Vehicle intelligent driving cooperative control method and device, automobile head unit and automobile

Abstract

This application relates to the automotive field, specifically to a vehicle intelligent driving cooperative control method and device, an in-vehicle infotainment system, and a vehicle. The method includes: real-time acquisition of driver's driving state parameters and intelligent driving system state parameters. The driving state parameters include the driver's biological parameters and / or driving skill parameters, while the intelligent driving state parameters include current environmental parameters and / or the intelligent driving system's system physical parameters. Based on the driving state parameters and intelligent driving state parameters, corresponding driver functions and intelligent driving system functions are assigned to the driver and intelligent driving system, respectively. The driver functions are executed based on the driver's driving operations, and the intelligent driving system functions are executed based on the intelligent driving system's actions. The vehicle intelligent driving cooperative control method and device, in-vehicle infotainment system, and vehicle provided by this application achieve the technical effect of reducing operational conflicts between the driver and the intelligent driving system while more clearly defining responsibility for driving accidents.

Description

Technical Field

[0001] This application relates to the automotive field, specifically to a vehicle intelligent driving cooperative control method and device, an automotive infotainment system, and an automotive vehicle. Background Technology

[0002] Intelligent driving, as the core direction of change after the electrification transformation of the automotive industry, integrates technologies from multiple fields such as sensor perception, artificial intelligence algorithms, on-board high-performance computing power, vehicle control engineering and vehicle-road cooperation. After decades of theoretical exploration, technological breakthroughs and commercialization, it has completed the entire evolution process from basic driving assistance to advanced autonomous driving.

[0003] In its early stages, intelligent driving was in its theoretical nascent and technological foundation-building phase. It relied solely on single functions such as cruise control and lane departure warning to provide basic driving safety alerts. The system only passively monitored and provided simple warnings, and vehicle control depended entirely on the driver, with no deep collaborative relationship between the driver and the vehicle. As machine vision, millimeter-wave radar, and lidar perception technologies matured, intelligent driving entered a phase of widespread adoption. Functions such as adaptive cruise control, lane centering, and automatic emergency braking became mass-produced and installed in vehicles, gradually moving from features exclusive to high-end luxury cars to mainstream family cars. During this stage, intelligent driving systems began to participate in the lateral and longitudinal control of the vehicle, but were limited to independent operation of single functions. In complex road conditions, the driver still needed to take the lead in monitoring the entire process. Human-machine interaction remained at the level of function activation and status prompts, and a collaborative driving logic had not yet been formed.

[0004] With the development of intelligent driving technology, human-machine co-driving has become mainstream, requiring frequent interaction between the system and the driver. Existing technologies, when implementing human-machine collaborative control, are prone to operational conflicts between the driver and the intelligent driving system, and the division of responsibility between the intelligent driving system and the driver is unclear. When an accident occurs, it is difficult to trace whether the cause was a system decision-making error or driver misconduct. Summary of the Invention

[0005] In view of this, it is necessary to provide a vehicle intelligent driving cooperative control method and device, vehicle infotainment system and vehicle, to achieve the technical effect of reducing operational conflicts between the driver and the intelligent driving system while more clearly delineating the responsibility for driving accidents.

[0006] To achieve the aforementioned technical effects, firstly, this application provides a vehicle intelligent driving cooperative control method, comprising: Real-time acquisition of the driver's driving status parameters and the intelligent driving system's intelligent driving status parameters, the driving status parameters including the driver's biological parameters and / or driving skill parameters, and the intelligent driving status parameters including the current environmental parameters and / or the intelligent driving system's system physical parameters; Based on the driving state parameters and the intelligent driving state parameters, corresponding driver functions and intelligent driving system functions are assigned to the driver and the intelligent driving system, respectively. The driver function is completed based on the driver's driving operations, and the intelligent driving system function is completed based on the intelligent driving system.

[0007] In one possible embodiment, the step of assigning corresponding driver functions and intelligent driving system functions to the driver and the intelligent driving system respectively based on the driving state parameters and the intelligent driving state parameters includes: The driving state parameters are comprehensively scored based on the driving state judgment model to obtain the driver's current driving state score; The intelligent driving status parameters are comprehensively scored based on the intelligent driving status judgment model to obtain the current intelligent driving status score of the intelligent driving system; For any vehicle driving function, obtain the current driving state score and the vehicle driving function weight corresponding to the vehicle driving function, obtain the current intelligent driving state score and the intelligent driving function weight corresponding to the vehicle driving function, and determine the vehicle driving function as the driver function or the intelligent driving system function based on the vehicle driving function weight and the intelligent driving function weight.

[0008] In one possible embodiment, the driving state score includes a decision-making ability score and a driving skill score. The step of comprehensively scoring the driving state parameters based on the driving state judgment model to obtain the driver's current driving state score includes: The driver's current decision-making ability score is obtained by comprehensively scoring the biological parameters based on the driving state judgment model, and the driver's current driving skill score is obtained by comprehensively scoring the driving skill parameters based on the driving state judgment model. The step of obtaining the current driving state score and the vehicle driving function weight corresponding to the vehicle driving function includes: Determine the function type of the vehicle driving function, which includes rapid response and continuous driving functions; If the vehicle driving function belongs to the rapid response category, the weight of the vehicle driving function is determined based on the current decision-making ability score. If the vehicle driving function belongs to the continuous driving category, the weight of the vehicle driving function is determined based on the current driving skill score.

[0009] In one possible embodiment, determining the vehicle driving function as either the driver function or the intelligent driving system function based on the vehicle driving function weight and the intelligent driving function weight includes: Obtain the set function weighted value corresponding to the vehicle driving function, wherein the set function weighted value includes the driver weighted value and the intelligent driving weighted value; The weights of the vehicle driving functions are calculated by weighting the driver's weighted value to obtain the weighted weights of the vehicle driving functions. The weights of the intelligent driving functions are calculated by weighting the intelligent driving function's weighted value to obtain the weighted weights of the intelligent driving functions. If the weighted weight of the vehicle driving function is greater than the weighted weight of the intelligent driving function, the vehicle driving function is determined to be the driver function; if the weighted weight of the vehicle driving function is less than the weighted weight of the intelligent driving function, the vehicle driving function is determined to be the intelligent driving system function.

[0010] In one possible embodiment, it further includes: Obtain vehicle driving experience parameters; if the vehicle driving experience parameters exceed a set threshold... In one possible embodiment, before acquiring the driver's driving state parameters and the intelligent driving system's intelligent driving state parameters in real time, the method further includes: In response to receiving the driver's first driving operation; Based on the first driving operation, driving suggestions are generated and fed back to the driver; In response to receiving the driver's acceptance of the driving suggestion, the following steps are performed: real-time acquisition of the driver's driving status parameters and the intelligent driving system's intelligent driving status parameters.

[0011] In one possible embodiment, it further includes: For any of the intelligent driving system functions, in response to the driver's operation parameters for performing the intelligent driving system function exceeding a set function operation threshold, the intelligent driving system function is converted into the driver function.

[0012] Secondly, this application provides a vehicle intelligent driving cooperative control device, comprising: The parameter acquisition module is used to acquire the driver's driving status parameters and the intelligent driving system's intelligent driving status parameters in real time. The driving status parameters include the driver's biological parameters and / or driving skill parameters, and the intelligent driving status parameters include the current environmental parameters and / or the intelligent driving system's system physical parameters. A function allocation module is used to allocate corresponding driver functions and intelligent driving system functions to the driver and the intelligent driving system respectively according to the driving state parameters and the intelligent driving state parameters. The collaborative control module is used to complete the driver functions based on the driver's driving operations and to complete the intelligent driving system functions based on the intelligent driving system.

[0013] Thirdly, this application also provides an automotive infotainment system, including: A serial input interface is provided for connecting to a sensing device to receive driving state parameters of the driver and intelligent driving state parameters of the intelligent driving system sensed by the sensing device. A memory is used to store the program, the driving state parameters, and the intelligent driving state parameters; A vehicle control unit, used to control the movement of the vehicle; A processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the above-described vehicle intelligent driving cooperative control method, thereby controlling the vehicle control unit.

[0014] Fourthly, this application provides an automobile, comprising: an automobile body; a sensing device disposed on the automobile body, the sensing device being used to sense driving state parameters of a driver and intelligent driving state parameters of an intelligent driving system; an intelligent driving system disposed on the automobile body; a driving device disposed on the automobile body, the driving device being used for the driver and the intelligent driving system to control the automobile body; and a vehicle intelligent driving cooperative control device communicatively connected to the sensing device and the intelligent driving system, the vehicle intelligent driving cooperative control device being used to execute the steps in the vehicle intelligent driving cooperative control method as described in any one of claims 1 to 7, to coordinate the control authority of the intelligent driving system and the driver over the driving device.

[0015] The beneficial effects of this application are: Compared with related technologies, the vehicle intelligent driving cooperative control method and device, vehicle infotainment system, and vehicle provided in this application acquire the driver's driving state parameters and the intelligent driving system's intelligent driving state parameters in real time. By comparing the driving state parameters and the intelligent driving state parameters, driver functions are dynamically assigned to the driver and intelligent driving system functions are assigned to the intelligent driving system in real time. During vehicle operation, driver functions are completed according to the driver's driving operations, and intelligent driving system functions are completed through the intelligent driving system. This allows for flexible allocation of functions based on the real-time status of the driver and the intelligent driving system, reducing operational conflicts between the driver and the intelligent driving system. Furthermore, this application explicitly assigns driver functions to the driver and intelligent driving system functions to the intelligent driving system. In the event of a vehicle accident, the responsibility allocation between the driver and the intelligent driving system can be clearly determined based on the functional cause of the accident. This achieves the technical effect of reducing operational conflicts between the driver and the intelligent driving system while more clearly defining the responsibility for driving accidents. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating the vehicle intelligent driving cooperative control method provided in an embodiment of this application; Figure 2 This is a flowchart illustrating the process of allocating corresponding driver functions and intelligent driving system functions to the driver and intelligent driving system based on driving state parameters and intelligent driving state parameters in the vehicle intelligent driving cooperative control method provided in this application embodiment. Figure 3 This is a schematic diagram of the structure of the vehicle intelligent driving cooperative control device provided in the embodiments of this application; Figure 4 This is a schematic diagram of an automotive infotainment system provided in one embodiment of this application; Figure 5 This is a schematic diagram of a car provided according to one embodiment of this application. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0019] In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0020] The terms "first," "second," etc., used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0021] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0022] This application provides a vehicle intelligent driving cooperative control method and device, an in-vehicle system and an in-vehicle vehicle, which are described below.

[0023] Please refer to Figure 1 The vehicle intelligent driving cooperative control method provided in this application includes: Step S101: Obtain the driver's driving status parameters and the intelligent driving system's intelligent driving status parameters in real time.

[0024] In this step, the driver status parameters are parameters that identify the driver's current driving status, specifically including the driver's biological parameters and / or driving skill parameters.

[0025] The driver's biometrics specifically include physiological data such as heart rate and respiratory rate, emotional data such as facial expressions and tone of voice, and behavioral data such as blinking frequency, gaze direction, and steering wheel operation amplitude. It is understood that the foregoing are merely illustrative examples of biometrics in this application. In other embodiments of this application, data that characterizes the driver's physiological state, such as eye opening angle and steering wheel grip strength, can also be used as the driver's biometrics. This application specifically acquires the driver's biometrics through various sensors mounted on the vehicle.

[0026] It should be clarified that before obtaining the driver's driving status parameters in this application, consultation was conducted with the driver or other vehicle users, and the driver's driving status parameters were only obtained after obtaining their consent. Alternatively, after obtaining the driver's driving status parameters, the parameters were desensitized / de-identified / anonymized to remove privacy information related to the driver's identity.

[0027] Driving skill parameters specifically refer to data characterizing a driver's proficiency in driving skills, including parameters such as driving experience, operational proficiency, and reaction speed. Specifically, basic information such as the driver's identity and driving experience is pre-recorded in the vehicle. Upon vehicle startup, the driver's identity information is matched to determine their current driving experience as a driving skill parameter. Simultaneously, the driver's operational proficiency is monitored during driving. For example, multiple fixed operating procedures are preset, and the driver's reaction time and operational sequence during the execution of these procedures are used to determine their operational proficiency, among other data. These various data representing the driver's driving ability are combined to form the driving skill parameters in this application.

[0028] For intelligent driving systems, the intelligent driving status parameters specifically include current environmental parameters and / or the system physical parameters of the intelligent driving system.

[0029] The current environmental parameters specifically include the current weather conditions, light intensity, road surface type, lane markings, wind direction and speed, temperature and humidity, and other external environmental parameters related to vehicle operation. This application specifically uses onboard cameras, millimeter-wave radar, lidar, and other perception sensors to collect images, point clouds, temperature, and other data in real time. Simultaneously, it connects to onboard meteorological modules and high-precision maps to further supplement weather conditions, roadside type, and other data as current environmental parameters.

[0030] The system physical parameters encompass vehicle body state parameters such as vehicle speed, lateral and longitudinal acceleration, steering wheel angle, and wheel speed, primarily obtained through measurement units such as vehicle chassis sensors and inertial measurement units. Furthermore, in this application, the system physical parameters also include the confidence level of real-time vehicle monitoring and perception, such as the confidence level parameters of sensing results from sensors like cameras, radar, and lidar, and the stability of function execution, such as the vehicle's smoothness during lane changing and steering.

[0031] Furthermore, in some embodiments of this application, before executing step S101, in response to receiving a first driving operation from the driver, a driving suggestion is generated based on the first driving operation and fed back to the driver; in response to receiving the driver's acceptance of the driving suggestion, step S101 is executed. That is, before executing step S101, it is first necessary to determine that the driver has a collaborative control intention. For example, the driver expresses an intention (such as changing lanes, overtaking, decelerating, stopping, etc.) through a first driving operation (such as lightly turning the steering wheel or pressing the pedal) via voice, gesture, or touch. The vehicle intelligent driving collaborative control device will generate a recommended driving intention accordingly, and the intelligent driving system will generate a corresponding driving suggestion based on the recommended driving intention and feed back the driving suggestion to the driver through the instrument panel, HUD display, voice prompts, etc. This interaction between the driver and the intelligent driving system is repeated until both parties reach an agreement. In response to receiving the driver's acceptance of the driving suggestion, the vehicle intelligent driving collaborative control intention is determined to be formed, and step S101 is executed.

[0032] Step S102: Assign corresponding driver functions and intelligent driving system functions to the driver and intelligent driving system respectively according to the driving status parameters and intelligent driving status parameters.

[0033] Please refer to Figure 2 In this application, corresponding driver functions and intelligent driving system functions are assigned to the driver and intelligent driving system respectively based on driving state parameters and intelligent driving state parameters, specifically including the following steps: Step S201: Based on the driving state judgment model, a comprehensive score is given to the driving state parameters to obtain the driver's current driving state score.

[0034] In this step, the driving state judgment model is a mathematical model that has been trained in advance based on relevant sample data. Specifically, it can be a mathematical model such as an LSTM network model or a neural network model. The input to the driving state judgment model is the driving state parameters collected in the aforementioned step S101. After the driving state parameters are input into the driving state judgment model, the driving state judgment model performs overall analysis and data processing on multiple driving state parameters to obtain the driver's current driving state score.

[0035] In this step, the driving state score is further divided into a decision-making ability score and a driving skill score. Based on this, the driving state judgment model comprehensively scores biological parameters to obtain the driver's current decision-making ability score. The driving state judgment model also comprehensively scores driving skill parameters to obtain the driver's current driving skill score. That is, in this application, the driver's driving state is split into two parts: decision-making ability state and driving skill. The decision-making ability state specifically corresponds to the driver's current physiological state. If the driver is currently fatigued or distracted, their corresponding decision-making ability state is low, and the corresponding driver's current decision-making ability score is also low. Corresponding to the decision-making ability score, the driving skill score is the scoring standard for whether the driver is skilled at driving. For skilled drivers, the current driving skill score is high, and for unskilled drivers, the corresponding current driving skill score is low.

[0036] Step S202: Based on the intelligent driving state judgment model, a comprehensive score is given to the intelligent driving state parameters to obtain the current intelligent driving state score of the intelligent driving system.

[0037] In this step, the intelligent driving state judgment model is a mathematical model that has been trained in advance based on relevant sample data. It can also be a mathematical model such as an LSTM network model or a neural network model. The input of the intelligent driving state judgment model is the intelligent driving state parameters collected in the aforementioned step S101. After the intelligent driving state parameters are input into the intelligent driving state judgment model, the intelligent driving state judgment model performs overall analysis and data processing on multiple intelligent driving state parameters to obtain the current intelligent driving state score of the intelligent driving system.

[0038] Step S203: For any vehicle driving function, obtain the current driving state score and the corresponding vehicle driving function weight, and obtain the current intelligent driving state score and the corresponding intelligent driving function weight.

[0039] In this step, the vehicle's driving process is pre-divided into multiple driving functions. For example, the entire driving process can be broken down into starting, changing lanes, accelerating, decelerating, braking, steering, and parking. Different driving state scores and intelligent driving state scores are pre-assigned weights to each driving function. In other words, for each driving function, a pre-set weight is assigned to that function under each driving state score. Based on this, in this step, the weights of the current driving functions can be determined based on the current driving state score obtained in step S201. Similarly, the weights of the intelligent driving functions can be determined based on the current intelligent driving state score obtained in step S202.

[0040] Furthermore, in this step, the driving state score in the aforementioned steps is specifically divided into decision-making ability score and driving skill score. This step also determines the functional category of the vehicle's driving function, which includes rapid response and continuous driving categories. If the vehicle's driving function belongs to the rapid response category, the weight of the vehicle's driving function is determined based on the current decision-making ability score; if the vehicle's driving function belongs to the continuous driving category, the weight of the vehicle's driving function is determined based on the current driving skill score. Since driver proficiency and driver alertness are two significantly different driver evaluation criteria, this application uses decision-making ability score and driving skill score to make a more detailed judgment of the driver's state, which can further improve the safety of the vehicle cooperative control process.

[0041] Step S204: Determine whether the vehicle driving function is a driver function or an intelligent driving system function based on the weight of the vehicle driving function and the weight of the intelligent driving function.

[0042] In this step, for each vehicle driving function, a corresponding function weighting value is also set. This weighting value includes a driver weighting value and an intelligent driving system weighting value. Based on this, this step first calculates the weight of the vehicle driving function based on the driver weighting value to obtain the vehicle driving function weighting weight. Then, it calculates the weight of the intelligent driving function based on the intelligent driving system weighting value to obtain the intelligent driving function weighting weight. If the vehicle driving function weighting weight is greater than the intelligent driving function weighting weight, the vehicle driving function is determined to be a driver function; if the vehicle driving function weighting weight is less than the intelligent driving function weighting weight, the vehicle driving function is determined to be an intelligent driving system function.

[0043] Specifically, in this embodiment, the vehicle driving process is divided into three driving functions: conventional driving functions (such as maintaining a constant speed while following another vehicle and changing lanes normally), complex driving functions (such as driving in adverse weather conditions and responding to emergencies), and navigation driving functions (such as route selection and entering / exiting ramps). The driving function allocation logic is as follows: when both the intelligent driving system and the driver are functioning normally, the intelligent driving system is considered to be proficient in conventional driving functions and navigation driving functions, so a higher weighting value is assigned to these functions, while a lower weighting value is assigned to the driver. Conversely, the driver is considered to be proficient in complex driving functions, so a lower weighting value is assigned to these functions, while a higher weighting value is assigned to the driver.

[0044] Furthermore, after assigning corresponding driver functions and intelligent driving system functions, for any intelligent driving system function, in response to the driver's operation parameters exceeding the set function operation threshold, the intelligent driving system function is converted into a driver function. For example, if the lane-changing function is assigned as an intelligent driving system function, and the driver still turns the steering wheel significantly—that is, the driver's steering wheel rotation parameter corresponding to the lane-changing function exceeds the set steering wheel rotation angle threshold—it indicates that the driver strongly desires to execute the lane-changing function. In this case, the intelligent driving system function is converted into a driver function, and the driver takes over control.

[0045] Step S103: Complete the driver function based on the driver's driving operation, and complete the intelligent driving system function based on the intelligent driving system.

[0046] In this step, the driver's functions are executed by the driver's driving operations, and the intelligent driving system functions are executed by the intelligent driving system's intelligent driving operations, together completing the vehicle's driving process.

[0047] Compared with related technologies, the vehicle intelligent driving cooperative control method provided in this embodiment acquires the driver's driving state parameters and the intelligent driving system's intelligent driving state parameters in real time. By comparing these parameters, it dynamically assigns driver functions to the driver and intelligent driving system functions to the intelligent driving system. During vehicle operation, driver functions are completed based on the driver's actions, and intelligent driving system functions are completed through the intelligent driving system. This allows for flexible function allocation based on the real-time status of the driver and the intelligent driving system, reducing operational conflicts between them. Furthermore, this application explicitly assigns driver functions to the driver and intelligent driving system functions to the intelligent driving system. In the event of a vehicle accident, the responsibility allocation between the driver and the intelligent driving system can be clearly determined based on the functional cause of the accident. This achieves the technical effect of reducing operational conflicts between the driver and the intelligent driving system while more clearly defining responsibility for driving accidents. Furthermore, in some embodiments of this application, vehicle driving experience parameters, such as driving stability parameters and acceleration parameters during driving, are continuously acquired during vehicle driving, and the riding experience during vehicle driving is quantified based on these vehicle driving experience parameters.

[0048] If vehicle driving experience parameters exceed set thresholds, the current driving status score and / or current intelligent driving status score are adjusted based on these parameters. The adjustment corresponds to the extent to which the driving experience parameters exceed the set thresholds. Subsequently, the driver's functions and intelligent driving system functions are redefined based on the adjusted current driving status score and / or current intelligent driving status score. This achieves closed-loop regulation during vehicle driving, further improving driving quality and passenger experience.

[0049] To better implement the vehicle intelligent driving cooperative control method in the embodiments of this application, based on the vehicle intelligent driving cooperative control method, correspondingly, as follows: Figure 3 As shown in the figure, this application embodiment also provides a vehicle intelligent driving cooperative control device, which includes: The parameter acquisition module 301 is used to acquire the driver's driving status parameters and the intelligent driving status parameters of the intelligent driving system in real time. The driving status parameters include the driver's biological parameters and / or driving skill parameters, and the intelligent driving status parameters include the current environmental parameters and / or the system physical parameters of the intelligent driving system. The function allocation module 302 is used to allocate corresponding driver functions and intelligent driving system functions to the driver and intelligent driving system respectively according to the driving status parameters and intelligent driving status parameters. The collaborative control module 303 is used to complete driver functions based on the driver's driving operations and to complete intelligent driving system functions based on the intelligent driving system.

[0050] The vehicle intelligent driving cooperative control device provided in the above embodiments can realize the technical solutions described in the above vehicle intelligent driving cooperative control method embodiments. The specific implementation principles of each module or unit can be found in the corresponding content in the above vehicle intelligent driving cooperative control method embodiments, and will not be repeated here.

[0051] Please refer to Figure 4 This application also provides a corresponding automotive infotainment system 400. The automotive infotainment system 400 includes... The serial input interface 401 is used to connect to a sensing device to receive the driver's driving status parameters and the intelligent driving status parameters of the intelligent driving system sensed by the sensing device. The memory 402 is used to store the vehicle intelligent driving cooperative control program, driving status parameters and intelligent driving status parameters. The vehicle control unit 403 is used to control the movement of the vehicle; The processor 404, coupled to the memory 402, is used to execute the vehicle intelligent driving cooperative control program stored in the memory 402 to implement the steps in the vehicle intelligent driving cooperative control method provided in the foregoing embodiments, so as to control the vehicle control unit 403 and control the vehicle driving through the vehicle control unit 403.

[0052] Please refer to Figure 5This application also provides a vehicle, including: a vehicle body 501, a sensing device 502 disposed on the vehicle body 501, the sensing device 502 being used to sense the driver's driving state parameters and the intelligent driving state parameters of the intelligent driving system, an intelligent driving system 503 disposed on the vehicle body, a driving device 504 disposed on the vehicle body, the driving device 504 being used for the driver and the intelligent driving system to control the vehicle body 501, and a vehicle intelligent driving cooperative control device 505 communicatively connected to the sensing device 502 and the intelligent driving system 503, the vehicle intelligent driving cooperative control device 505 being used to execute the steps in the vehicle intelligent driving cooperative control method provided in the foregoing embodiments, so as to coordinate the control authority of the intelligent driving system and the driver over the driving device.

[0053] During actual vehicle operation, the sensing device 502 senses the driver's driving state parameters and the intelligent driving system's intelligent driving state parameters in real time, and transmits these parameters to the vehicle intelligent driving cooperative control device 505. The vehicle intelligent driving cooperative control device 505 executes the steps of the vehicle intelligent driving cooperative control method provided in the aforementioned embodiments, assigning corresponding driver functions and intelligent driving system functions to the driver and intelligent driving system respectively. When the driver performs a control action corresponding to the driver function, the driving device 504 is controlled to implement that driver function; however, when the driver performs a control action corresponding to the intelligent driving system function, the driving device 504 is not controlled to implement that driver function. Similarly, when the intelligent driving system performs a control action corresponding to its intelligent driving system function, the driving device 504 is controlled to implement that intelligent driving system function; however, when the intelligent driving system performs a control action corresponding to the driver function, the driving device 504 is not controlled to implement that driver function. This achieves driver functions based on the driver's driving operations and intelligent driving system functions based on the intelligent driving system.

[0054] In all specific embodiments of this application, when processing data related to user identity or characteristics, such as user information, user behavior data, user historical data, and user location information, user permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant laws, regulations, and standards. Additionally, when embodiments of this application require access to sensitive personal information, separate permission or consent from the user is obtained through pop-ups or redirects to confirmation pages. Only after obtaining the user's separate permission or consent is the necessary user-related data required for the proper functioning of these embodiments acquired.

[0055] The above provides a detailed description of the vehicle intelligent driving cooperative control method, device, vehicle infotainment system, and vehicle provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A vehicle intelligent driving cooperative control method, characterized in that, include: Real-time acquisition of the driver's driving status parameters and the intelligent driving system's intelligent driving status parameters, the driving status parameters including the driver's biological parameters and / or driving skill parameters, and the intelligent driving status parameters including the current environmental parameters and / or the intelligent driving system's system physical parameters; Based on the driving state parameters and the intelligent driving state parameters, corresponding driver functions and intelligent driving system functions are assigned to the driver and the intelligent driving system, respectively. The driver function is completed based on the driver's driving operations, and the intelligent driving system function is completed based on the intelligent driving system.

2. The vehicle intelligent driving cooperative control method according to claim 1, characterized in that, The step of assigning corresponding driver functions and intelligent driving system functions to the driver and the intelligent driving system respectively based on the driving state parameters and the intelligent driving state parameters includes: The driving state parameters are comprehensively scored based on the driving state judgment model to obtain the driver's current driving state score; The intelligent driving status parameters are comprehensively scored based on the intelligent driving status judgment model to obtain the current intelligent driving status score of the intelligent driving system; For any vehicle driving function, obtain the current driving state score and the vehicle driving function weight corresponding to the vehicle driving function, obtain the current intelligent driving state score and the intelligent driving function weight corresponding to the vehicle driving function, and determine the vehicle driving function as the driver function or the intelligent driving system function based on the vehicle driving function weight and the intelligent driving function weight.

3. The vehicle intelligent driving cooperative control method according to claim 2, characterized in that, The driving state score includes a decision-making ability score and a driving skill score. The driving state parameters are comprehensively scored based on the driving state judgment model to obtain the driver's current driving state score, including: The driver's current decision-making ability score is obtained by comprehensively scoring the biological parameters based on the driving state judgment model, and the driver's current driving skill score is obtained by comprehensively scoring the driving skill parameters based on the driving state judgment model. The step of obtaining the current driving state score and the vehicle driving function weight corresponding to the vehicle driving function includes: Determine the function type of the vehicle driving function, which includes rapid response and continuous driving functions; If the vehicle driving function belongs to the rapid response category, the weight of the vehicle driving function is determined based on the current decision-making ability score. If the vehicle driving function belongs to the continuous driving category, the weight of the vehicle driving function is determined based on the current driving skill score.

4. The vehicle intelligent driving cooperative control method according to claim 2, characterized in that, The step of determining whether the vehicle driving function is the driver function or the intelligent driving system function based on the vehicle driving function weight and the intelligent driving function weight includes: Obtain the set function weighted value corresponding to the vehicle driving function, wherein the set function weighted value includes the driver weighted value and the intelligent driving weighted value; The weights of the vehicle driving functions are calculated by weighting the driver's weighted value to obtain the weighted weights of the vehicle driving functions. The weights of the intelligent driving functions are calculated by weighting the intelligent driving function's weighted value to obtain the weighted weights of the intelligent driving functions. If the weighted weight of the vehicle driving function is greater than the weighted weight of the intelligent driving function, the vehicle driving function is determined to be the driver function; if the weighted weight of the vehicle driving function is less than the weighted weight of the intelligent driving function, the vehicle driving function is determined to be the intelligent driving system function.

5. The vehicle intelligent driving cooperative control method according to claim 2, characterized in that, Also includes: Obtain vehicle driving experience parameters. If the vehicle driving experience parameters exceed a set threshold, adjust the current driving state score and / or the current intelligent driving state score based on the vehicle driving experience parameters.

6. The vehicle intelligent driving cooperative control method according to claim 1, characterized in that, Before acquiring the driver's driving status parameters and the intelligent driving system's intelligent driving status parameters in real time, the following steps are also included: In response to receiving the driver's first driving operation; Based on the first driving operation, driving suggestions are generated and fed back to the driver; In response to receiving the driver's acceptance of the driving suggestion, the following steps are performed: real-time acquisition of the driver's driving status parameters and the intelligent driving system's intelligent driving status parameters.

7. The vehicle intelligent driving cooperative control method according to claim 1, characterized in that, Also includes: For any of the intelligent driving system functions, in response to the driver's operation parameters for performing the intelligent driving system function exceeding a set function operation threshold, the intelligent driving system function is converted into the driver function.

8. A vehicle intelligent driving cooperative control device, characterized in that, include: The parameter acquisition module is used to acquire the driver's driving status parameters and the intelligent driving system's intelligent driving status parameters in real time. The driving status parameters include the driver's biological parameters and / or driving skill parameters, and the intelligent driving status parameters include the current environmental parameters and / or the intelligent driving system's system physical parameters. A function allocation module is used to allocate corresponding driver functions and intelligent driving system functions to the driver and the intelligent driving system respectively according to the driving state parameters and the intelligent driving state parameters. The collaborative control module is used to complete the driver functions based on the driver's driving operations and to complete the intelligent driving system functions based on the intelligent driving system.

9. A car infotainment system, characterized in that, include: A serial input interface is provided for connecting to a sensing device to receive driving state parameters of the driver and intelligent driving state parameters of the intelligent driving system sensed by the sensing device. A memory is used to store the program, the driving state parameters, and the intelligent driving state parameters; A vehicle control unit, used to control the movement of the vehicle; A processor, coupled to the memory, is configured to execute the program stored in the memory to implement the steps of the vehicle intelligent driving cooperative control method according to any one of claims 1 to 7, so as to control the vehicle control unit.

10. A car, characterized in that, include: The vehicle body includes a sensing device mounted on the vehicle body for sensing the driver's driving state parameters and the intelligent driving system's intelligent driving state parameters; an intelligent driving system mounted on the vehicle body; a driving device mounted on the vehicle body for enabling the driver and the intelligent driving system to control the vehicle body; and a vehicle intelligent driving cooperative control device communicatively connected to the sensing device and the intelligent driving system, wherein the vehicle intelligent driving cooperative control device is used to execute the steps of the vehicle intelligent driving cooperative control method as described in any one of claims 1 to 7, to coordinate the control permissions of the intelligent driving system and the driver on the driving device.

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