Intelligent driving function degradation prompt interaction method, electronic device and vehicle

Abstract

This application discloses a method, electronic device, and vehicle for providing a degraded intelligent driving function prompt interaction. The method includes: in response to detecting degraded state information of the intelligent driving system, determining the performance limitation level of the intelligent driving system; determining a corresponding target coordination strategy based on the performance limitation level, switching to a target coordination mode based on the target coordination strategy, and controlling external lighting devices to display target lighting effects based on the target coordination mode; continuously monitoring whether the operating status of the intelligent driving system meets the recovery conditions, or whether the driver's takeover status meets the exit requirements; and terminating the operation of the target coordination mode in response to detecting that the recovery conditions or exit requirements are met. Thus, when the intelligent driving function degrades, a multi-dimensional response mechanism informs all traffic participants outside the vehicle, significantly reducing the risk of traffic accidents caused by information asymmetry.

Description

Technical Field

[0001] This invention relates to the field of vehicle intelligent control technology, and in particular to an intelligent driving function downgrade prompt interaction method, electronic device, and vehicle. Background Technology

[0002] With the large-scale application of Level 2 and above intelligent driving technologies, vehicles may enter a state of functional degradation (such as system exit or performance limitation) when encountering complex road conditions, system performance limitations, or sudden sensor anomalies.

[0003] Currently, vehicles primarily use in-vehicle human-machine interface (HMI) methods such as sound, light, and touch to provide prompts to the driver. However, other road users outside the vehicle (such as vehicles behind, pedestrians, and non-motorized vehicle riders) are unaware of this crucial change in the autonomous driving system's status.

[0004] In scenarios such as high-speed following and mixed urban traffic, this "information gap" between internal and external parties can easily lead to misjudgments by other drivers (for example, mistakenly believing that the vehicle in front is still in a stable autonomous driving state). This can increase the risk of collision when the vehicle brakes or deviates from its lane due to system downgrading, as other drivers may not react in time. Industry statistics show that rear-end collisions and delayed avoidance caused by downgraded intelligent driving functions account for more than 35% of all intelligent driving-related accidents, with over 80% of these stemming from external road users' misjudgments of the downgraded state. The existing vehicle external lighting systems (such as turn signals and hazard warning lights) have fixed functional definitions and do not have dedicated, tiered visual signals designed for the specific state of "downgraded intelligent driving functions," failing to meet the safety requirements of high-level autonomous driving human-machine co-driving and vehicle-to-infrastructure (V2I) collaboration.

[0005] Therefore, a method for intelligent driving function degradation prompt interaction, electronic devices, and vehicles are needed to solve the above problems. Summary of the Invention

[0006] The purpose of this application is to provide an intelligent driving function downgrade prompt interaction method, electronic device and vehicle, which can establish a multi-dimensional response mechanism when the intelligent driving vehicle experiences function downgrade, and significantly reduce the risk of traffic accidents caused by information asymmetry.

[0007] To achieve the above objectives: This application provides a method for intelligent driving function degradation prompt interaction, including: in response to detecting degradation status information of the intelligent driving system, determining the performance limitation level of the intelligent driving system; determining a corresponding target coordination strategy according to the performance limitation level, switching to a target coordination mode based on the target coordination strategy, and controlling an external lighting device to display a target lighting effect based on the target coordination mode; continuously monitoring whether the operating status of the intelligent driving system meets the recovery conditions, or whether the driver's takeover status meets the exit requirements; and terminating the operation of the target coordination mode in response to detecting that the recovery conditions or the exit requirements are met.

[0008] In one embodiment, in response to detecting degraded state information of the intelligent driving system, determining the performance limitation level of the intelligent driving system includes: collecting vehicle operating parameters through vehicle sensors and obtaining diagnostic information of the electronic control unit through the vehicle network; performing real-time analysis on the vehicle operating parameters and the diagnostic information based on a preset evaluation strategy, and confirming the analysis results; and determining the current performance limitation level of the intelligent driving system based on the analysis results.

[0009] In one embodiment, determining the corresponding target collaborative strategy based on the performance limitation level includes: Obtain the mapping relationship between the performance limitation level and the preset level, wherein the preset level includes at least slight performance limitation, moderate performance limitation, and severe performance limitation; if the performance limitation level is mapped to slight performance limitation, then determine a first collaborative strategy; if the performance limitation level is mapped to moderate performance limitation, then determine a second collaborative strategy; if the performance limitation level is mapped to severe performance limitation, then determine a third collaborative strategy.

[0010] In one embodiment, controlling an external lighting device to display a target lighting effect includes: determining the light language mode of the external lighting device according to the target coordination strategy, so as to control the external lighting device to output a light language corresponding to the performance limitation level.

[0011] In one embodiment, determining a corresponding target coordination strategy based on the performance limitation level and switching to the target coordination mode based on the target coordination strategy further includes: acquiring traffic participant density information around the vehicle; calculating the current dynamic risk coefficient based on the performance limitation level and the traffic participant density information; and adjusting the lighting parameters of the external lighting device and / or the alarm intensity of the in-vehicle human-machine interaction system in the target coordination strategy according to the dynamic risk coefficient.

[0012] In one embodiment, controlling the vehicle network communication unit to broadcast an event message containing the degraded status information includes: identifying the road scene type of the road where the vehicle is currently located; and adjusting the broadcast frequency of the event message according to the road scene type.

[0013] In one embodiment, continuously monitoring whether the operating status of the intelligent driving system meets the recovery conditions includes: when the vehicle operating parameters or diagnostic information that cause performance limitation are detected to return to normal, determining that the fault signal has disappeared and starting a recovery timer; if the recovery timer reaches a preset anti-vibration threshold and the fault signal does not reappear, then determining that the operating status meets the recovery conditions; the anti-vibration threshold is dynamically adjusted according to the vehicle's driving speed.

[0014] In one embodiment, terminating the operation of the target cooperative mode in response to the detection that the recovery condition or the exit requirement is met includes: when the driver's takeover status is detected to meet the exit requirement, acquiring the smoothness of the driver's takeover operation; and after confirming that the driver has smoothly taken over the vehicle based on the smoothness of the takeover operation, controlling the external lighting device to smoothly turn off in a brightness gradient manner.

[0015] This application also provides an electronic device, including: a processor and a memory storing a computer program, wherein when the processor runs the computer program, the steps of the above method are implemented.

[0016] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0017] The intelligent driving function degradation prompt interaction method, electronic device, and computer-readable storage medium provided in this application embodiment include: in response to detecting degradation state information of the intelligent driving system, determining the performance limitation level of the intelligent driving system; determining a corresponding target coordination strategy based on the performance limitation level, switching to a target coordination mode based on the target coordination strategy, controlling external lighting devices to display target lighting effects based on the target coordination mode, sending a command to the in-vehicle human-machine interaction system to trigger an alarm prompt corresponding to the performance limitation level, and controlling the vehicle network communication unit to broadcast an event message containing degradation state information; continuously monitoring whether the operating status of the intelligent driving system meets the recovery conditions, or whether the driver's takeover status meets the exit requirements; and terminating the operation of the target coordination mode in response to detecting that the recovery conditions or exit requirements are met. Thus, when an intelligent driving vehicle experiences function degradation, a multi-dimensional and comprehensive response mechanism quickly, clearly, and unambiguously informing all traffic participants outside the vehicle, significantly reducing the risk of traffic accidents caused by information asymmetry. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating an intelligent driving function downgrade prompt interaction method provided in an embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0020] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. In the following description relating to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements.

[0021] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, components, features, and elements with the same names in different embodiments of this application may have the same meaning or different meanings, the specific meaning of which must be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.

[0022] It should be understood that although the terms first, second, third, etc., may be used herein to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this document, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if," as used herein, can be interpreted as "when," "when," or "in response to determination." Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms "comprising," "including," indicate the presence of the stated feature, step, operation, element, component, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" as used herein are to be interpreted as inclusive, or mean any one or any combination thereof. Therefore, "A, B, or C" or "A, B, and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C". Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0023] It should be understood that although the steps in the flowcharts of this application's embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0024] It should be noted that step designations such as S1 and S2 are used in this document for the purpose of more clearly and concisely describing the corresponding content, and do not constitute a substantial limitation on the order. In specific implementation, those skilled in the art may execute S2 first and then S1, etc., but these should all be within the protection scope of this application.

[0025] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0026] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0027] See Figure 1 This application provides a method for intelligent driving function downgrade prompt interaction. This method can be executed by an in-vehicle device provided in this application embodiment. The device can be implemented using software and / or hardware. The method provided in this embodiment includes: Step S1: In response to the detection of degraded status information of the intelligent driving system, determine the performance limitation level of the intelligent driving system.

[0028] Degraded status information refers to a set of data or signal identifiers that are triggered by the intelligent driving system during operation due to its own failure, limited capabilities, or external environment exceeding the Operating Design Domain (ODD), indicating that the system is currently unable to maintain its original functional level or needs to exit control.

[0029] Degradation status information can originate from: Electronic Control Unit (ECU) fault codes (DTCs): for example, loss of steering system sensor signals; Anticipated Functional Safety (SOTIF) module decisions: for example, heavy rain causing camera confidence to fall below a threshold, prompting the system to proactively degrade; and the System Health Management module: for example, excessively high computing unit temperature triggering performance throttling.

[0030] Specifically, the degraded status information can be a status frame broadcast on the internal bus of the intelligent driving system (such as CAN bus or Ethernet). This status frame carries a system capability index. When the system capability index is lower than a preset threshold, a degraded status is detected. Further, the degraded status information may directly contain a degraded level code; in this case, determining the performance limitation level is equivalent to parsing the code. Alternatively, the degraded status information may only contain the original fault data; in this case, an evaluation strategy is needed to map the original fault data to a specific performance limitation level (e.g., minor, moderate, and severe).

[0031] It's important to note that degraded status information is not the same as fault information. Fault information might indicate a malfunction of a sensor on the vehicle, but the autonomous driving system can still maintain operation through redundancy. Degraded status information, on the other hand, is a signal generated by the autonomous driving system after evaluation, when it determines that a lower function level or a transfer of control is necessary.

[0032] Step S2: Determine the corresponding target collaboration strategy based on the performance limitation level, switch to the target collaboration mode based on the target collaboration strategy, and control the external lighting device to display the target lighting effect based on the target collaboration mode.

[0033] Among them, the target coordination strategy is a set of predefined interaction configuration parameters that establishes a mapping relationship between performance limitation levels and multimodal execution terminals.

[0034] In this embodiment, the target cooperation strategy refers to a set of standardized cooperative response rules adopted by the intelligent driving system in order to convey the accurate risk level to the driver inside the vehicle and the external environment when it detects a decline in its own performance.

[0035] Specifically, the target coordination strategy is not a single control command, but a multi-dimensional parameter configuration table. The system looks up the corresponding strategy index based on the currently determined performance constraint level, thereby obtaining a complete execution plan.

[0036] It should be noted that while controlling the external lighting device to display the target lighting effect based on the target coordination mode, commands can also be sent to the in-vehicle human-machine interaction system to trigger alarm prompts corresponding to the performance limitation level (e.g., a pop-up reminder on the display interface for minor performance limitation, a voice reminder for moderate performance limitation, and a sound and light + voice reminder for severe performance limitation), and the vehicle network communication unit (such as V2X) can be controlled to broadcast event messages containing degraded status information.

[0037] Specifically, the target coordination strategy includes the following three dimensions of coordination control logic: Visual Coordination Dimension (External Vision): Defines the light language of external lighting devices (which are specifically designed for degraded warnings and are functionally completely different from existing indicator lights on the current vehicle). For example, under moderate limitations, the lights can be specified to breathe at a frequency of 2Hz; under severe limitations, the lights can be specified to strobe at a frequency of 4Hz.

[0038] Interactive Collaboration Dimension (Internal Alerts): Defines the alert modes of the cockpit human-machine interface (HMI), which include the color of the visual icons on the instrument panel or HUD (yellow / red), the urgency of the voice prompts (mild reminders / urgent alarms), and the intensity of the vibration feedback from the steering wheel or seat.

[0039] The connected vehicle collaboration dimension (external communication) defines the data broadcasting behavior of vehicle-to-everything (V2X) units. For example, it specifies the transmission frequency of BSM messages containing vehicle ID, location, speed, degrade reason, and performance limitation level (e.g., increasing from 10Hz to 20Hz) and message priority identifiers to ensure that surrounding vehicles can prioritize processing this emergency information. It should be noted that collaboration across these three dimensions can be implemented simultaneously.

[0040] In this embodiment, the vehicle-to-everything (V2X) communication unit is the core gateway device for vehicle access to the intelligent transportation system. It can be a standalone unit or a functional module integrated into the vehicle domain controller or T-BOX (Telematics Module). It supports C-V2X standards (including LTE-V2X and NR-V2X / 5G-V2X).

[0041] Specifically, when a degrade event occurs, the V2X On-Board Unit (OBU) can encapsulate the current degrade status, urgency level, and basic vehicle dynamic information into a standardized message (such as the Part II extension of the SAE J2735 BSM basic safety message) and broadcast it in an event-triggered manner to provide beyond-line-of-sight warnings to surrounding connected vehicles, serving as an auxiliary supplement to external optical signals. To clarify the standardized format of V2X messages, ensure compatibility with existing V2X protocols, and enhance the feasibility of the technical solution, a custom intelligent driving degrade status encoding is defined based on the Part II extension of the SAE J2735 BSM: Level_1 is encoded as 0x01, Level_2 as 0x02, and Level_3 as 0x03. A "Intelligent Driving Degrade Indicator Activation" flag (0x08) is added to the ExteriorLights field, distinguishing it from the existing V2X message format.

[0042] In this embodiment, the process of determining the corresponding target collaboration strategy based on the performance limitation level and switching to the target collaboration mode based on the target collaboration strategy is essentially a dynamic response mechanism of the system.

[0043] Specifically, the system maintains a performance-policy-mode mapping table. When the system determines that it is currently in a certain performance-limited level (e.g., severely performance-limited), it queries this mapping table to determine the third collaborative policy bound to the severely performance-limited level. This policy specifies that at this level, the external lights must use the highest warning level flashing frequency, the in-vehicle alarm must emit the highest level, and the V2X broadcast frequency must be doubled. The system then switches to the corresponding collaborative mode. The mode switching process signifies a transition in the system state; it no longer maintains the normal driving interaction logic but forcibly takes over control of each subsystem, uniformly adjusting the operating parameters of the external lights, in-vehicle HMI, and V2X modules according to the instructions of the third collaborative policy, thereby constructing a unified, high-intensity warning environment.

[0044] Step S3: Continuously monitor whether the operating status of the intelligent driving system meets the recovery conditions, or whether the driver's takeover status meets the exit requirements; In this embodiment, the recovery condition specifically refers to any one or a combination of the following conditions being met: Fault recovery: The fault source that caused the performance limitation (such as radar obstruction or overheating of computing power) has been eliminated, and the system self-test module reports a normal status.

[0045] Environmental improvements: The vehicle has moved away from harsh environmental areas that previously limited its performance, such as moving from a rainy area to a sunny area, or the rain sensor reading being below a first preset threshold.

[0046] Positioning recovery: The high-precision positioning signal (such as RTK-GNSS or visual positioning) is restored to a stable state, and the positioning accuracy is better than the preset accuracy (e.g., better than 0.5 meters).

[0047] Redundancy available: The system's safety redundancy mechanisms (such as backup controllers or sensors) are ready.

[0048] The system determines that the recovery conditions are met only when all or some of the above conditions are met.

[0049] In this embodiment, the exit requirement specifically refers to any one or a combination of the following conditions being met: Driver takeover intention: Detects when the driver actively intervenes in vehicle control, for example: the torque value detected by the steering wheel torque sensor is greater than a first preset threshold, or the accelerator / brake pedal is pressed.

[0050] Manual confirmation: The driver confirms taking over the vehicle by pressing a physical button or using a voice command.

[0051] When the above requirements are met, the system determines that the exit requirements are met.

[0052] It should be noted that the recovery conditions primarily concern the system itself and the external environment, aiming to allow the system to automatically recover once the environment improves or the fault is eliminated, without requiring driver intervention. The exit requirements primarily concern the driver and human-machine interaction, aiming to find a safe opportunity to transfer control to a human when the system can no longer maintain autonomous driving. When both conditions are met, it indicates that the vehicle is under control, and there is no need to broadcast via vehicle-to-everything (V2X) communication units to alert other vehicles.

[0053] Step S4: In response to the detection that the recovery condition or exit requirement has been met, terminate the operation of the target collaborative mode.

[0054] Specifically, after the recovery conditions or exit requirements are met, the external lighting devices are turned off, the in-vehicle human-machine interaction system stops outputting alarm prompts, and the vehicle network communication unit stops broadcasting event messages containing degraded status information.

[0055] Specifically, if the intelligent driving system's operating status meets the recovery conditions and the intelligent driving system has taken over the vehicle, or if the driver's takeover status meets the exit requirements, the operation of the target cooperative mode will be terminated.

[0056] For example, the system continuously monitors whether the degrade conditions have disappeared or whether the driver has effectively taken over (e.g., applied steering torque or pressed the brake pedal). When the exit conditions are met, the ADCU broadcasts a "state clear" command. The BCM controls the external lights to smoothly turn off in a gradual manner (e.g., brightness linearly drops to zero within 2 seconds), while the in-vehicle HMI and V2X broadcasts return to normal, and the V2X module stops sending degrade status messages to ensure that no unnecessary signal interference is generated after the system recovers.

[0057] In summary, the method provided in the above embodiments enables intelligent driving vehicles to accurately and promptly obtain the key information that "the intelligent driving system of this vehicle is in a downgrade or exit process" through a status notification mechanism that can be quickly, clearly, and unambiguously understood by all traffic participants outside the vehicle when a function degradation occurs. This significantly reduces the risk of traffic accidents caused by information asymmetry.

[0058] In one embodiment, in response to detecting degraded state information of the intelligent driving system, determining the performance limitation level of the intelligent driving system includes: collecting vehicle operating parameters through vehicle sensors and obtaining diagnostic information of the electronic control unit through the vehicle network; performing real-time analysis of the vehicle operating parameters and diagnostic information based on a preset evaluation strategy and confirming the analysis results; and determining the current performance limitation level of the intelligent driving system based on the analysis results.

[0059] Among them, vehicle operating parameters are data that reflect the dynamic state of the vehicle, collected by on-board sensors (such as acceleration sensors, wheel speed sensors, steering angle sensors, GPS / IMU modules, etc.), such as longitudinal / lateral acceleration, yaw rate, vehicle speed fluctuation, etc.

[0060] Diagnostic information is obtained by polling or subscribing to the internal status of various electronic control units (such as the intelligent driving domain controller, chassis domain controller, and powertrain domain controller) through the vehicle network (such as CAN bus and in-vehicle Ethernet). Diagnostic information includes, but is not limited to: fault codes (DTC), sensor confidence scores, controller CPU load rate, temperature alarm indicators, etc.

[0061] Specifically, the Intelligent Driving Domain Controller (ADCU) continuously monitors a series of predefined degradation trigger conditions, including but not limited to: hard failure of critical sensors (such as camera communication interruption for more than 100ms), perception fusion confidence score remaining below 0.7 (threshold) for 500ms, vehicle leaving the Design Operating Domain (ODD) (such as entering a construction zone or visibility below 50 meters in rain or snow), or driver not paying attention to the road for an extended period (more than 3 seconds) (DMS alarm continuously triggered).

[0062] The preset evaluation strategy includes a set of logical rules or weighted algorithms. First, the collected data is cleaned and standardized, and then cross-validation is performed. For example, when a steering angle sensor data interruption (abnormal operating parameters) is detected and the steering ECU reports a communication loss fault (abnormal diagnostic information), the steering function is determined to be completely failed.

[0063] In this embodiment, the performance limitation levels are divided into the following four levels, each corresponding to a different system capability boundary: Level 0 (Normal): Analysis results show high confidence levels for all sensor data and no critical ECU errors. The system possesses complete perception, planning, and control capabilities. Level 1 (Slightly Limited): Analysis results show that non-critical sensors (such as surround-view cameras) are malfunctioning or their data confidence levels are decreasing, but core functions (such as forward radar and steering control) are normal. System performance is slightly limited, but autonomous driving can still be maintained. Level 2 (Moderately Limited): Analysis results show that critical redundant systems (such as redundant braking) are malfunctioning, or positioning accuracy is below the threshold. System capabilities are significantly reduced, and only minimal lane keeping can be maintained. Level 3 (Severely Limited): Analysis results show that core actuators (such as steering motors) are malfunctioning or the main controller is frozen. The intelligent driving system can no longer maintain vehicle control and must immediately disengage.

[0064] The aforementioned hierarchical determination mechanism transforms the complex underlying data flow into a clear performance-limited level label, providing a precise decision-making basis for subsequently determining the target collaboration strategy.

[0065] In one embodiment, determining the corresponding target collaboration strategy based on the performance limitation level includes: obtaining the mapping relationship between the performance limitation level and a preset level; if the performance limitation level is mapped to slight performance limitation, then determining a first collaboration strategy; if the performance limitation level is mapped to moderate performance limitation, then determining a second collaboration strategy; if the performance limitation level is mapped to severe performance limitation, then determining a third collaboration strategy.

[0066] The preset performance levels include at least: slightly limited performance, moderately limited performance, and severely limited performance.

[0067] First Coordination Strategy, Level 1 (Slight): External lights remain constantly on, and the in-vehicle prompts are a constantly lit blue icon on the dashboard and a low-intensity warning sound (frequency 1Hz), with no tactile feedback.

[0068] Second coordination strategy, Level 2 (moderate): External lights flash 1Hz, in-vehicle alerts include synchronized flashing of blue icons on the instrument panel and a medium-intensity alert sound (frequency 2Hz), and slight vibration of the steering wheel (frequency 1Hz).

[0069] The third coordination strategy, Level 3 (severe): external lights flash rapidly at 4Hz, the in-vehicle prompt is a full-screen red flashing icon on the HUD, a high-intensity rapid prompt sound (frequency 4Hz), and the steering wheel and seat vibrate synchronously with strong vibrations (frequency 4Hz).

[0070] It should be noted that all in-vehicle prompts and external light signals are activated and deactivated simultaneously to ensure that the driver and other road users perceive the risk level at the same time.

[0071] In one embodiment, controlling an external lighting device to display a target lighting effect includes: determining the light language mode of the external lighting device according to a target coordination strategy, so as to control the external lighting device to output a light language corresponding to the performance limitation level.

[0072] Among them, the slightly limited performance is mapped to light language mode A (constant blue), with corresponding small blue light optical parameters of chromaticity coordinates x=0.15-0.20, y=0.05-0.10, and brightness of 500-800 cd / m². This light language has been tested by human factors and has a recognition accuracy of ≥95% and a response time of ≤0.5s. The moderately limited performance is mapped to light language mode B (blue, 1Hz breathing flicker), with the same optical parameters as above, and a light language recognition accuracy of ≥95% and a response time of ≤0.5s. The severely limited performance is mapped to light language mode C (blue, 4Hz rapid flicker), with the same optical parameters as above, and a light language recognition accuracy of ≥98% and a response time of ≤0.3s.

[0073] Specifically, the performance limitation level / degradation status information is encoded into a specific application layer network message and broadcast through a high-bandwidth vehicle network (e.g., CAN FD). At the same time, the V2X module synchronously prepares the corresponding encoded status message (slight performance limitation code 0x01, moderate performance limitation code 0x02, severe performance limitation code 0x03), which is broadcast after being triggered.

[0074] After receiving the aforementioned message, the Body Control Controller (BCM) controls the external lighting devices (e.g., the small blue lights) according to its internal optical mapping table. For example, mode C corresponds to generating a 4Hz PWM signal with a 50% duty cycle, which is sent to the LED driver chip via the LIN bus or direct drive circuit. This ultimately causes the small blue lights to exhibit a high-frequency flashing effect, and the output strictly adheres to preset optical parameters (x=0.15-0.20, y=0.05-0.10, brightness 500-800 cd / m²) to ensure automotive compliance and recognition accuracy.

[0075] While controlling the blue indicator light, the BCM or ADCU simultaneously sends commands to the in-vehicle HMI system, triggering corresponding visual (icon), audible (tone), and tactile (vibration) alarms. Simultaneously, the V2X OBU broadcasts an event message containing the downgraded status, carrying a custom downgrade status code and a "Smart Driving Downgrade Indicator Activated" flag (0x08) to ensure that nearby connected vehicles accurately identify the vehicle's downgraded status.

[0076] It should be noted that the small blue lights are arranged symmetrically front and rear, with the front installed on both sides of the front grille (1.2-1.5 meters above the ground) and the rear installed in the middle of the rear bumper or inside the taillight assembly, one set on each side, for a total of four LED modules; the installation angle must meet the requirements of a horizontal viewing angle ≥120° and a vertical viewing angle ≥30°, ensuring that traffic participants within a 360° range around the vehicle (without obstruction of vision) can clearly identify them within a 50-meter range, while avoiding overlap with existing lights such as turn signals and brake lights to prevent confusion.

[0077] In one embodiment, determining the corresponding target coordination strategy based on the performance limitation level and switching to the target coordination mode based on the target coordination strategy further includes: obtaining traffic participant density information around the vehicle; calculating the current dynamic risk coefficient based on the performance limitation level and traffic participant density information; and adjusting the lighting parameters of the external lighting device and / or the alarm intensity of the in-vehicle human-machine interaction system in the target coordination strategy according to the dynamic risk coefficient.

[0078] Obtaining traffic participant density information around a vehicle involves using onboard sensing sensors (such as LiDAR, millimeter-wave radar, and surround-view cameras) to scan a pre-defined area around the vehicle (e.g., a 50-meter radius around the vehicle in all directions, or a braking distance range dynamically adjusted based on vehicle speed). The system identifies and counts the number of dynamic obstacles (including other vehicles, pedestrians, and non-motorized vehicles) within this area, and combines this with road lane information to calculate the number of targets per unit area or per lane, thereby generating traffic participant density information.

[0079] Specifically, the dynamic risk coefficient is positively correlated with the performance limitation level and the density of traffic participants.

[0080] When the dynamic risk factor exceeds the first threshold, the flashing frequency of the external warning lights is adjusted from low to high, and the headlights may even project specific light signals (such as projecting a warning light blanket onto the ground) to enhance the visual impact on pedestrians. Additionally, when the dynamic risk factor increases, the transparency priority of the pop-up window on the central control screen is linearly increased, the volume of the voice alarm is increased, or the seatbelt pretensioning vibration is triggered to ensure that the driver can perceive the takeover request even in noisy environments.

[0081] In one embodiment, controlling the vehicle network communication unit to broadcast an event message containing the degraded status information includes: identifying the road scene type of the road where the vehicle is currently located; and adjusting the broadcast frequency of the event message according to the road scene type.

[0082] Among them, the road scene types include at least: ramps or merging areas, and straight-through areas of highways.

[0083] Specifically, by integrating perception data from vehicle-mounted cameras and LiDAR (identifying lane lines, traffic signs, and surrounding objects), combined with road topology information provided by high-precision maps (such as road grade and speed limit information), and GNSS positioning information, the system comprehensively determines the type of road scene in which the vehicle is currently located.

[0084] Adjusting the broadcast frequency of event messages based on road scene type specifically refers to establishing a scene-frequency mapping table or evaluation function to dynamically set the sending interval of event messages.

[0085] For example, if the vehicle is on a ramp or merging area, the broadcast frequency of the event message is adjusted to a first broadcast frequency; if the vehicle is in a straight-through area of ​​a highway, the broadcast frequency of the event message is adjusted to a second broadcast frequency; wherein the first broadcast frequency is higher than the second broadcast frequency.

[0086] In one embodiment, continuously monitoring whether the operating status of the intelligent driving system meets the recovery conditions includes: when the vehicle operating parameters or diagnostic information that caused performance limitation are detected to return to normal, determining that the fault signal has disappeared and starting a recovery timer; if the recovery timer reaches a preset anti-vibration threshold and the fault signal does not reappear, then determining that the operating status meets the recovery conditions; the anti-vibration threshold is dynamically adjusted according to the vehicle's driving speed.

[0087] Because vehicle sensor signals may contain noise, or ECU diagnostic information may exhibit momentary fluctuations under critical conditions (e.g., a sensor reading fluctuates around a fault threshold), immediately classifying a system as returned to normal as soon as the fault signal disappears could cause the system to frequently switch between limited performance and normal operation. This not only affects the driving experience but could also cause unnecessary stress on the vehicle's actuators. Therefore, by introducing a recovery timer, the fault signal must remain absent for a sustained period of time before it can be definitively confirmed.

[0088] The anti-shake threshold is dynamically adjusted according to the vehicle's speed. In low-speed scenarios (e.g., vehicle speed <30 km / h), when the vehicle is traveling at low speed or parked, the system has relatively ample time to confirm whether the fault has truly disappeared. In this case, the anti-shake threshold can be set to a longer value (e.g., 3-5 seconds).

[0089] In high-speed scenarios (e.g., vehicle speed > 80 km / h), every second is crucial when a vehicle is traveling at high speeds on a highway. If system performance is limited (e.g., adaptive cruise control degrades), both the driver and surrounding vehicles expect the system to return to normal as quickly as possible or provide a clear indication of takeover.

[0090] For example, when a vehicle is cruising at high speed on a highway, the radar malfunction signal disappears. The current vehicle speed is read as 100 km / h (within the high-speed range). Based on a preset mapping strategy, the system determines the anti-shake threshold to be 1 second. A recovery timer is started; if the malfunction is confirmed not to recur within 1 second, the recovery condition is immediately met, and the intelligent driving function can be quickly restored.

[0091] In one embodiment, terminating the operation of the target cooperative mode in response to the detection that the recovery condition or exit requirement is met includes: when the driver's takeover status is detected to meet the exit requirement, acquiring the smoothness of the driver's takeover operation; and after confirming that the driver has smoothly taken over the vehicle based on the smoothness of the takeover operation, controlling the external lighting device to smoothly turn off in a brightness gradient manner.

[0092] The system detects that the driver's takeover status meets the exit requirements, which means that the system detects that the driver's gaze has returned to the center, the driver's hands are on the steering wheel, or the driver has pressed the accelerator / brake pedal, etc., indicating a clear intention to take over, and the system determines that the current vehicle status allows exiting the intelligent driving mode.

[0093] Operational smoothness includes lateral smoothness and longitudinal smoothness. Lateral smoothness: Monitors the rate of change of steering wheel angle or yaw rate within a preset time window (e.g., 3 seconds) after takeover. If the change is gradual and without drastic corrections, lateral smoothness is considered high. Longitudinal smoothness: Monitors the changes in vehicle acceleration or jerk after takeover. If the acceleration curve is smooth and without sudden acceleration or deceleration, longitudinal smoothness is considered high.

[0094] A smoothness score is calculated based on the above parameters. When the score is higher than the set threshold, it is confirmed that the driver has taken over smoothly.

[0095] The brightness gradient mode refers to the linear reduction of the headlight brightness from the current brightness to 0% within a preset time (1-2 seconds) after a smooth handover is confirmed. It should be noted that the gradual shutdown of the external lights is only initiated after a smooth handover by the driver is confirmed.

[0096] In summary, the method provided in the above embodiments, when the intelligent driving vehicle experiences a functional degradation, quickly, clearly, and unambiguously informs all traffic participants outside the vehicle through a multi-dimensional response mechanism, significantly reducing the risk of traffic accidents caused by information asymmetry.

[0097] Based on the same inventive concept as the foregoing embodiments, the foregoing embodiments will be described in detail below through a specific example.

[0098] For example, taking the "sudden failure of the front-facing main camera" as an example, the system's end-to-end response timing must meet the functional safety requirements for time. The setting of the above timing delay parameters strictly follows the ISO 26262 ASIL-B level functional safety requirements: t0: Camera module self-test fault, sends fault diagnosis frame.

[0099] t1 (t0 +<50ms): The ADCU integrates information from multiple sources, determines that it is an emergency downgrade to Level 3, sends a status message, and at the same time determines that the V2X message encoding is 0x03, preparing to broadcast.

[0100] t2 (t1 +<10ms): The BCM receives the message, switches to the "Mode C" drive command (4Hz, 50% duty cycle PWM signal), and sends a coordinated trigger signal to confirm that the small blue light outputs according to the preset optical parameters (x=0.15-0.20, y=0.05-0.10, brightness 500-800cd / m²).

[0101] t3 (t2 + < 25ms): The external "little blue light" begins to flash at a high frequency of 4Hz (total delay t0 to t3 < 85ms), strictly matching the preset optical parameters to ensure that external traffic participants have enough time (≥1 second) to perceive and respond to the degraded signal. Combined with human factor test data, the light language recognition accuracy is ≥98% and the reaction time is ≤0.3s, which can effectively avoid the risk of collision caused by excessive delay. The highest level of in-vehicle audio-visual and tactile alarms are activated; The V2X OBU broadcasts an emergency status message in the next transmission cycle (usually within 100ms). The message carries Level_3 code 0x03 and "Intelligent Driving Degradation Indicator Activated" flag bit 0x08, which meets the real-time requirements of SAE J2735 for external interaction messages.

[0102] t4: The driver perceives flashing external lights and a loud warning signal inside the vehicle and initiates takeover. Typical driver reaction time (from perception to initiation of action) is approximately 1.0 to 1.5 seconds. The system confirms effective takeover within ≤100ms by real-time monitoring of steering wheel torque (threshold >2Nm) or brake pedal switch signal.

[0103] t5: After the ADCU confirms the takeover is effective, it broadcasts ADS_Degradation_Status (Level=0) in the next scheduling cycle. Upon receiving this, the BCM starts the light fading procedure (linear fading over 2 seconds), and simultaneously notifies the HMI and OBU to stop alarms and event broadcasts. The V2X module stops sending degradation-related messages, and the entire system fully recovers to a silent standby state within 3 seconds.

[0104] Based on the same inventive concept as the foregoing embodiments, this invention provides an electronic device, such as... Figure 2 As shown, the device includes: a processor 310 and a memory 311 storing a computer program; wherein, Figure 2 The processor 310 shown in the diagram does not indicate that there is only one processor 310, but only indicates the positional relationship of the processor 310 relative to other devices. In practical applications, there can be one or more processors 310; similarly, Figure 2 The memory 311 illustrated herein has the same meaning, that is, it is only used to indicate the positional relationship of memory 311 relative to other devices. In practical applications, there can be one or more memories 311. When the processor 310 runs the computer program, the method applied to the above-mentioned device is implemented.

[0105] The device may also include at least one network interface 312. The various components of the device are coupled together via a bus system 313. It is understood that the bus system 313 is used to implement communication between these components. In addition to a data bus, the bus system 313 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 2 The general designated all buses as Bus System 313.

[0106] The memory 311 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memory 311 described in the embodiments of the present invention is intended to include, but is not limited to, these and any other suitable types of memory.

[0107] The memory 311 in this embodiment of the invention is used to store various types of data to support the operation of the device. Examples of this data include: any computer programs used to operate on the device, such as operating systems and applications; contact data; phonebook data; messages; pictures; videos, etc. The operating system includes various system programs, such as the framework layer, core library layer, driver layer, etc., used to implement various basic services and handle hardware-based tasks. Applications can include various applications, such as media players, browsers, etc., used to implement various application services. Here, the program implementing the method of this embodiment of the invention can be included in the application.

[0108] Based on the same inventive concept as the foregoing embodiments, this embodiment also provides a vehicle, including: a processor and a memory storing a computer program, wherein when the processor runs the computer program, it implements the steps of the intelligent driving function downgrade prompt interaction method described in any of the above embodiments.

[0109] Based on the same inventive concept as the foregoing embodiments, this embodiment also provides a computer-readable storage medium storing a computer program. The computer-readable storage medium can be a magnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM), etc.; it can also be various devices including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc. When the computer program stored in the computer-readable storage medium is run by a processor, it implements the above method. For the specific steps implemented when the computer program is executed by the processor, please refer to [link to relevant documentation]. Figure 1 The description of the illustrated embodiments will not be repeated here.

[0110] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0111] In this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0112] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for providing intelligent driving function downgrade prompts and interactions, characterized in that, include: In response to detecting degraded status information of the intelligent driving system, the performance limitation level of the intelligent driving system is determined; Based on the performance limitation level, a corresponding target collaboration strategy is determined, and the target collaboration mode is switched based on the target collaboration strategy. Based on the target collaboration mode, the external lighting device is controlled to display the target lighting effect. Continuously monitor whether the operating status of the intelligent driving system meets the recovery conditions, or whether the driver's takeover status meets the exit requirements; In response to the detection that the recovery condition or the exit requirement has been met, the operation of the target collaboration mode is terminated.

2. The intelligent driving function downgrade prompt interaction method as described in claim 1, characterized in that, The step of determining the performance limitation level of the intelligent driving system in response to detecting degraded state information of the intelligent driving system includes: Vehicle operating parameters are collected through vehicle sensors, and diagnostic information from the electronic control unit is obtained through the vehicle network. Based on a preset evaluation strategy, the vehicle operating parameters and diagnostic information are analyzed in real time, and the analysis results are confirmed. Based on the analysis results, the current performance limitation level of the intelligent driving system is determined.

3. The intelligent driving function downgrade prompt interaction method as described in claim 1, characterized in that, The step of determining the corresponding target collaboration strategy based on the performance limitation level includes: Obtain the mapping relationship between the performance limitation level and the preset level, wherein the preset level includes at least slightly performance-limited, moderately performance-limited, and severely performance-limited; If the performance limitation level is mapped to slight performance limitation, then a first collaborative strategy is determined; If the performance-limited level is mapped to medium performance-limited, then a second collaborative strategy is determined; If the performance limitation level is mapped to severe performance limitation, then a third collaborative strategy is determined.

4. The intelligent driving function downgrade prompt interaction method as described in claim 1, characterized in that, The control of the external lighting device to display the target lighting effect includes: The light signal mode of the external lighting device is determined according to the target coordination strategy, so as to control the external lighting device to output a light signal corresponding to the performance limitation level.

5. The intelligent driving function downgrade prompt interaction method as described in claim 1, characterized in that, The step of determining the corresponding target collaboration strategy based on the performance limitation level, and switching to the target collaboration mode based on the target collaboration strategy, further includes: Obtain information on the density of traffic participants around the vehicle; Based on the performance limitation level and the traffic participant density information, calculate the current dynamic risk coefficient; Based on the dynamic risk coefficient, adjust the lighting parameters of the external lighting device and / or the alarm intensity of the in-vehicle human-machine interaction system in the target coordination strategy.

6. The intelligent driving function downgrade prompt interaction method as described in claim 1, characterized in that, The control vehicle network communication unit broadcasts an event message containing the degraded status information, including: Identify the road scene type where the vehicle is currently located; Adjust the broadcast frequency of the event message according to the road scene type.

7. The intelligent driving function downgrade prompt interaction method as described in claim 1, characterized in that, The continuous monitoring of whether the operating status of the intelligent driving system meets the recovery conditions includes: When the vehicle operating parameters or diagnostic information that caused the performance limitation are detected to return to normal, the fault signal is determined to have disappeared, and a recovery timer is started. If the recovery timer reaches the preset anti-jitter threshold and the fault signal does not reappear, then the operating state is determined to meet the recovery conditions. The anti-shake threshold is dynamically adjusted according to the vehicle's driving speed.

8. The intelligent driving function downgrade prompt interaction method as described in claim 1, characterized in that, The step of terminating the operation of the target collaborative mode in response to the detection that the recovery condition or the exit requirement has been met includes: When the driver's takeover status is detected to meet the exit requirements, the smoothness of the driver's takeover operation is obtained; After confirming that the driver has smoothly taken over the vehicle based on the smoothness of the takeover operation, the external lights are controlled to turn off smoothly in a gradual brightness manner.

9. An electronic device, characterized in that, include: The processor and the memory storing a computer program implement the steps of the intelligent driving function downgrade prompt interaction method according to any one of claims 1 to 8 when the processor runs the computer program.

10. A vehicle, characterized in that, include: The processor and the memory storing a computer program implement the steps of the intelligent driving function downgrade prompt interaction method according to any one of claims 1 to 8 when the processor runs the computer program.

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