to notify the switching of autonomous driving levels. However, this is not the only method. Users can adjust the sensitivity and mode of the prompting method in the in-vehicle system, such as selecting "enhanced prompting" or "concise prompting," to ensure that the system can provide the notification mode most desired by the driver.

[0203] Furthermore, the control method described in the foregoing embodiments can be implemented by executing a pre-prepared control program. This control program is recorded in a computer-readable storage medium and is executed by reading it from the storage medium. Additionally, this control program can be provided in the form of storage on a non-transitory storage medium such as flash memory, or it can be provided via a network such as the Internet. The computer executing this control program can be included in the vehicle's main control unit, or in an electronic device such as a smartphone, tablet, or personal computer capable of communicating with the vehicle's main control unit, or in a server device capable of communicating with the main control unit and these electronic devices.

[0204] In addition, the present invention includes at least the following items, wherein the items in parentheses represent the corresponding components or likes in the above embodiments, but are not limited thereto.

[0205] <Option 1>

[0206] A control device (main control unit 100) for switching states related to driving assistance, the driving assistance being used to alleviate some of the driving tasks of the driver of a mobile device, includes:

[0207] The determination unit (switching control unit 110) is used to determine the possibility of switching the state related to driving assistance;

[0208] A notification unit (light-emitting device 30) is installed in the interior of the mobile device to notify the driver by emitting light; and

[0209] The control unit (light emission control unit 120) controls the notification unit based on the determination result of the determination unit;

[0210] The states include:

[0211] State 1: The driver needs to monitor the driving assistance system and hold the steering wheel of the mobile device.

[0212] State 2: A state where the driver does not need to hold the steering wheel, but the system needs to be monitored; and

[0213] State 3: A state in which the driver does not need to monitor the system or hold the steering wheel;

[0214] When the determination unit predicts the transition of the state, the control unit changes the notification method of the notification unit.

[0215] The control device in Scheme 1 enables the vehicle to transmit state change information to the driver in a conspicuous, intuitive, and timely manner when the autonomous driving level is about to change or during state transition. This improves the driver's attention and cognitive efficiency regarding the vehicle's status, thereby enhancing safety and user experience during driving.

[0216] <Option 2>

[0217] In the control device described in Scheme 1, the notification method of the notification unit varies depending on the state after the change predicted by the determination unit.

[0218] Option 2 further adjusts the notification method according to the changed status, improving the relevance and clarity of the notification and avoiding confusion or misunderstanding for drivers when switching between different statuses.

[0219] <Option 3>

[0220] The control device described in Scheme 1 or 2 further includes: an external information acquisition unit for acquiring external information of the mobile device; wherein the determination unit predicts the state transition based on the external information.

[0221] Option 3 introduces an external information acquisition unit, enabling the decision-making unit to predict state transitions based on real-time environmental data (such as weather, traffic flow, etc.), and to proactively adapt to changes in the external environment (such as severe weather or road conditions), thereby enhancing the safety and reliability of driving assistance functions.

[0222] <Option 4>

[0223] The control device described in Scheme 3 further includes: a location information acquisition unit, used to acquire information related to the location where the mobile device is traveling or is scheduled to travel; wherein the determination unit predicts the state transition based on the external information and based on at least one of the acquisition status of the location information and the availability status of the location information by the location information acquisition unit.

[0224] Scheme 4 adds a location information acquisition unit to the control device. By combining location information with external information, the system can better adapt to the needs of specific locations (such as highways and urban roads) and provide more refined autonomous driving level control.

[0225] <Option 5>

[0226] The control device described in Scheme 1 or 2 further includes: a detection unit (driving state detection unit 40) for detecting the driver's actions or biological information; wherein, when the detection result of the detection unit does not meet the driving assistance requirements in the current state, the determination unit predicts the transition of the state.

[0227] The control device in Scheme 5, with its detection unit, dynamically adjusts the conditions for determining state transitions by detecting the driver's actions or biological information (such as gripping the steering wheel, gaze status, etc.), thereby improving the driver assistance system's responsiveness to driver behavior.

[0228] <Option 6>

[0229] In the control device described in Scheme 1, when the determination unit predicts that the state transition has been determined and the time until the state transition exceeds a predetermined time, the control unit controls the notification unit to make a notification in a predetermined manner.

[0230] The control device of Scheme 6, when it determines that the state transition has been determined, issues an advance notice in a predetermined manner, giving the driver sufficient time to prepare to take over the vehicle or adapt to the state change, further improving the driving experience and operational ease.

[0231] <Option 7>

[0232] In the control device described in Scheme 2, the control unit changes the notification method by changing at least one of the light emission color and light emission mode of the notification unit.

[0233] The control device of Scheme 7 adjusts the light emission color and light emission mode to transmit status information, making the notification method more intuitive and diversified, significantly improving the information visualization effect and driver perception efficiency, intuitively reflecting the urgency or type of status switching, and helping the driver to quickly understand and adapt to the operational requirements.

[0234] <Option 8>

[0235] A control method for transitioning states related to driving assistance, the driving assistance being used to alleviate some of the driving tasks of a driver of a mobile device, the mobile device having a notification unit in its interior that notifies the driver via illumination, comprising:

[0236] The determination step is used to determine the probability of a transition in the driving assistance-related state; and

[0237] The control step controls the notification unit based on the determination result of the determination step;

[0238] The states include:

[0239] State 1: The driver needs to monitor the driving assistance system and hold the steering wheel of the mobile device.

[0240] State 2: A state where the driver does not need to hold the steering wheel, but the system needs to be monitored; and

[0241] State 3: A state in which the driver does not need to monitor the system or hold the steering wheel;

[0242] When the state transition is predicted in the determination step, the notification method of the notification unit is changed in the control step.

[0243] <Option 9>

[0244] A computer program product comprising a computer program, wherein when the computer program is executed by a processor, the steps of the control method described in Scheme 8 are implemented.

[0245] Schemes 8 and 9 further provide control methods and computer program products that enable the vehicle to transmit state change information to the driver in a conspicuous, intuitive, and timely manner during changes in autonomous driving level or state transitions. This improves the driver's attention and cognitive efficiency regarding the vehicle's status, thereby enhancing safety and user experience during driving.

Claims

1. A control device for switching states related to driving assistance, the driving assistance being used to alleviate some of the driving tasks of a driver of a mobile device, comprising: The determination unit is used to determine the likelihood of a transition in the driving assistance-related state; A notification unit, located in the interior of the mobile device, notifies the driver by emitting light; and The control unit controls the notification unit based on the determination result of the determination unit; The states include: State 1: The driver needs to monitor the driving assistance system and hold the steering wheel of the mobile device. State 2: A state where the driver does not need to hold the steering wheel, but the system needs to be monitored; and State 3: A state in which the driver does not need to monitor the system or hold the steering wheel; When the determination unit predicts the transition of the state, the control unit changes the notification method of the notification unit.

2. The control device according to claim 1, wherein The notification method of the notification unit varies depending on the state after the transformation predicted by the determination unit.

3. The control device according to claim 1 or 2, Also included are: External information acquisition unit, used to acquire external information of the mobile device; The determination unit predicts the state transition based on the external information.

4. The control device according to claim 3, Also included are: The location information acquisition unit is used to acquire information related to the location where the mobile device is traveling or is scheduled to travel. The determination unit predicts the state transition based on the external information and at least one of the location information acquisition status and the location information availability status of the location information acquisition unit.

5. The control device according to claim 1 or 2, Also included are: The detection unit is used to detect the driver's actions or biometric information; When the detection result of the detection unit does not meet the driving assistance requirements in the current state, the determination unit predicts the transition of the state.

6. The control device according to claim 1, wherein When the state transition predicted by the determination unit has been determined and the time until the state transition exceeds a predetermined time, the control unit controls the notification unit to make a notification in a predetermined manner.

7. The control device according to claim 2, wherein, The control unit changes the notification method by changing at least one of the light emission color and light emission mode of the notification unit.

8. A control method for transitioning states related to driving assistance, the driving assistance being used to alleviate some of the driving tasks of a driver of a mobile device, the interior of the mobile device being provided with a notification unit that notifies the driver by illuminating light, comprising: The determination step is used to determine the probability of a transition in the driving assistance-related state; and The control step controls the notification unit based on the determination result of the determination step; The states include: State 1: The driver needs to monitor the driving assistance system and hold the steering wheel of the mobile device. State 2: A state where the driver does not need to hold the steering wheel, but the system needs to be monitored; and State 3: A state in which the driver does not need to monitor the system or hold the steering wheel; When the state transition is predicted in the determination step, the notification method of the notification unit is changed in the control step.

9. A computer program product comprising a computer program, wherein when executed by a processor, the computer program implements the steps of the control method of claim 8.

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