Method and apparatus for controlling vehicle driving mode switching

Abstract

A method and apparatus for controlling driving mode switching of a vehicle are provided. The method and apparatus relate to the fields of artificial intelligence, autonomous driving, or intelligent driving, and can be applied to smart vehicles, connected vehicles, or autonomous vehicles. The method includes: acquiring environmental information detected by a second vehicle, where the second vehicle is a vehicle traveling on a target road section, the target road section being a road section located ahead in the traveling direction of the first vehicle; predicting whether the target road section is suitable for autonomous driving based on the environmental information detected by the second vehicle; and, if the target road section is not suitable for autonomous driving and the first vehicle is currently in autonomous driving mode, prompting the driver of the first vehicle to take over driving control of the first vehicle so that the first vehicle can switch from autonomous driving mode to manual driving mode. The technical solution of this application can effectively reduce the real-time requirements for manual takeover during autonomous driving and improve the safety of autonomous driving.

Description

[Technical field]

[0001] The present application relates to the field of automated driving, and more particularly to a method and apparatus for controlling vehicle driving mode switching. [Background technology]

[0002] Artificial intelligence (AI) is the theory, methods, technologies, and application systems that use digital computers or machines controlled by digital computers to simulate, extend, or expand human intelligence, perceive the environment, gain knowledge, and use that knowledge to obtain the best results. In other words, artificial intelligence is a branch of computer science that seeks to understand the nature of intelligence and create new intelligent machines that can respond in a similar way to human intelligence. Artificial intelligence is the study of the design principles and implementation methods of various intelligent machines, giving machines the capabilities of perception, reasoning, and decision-making. Research in the field of artificial intelligence includes robotics, natural language processing, computer vision, decision-making and reasoning, human-computer interaction, recommendation and search, and AI fundamental theory.

[0003] Autonomous driving is a mainstream application in the field of artificial intelligence. Autonomous driving technology relies on computer vision, radar, surveillance equipment, global positioning systems, etc. to work together with each other to realize the automatic driving of automobiles without human intervention. Autonomous vehicles use various computing systems to assist in the transportation of passengers from one place to another. Some autonomous vehicles may require some initial input or continuous input from an operator (e.g., pilot, driver, passenger). Autonomous vehicles allow the operator to switch from manual driving mode to autonomous driving mode or drive in a mode between the two modes. Because autonomous driving technology does not require a person to drive the automobile, theoretically it can effectively avoid human driving errors, reduce the occurrence of traffic accidents, and improve the transportation efficiency of roads. Therefore, autonomous driving technology is attracting more and more attention.

[0004] Currently, below the autonomous driving SAE level L4, manual handover or area-based manual driving is still a basic requirement for autonomous driving. Existing autonomous driving technologies usually only consider the real-time detection information of the current vehicle. If it detects that a dangerous situation exists in the range ahead of the current vehicle, the current vehicle will force the driver to take over the vehicle urgently. However, in reality, the driver is more likely to be distracted during autonomous driving. During manual handover, it takes time for cognitive recovery (average 10 seconds, sometimes 30 seconds), making risks more likely to occur during the handover. Accidents occurring during the transfer of control account for more than 20% of autonomous vehicle accidents. Accidents are more likely to occur during the switch of control due to sudden changes such as road obstacles or lumpy fog (which is more likely to occur in the western mountain areas).

[0005] Therefore, how to improve the safety of autonomous driving is a technical issue that needs to be resolved as soon as possible. Summary of the Invention

[0006] The present application provides a method and apparatus for controlling driving mode switching of a vehicle to improve the safety of autonomous driving.

[0007] According to a first aspect, a method for controlling driving mode switching of a vehicle is provided, the method includes: acquiring environmental information detected by a second vehicle, where the second vehicle is a vehicle traveling along a target road section, and the target road section is a road section located ahead in a traveling direction of the first vehicle; predicting whether the target road section is suitable for autonomous driving based on the environmental information detected by the second vehicle; and if the target road section is not suitable for autonomous driving and the first vehicle is currently in an autonomous driving mode, reminding a driver to take over driving control of the first vehicle, so that the first vehicle can be switched from the autonomous driving mode to a manual driving mode;

[0008] Optionally, if the target road section is not suitable for automated driving and the first vehicle is currently in an automated driving mode, the driver of the first vehicle may be prompted to prepare to take over driving control of the first vehicle or to take over directly.

[0009] Optionally, if the target road section is not suitable for automated driving and the first vehicle is currently in an automated driving mode, the driver of the first vehicle may alternatively be forced to take over driving control of the first vehicle to increase the driver's sense of urgency and improve the safety of automated driving.

[0010] In this embodiment of the present application, environmental information sensed by a second vehicle of a target road section ahead of the travel of a first vehicle is obtained; whether the target road section is suitable for autonomous driving is predicted based on the environmental information; if the target road section is not suitable for autonomous driving and the first vehicle is currently in an autonomous driving mode, the driver of the first vehicle can be reminded to take over the driving control of the first vehicle. In this way, during the driving process, the autonomous vehicle can learn in advance whether the target road section ahead is suitable for autonomous driving. Therefore, it effectively reduces the real-time requirement of manual handover during autonomous driving, changes the handover requirement from the current second level to the minute level, and provides a certain time for the driver to recover cognition before handover, thereby improving the safety of autonomous driving.

[0011] With respect to the first aspect, in some implementations of the first aspect, if the target road section is not suitable for automated driving and the first vehicle is currently in a manual driving mode, the method further includes: notifying the driver of the first vehicle not to switch to automated driving mode; or notifying the first vehicle that switching from the manual driving mode to the automated driving mode is prohibited.

[0012] In this embodiment of the present application, if the target road section is not suitable for autonomous driving and the first vehicle is currently in a manual driving mode, the driver of the first vehicle may be reminded not to switch to the autonomous driving mode, or the first vehicle may be notified that switching from the manual driving mode to the autonomous driving mode is prohibited, which can effectively avoid frequent switching between driving modes during the vehicle's driving process, thereby ensuring the continuity of autonomous driving and the driver's experience.

[0013] With regard to the first aspect, in some implementations of the first aspect, the method further includes: generating an autonomous driving environment map, the autonomous driving environment map being used to indicate whether a plurality of road sections located ahead in a direction of travel of the first vehicle are suitable for autonomous driving, the plurality of road sections including a target road section.

[0014] In this embodiment of the present application, an autonomous driving environment map is generated so that the driver can know in advance whether multiple road sections ahead in the direction of travel are suitable for autonomous driving based on the autonomous driving environment map, and then the driver can enter a preparation state or perform route planning in advance, thereby improving the safety of autonomous driving.

[0015] With respect to the first aspect, in some implementations of the first aspect, the method further includes: acquiring driving mode change information of the second vehicle, where the driving mode change information includes a changed driving mode and a reason for the change; predicting whether the target road section is suitable for automated driving based on the environmental information detected by the second vehicle includes: predicting whether the target road section is suitable for automated driving based on the environmental information detected by the second vehicle and the driving mode change information of the second vehicle.

[0016] In this embodiment of the present application, whether the target road section is suitable for autonomous driving is predicted based on the environmental information detected by the second vehicle and the driving mode change information of the second vehicle, so that the actual situation is fully taken into account in the prediction process, thereby improving the accuracy of the prediction result and the safety of autonomous driving.

[0017] According to a second aspect, an apparatus for controlling vehicle driving mode switching is provided. The apparatus includes an acquisition module and a processing module. The acquisition module is configured to acquire environmental information detected by a second vehicle, where the second vehicle is a vehicle traveling along a target road section, and the target road section is a road section located ahead of the traveling direction of the first vehicle. The processing module is configured to: predict whether the target road section is suitable for autonomous driving based on the environmental information detected by the second vehicle; and if the target road section is not suitable for autonomous driving and the first vehicle is currently in an autonomous driving mode, prompt the driver to take over driving control of the first vehicle, so as to switch the first vehicle from the autonomous driving mode to a manual driving mode.

[0018] With regard to the second aspect, in some implementations of the second aspect, if the target road section is not suitable for automated driving and the first vehicle is currently in a manual driving mode, the processing module is further configured to: prompt the driver of the first vehicle not to switch to the automated driving mode; or notify the first vehicle that switching from the manual driving mode to the automated driving mode is prohibited.

[0019] With reference to the second aspect, in some implementations of the second aspect, the processing module is further configured to generate an autonomous driving environment map, which is used to indicate whether a plurality of road sections located ahead in the direction of travel of the first vehicle are suitable for autonomous driving, and the plurality of road sections includes a target road section.

[0020] With reference to the second aspect, in some implementations of the second aspect, the acquisition module is further configured to acquire driving mode change information of the second vehicle, where the driving mode change information includes a changed driving mode and a change reason. The processing module is further configured to predict whether the target road section is suitable for autonomous driving based on the environmental information detected by the second vehicle and the driving mode change information of the second vehicle.

[0021] According to a third aspect, an apparatus is provided. The apparatus includes a storage medium and a central processing unit. The storage medium may be a non-volatile storage medium, and the storage medium stores a computer-executable program. The central processing unit is connected to the non-volatile storage medium and executes the computer-executable program to implement the method according to the first aspect or any one of the possible implementations of the first aspect.

[0022] According to a fourth aspect, there is provided an autonomous vehicle including an apparatus according to the second aspect or any one of the possible implementations of the second aspect.

[0023] According to a fifth aspect, there is provided a computer program product comprising instructions, which when run on a computer, enable the computer to perform a method according to the first aspect or any one of the implementations of the first aspect.

[0024] According to a sixth aspect, there is provided a computer-readable storage medium storing program code for execution by a device, the program code including instructions used to perform a method according to the first aspect or any one of the possible implementations of the first aspect.

[0025] According to a seventh aspect, a chip is provided. The chip includes a processor and a data interface. The processor reads instructions stored in a memory through the data interface and executes the method according to the first aspect or any one of the possible implementations of the first aspect.

[0026] Optionally, in the implementation, the chip may further include a memory, the memory storing instructions, and the processor configured to execute the instructions stored in the memory, the instructions being executed by the processor configured to execute the first aspect or any one of the methods of the first aspect. [Brief description of the drawings]

[0027] [Figure 1] FIG. 2 is a functional block diagram of a vehicle according to an embodiment of the present application.

[0028] [Diagram 2] FIG. 1 is an exemplary diagram of an automated driving system according to an embodiment of the present application.

[0029] [Diagram 3] FIG. 1 is an exemplary diagram of a cloud-command based autonomous vehicle according to an embodiment of the present application.

[0030] [Figure 4] FIG. 2 is an exemplary diagram of a method for controlling vehicle driving mode switching according to an embodiment of the present application.

[0031] [Diagram 5] 4 is an exemplary flowchart of a control exchange method according to an embodiment of the present application.

[0032] [Figure 6] 4 is an exemplary flowchart of another control exchange method according to an embodiment of the present application.

[0033] [Figure 7] FIG. 1 is an architecture diagram of a vehicle-cloud collaboration system according to an embodiment of the present application.

[0034] [Figure 8] 4 is an exemplary flowchart of reporting change information by a vehicle side according to an embodiment of the present application;

[0035] [Figure 9] FIG. 2 is an exemplary diagram of the structure of an apparatus for controlling vehicle driving mode switching according to an embodiment of the present application.

[0036] [Figure 10] FIG. 2 is an exemplary diagram of a structure of an apparatus according to an embodiment of the present application.

[0037] [Figure 11] FIG. 1 is an exemplary diagram of a computer program product according to an embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0038] The following describes the technical solutions of the present application with reference to the accompanying drawings.

[0039] 1 is a functional block diagram of a vehicle 100 according to one embodiment of the present application. In one embodiment, the vehicle 100 is configured for a fully or partially autonomous driving mode.

[0040] For example, vehicle 100 may be self-controlled when in an autonomous mode and, through manual operation, determine a current state of the vehicle and the surrounding environment, determine a possible behavior of at least one other vehicle in the surrounding environment, determine a confidence level corresponding to the likelihood that the other vehicle will perform the possible behavior, and control vehicle 100 based on the determined information. When vehicle 100 is in an autonomous mode, vehicle 100 may be configured to operate without human interaction.

[0041] Vehicle 100 may include various subsystems, such as a driving system 102, a sensor system 104, a control system 106, one or more peripherals 108, a power source 110, a computer system 112, and a user interface 116. Optionally, vehicle 100 may include more or fewer subsystems, and each subsystem may include multiple elements. Additionally, the subsystems and elements of vehicle 100 may be interconnected wired or wirelessly.

[0042] The traction system 102 may include components that provide motion for the vehicle 100. In one embodiment, the traction system 102 may include an engine 118, an energy source 119, a transmission 120, and wheels / tires 121. The engine 118 may be an internal combustion engine, a motor, an air compression engine, or a combination of other types of engines, such as a hybrid engine formed by a gasoline engine and a motor, or a hybrid engine formed by an internal combustion engine and an air compression engine. The engine 118 converts the energy source 119 into mechanical energy.

[0043] For example, energy source 119 may include gasoline, diesel, other oil-based fuels, propane, other compressed gas-based fuels, anhydrous alcohol, solar panels, batteries, and other power sources. Energy source 119 may also provide energy to other systems of vehicle 100.

[0044] The transmission arrangement 120 may transmit mechanical power from the engine 118 to the wheels 121. The transmission arrangement 120 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission arrangement 120 may include additional components, such as a clutch. The drive shaft may include one or more shafts that may be coupled to one or more wheels 121.

[0045] The sensor system 104 may include a number of sensors that sense information about the environment surrounding the vehicle 100. For example, the sensor system 104 may include a positioning system 122 (which may be a global positioning system (GPS) or may be a BeiDou system or other positioning system), an inertial measurement unit (IMU) 124, a radar 126, a laser range finder 128, and a camera 130. The sensor system 104 may also include sensors of internal systems of the vehicle 100 being monitored (e.g., an interior air quality monitor, a fuel gauge, and an oil temperature gauge). Sensor data from one or more of these sensors may be used to detect objects and corresponding characteristics of the objects (e.g., position, shape, orientation, speed, etc.). Such detection and identification is a key function of the safe operation of the autonomous vehicle 100.

[0046] The positioning system 122 may be configured to estimate a geographic position of the vehicle 100. The IMU 124 is configured to sense changes in position and orientation of the vehicle 100 based on inertial acceleration. In one embodiment, the IMU 124 may be a combination of an accelerometer and a gyroscope.

[0047] Radar 126 may use radio signals to sense objects in the environment surrounding vehicle 100. In some embodiments, in addition to sensing objects, radar 126 may be further configured to sense the speed and / or direction of the objects.

[0048] Laser range finder 128 may use laser light to sense objects in the environment in which vehicle 100 is located. In some embodiments, laser range finder 128 may include one or more laser sources, a laser scanner, one or more detectors, and other system components.

[0049] The camera 130 may be configured to capture multiple images of the environment surrounding the vehicle 100. The camera 130 may be a still camera or a video camera.

[0050] The control system 106 controls the operation of the vehicle 100 and the components of the vehicle 100. The control system 106 may include various elements such as a steering system 132, a throttle 134, a braking unit 136, a sensor fusion algorithm 138, a computer vision system 140, a route control system 142, and an obstacle avoidance system 144.

[0051] The steering system 132 may be manipulated to adjust the direction of travel of the vehicle 100. For example, in one embodiment, the steering system 132 may be a steering wheel system.

[0052] The throttle 134 is configured to control the operating speed of the engine 118 and, consequently, the speed of the vehicle 100 .

[0053] The brake unit 136 is configured to control the vehicle 100 to decelerate, and the brake unit 136 may use frictional force to decelerate the wheels 121. In another embodiment, the brake unit 136 may convert the kinetic energy of the wheels 121 into an electric current. The brake unit 136 may alternatively decelerate the rotational speed of the wheels 121 in another manner to control the speed of the vehicle 100.

[0054] Computer vision system 140 may be operated to process and analyze images captured by camera 130 to identify objects and / or features in the environment surrounding vehicle 100. The objects and / or features may include traffic signals, road boundaries, and obstacles. Computer vision system 140 may use object recognition algorithms, Structure from Motion (SFM) algorithms, video tracking, and other computer vision techniques. In some embodiments, computer vision system 140 may be configured to: map the environment, track objects, estimate the speed of objects, etc.

[0055] The route control system 142 is configured to determine a driving route for the vehicle 100. In some embodiments, the route control system 142 may determine a driving route for the vehicle 100 based on data from the sensors 138, the GPS 122, and one or more predefined maps.

[0056] The obstacle avoidance system 144 is configured to identify, evaluate, and avoid or circumvent potential obstacles within the environment in which the vehicle 100 is located.

[0057] Indeed, in one example, control system 106 may include additional or alternative components other than those shown and described, or some of the components shown above may be omitted from control system 106.

[0058] The vehicle 100 interacts with external sensors, other vehicles, other computer systems, or a user by using peripherals 108. The peripherals 108 may include a wireless communication system 146, an on-board computer 148, a microphone 150, and / or a loudspeaker 152.

[0059] In some embodiments, the peripherals 108 provide a means for a user of the vehicle 100 to interact with the user interface 116. For example, the on-board computer 148 may provide information to the user of the vehicle 100. The user interface 116 may further receive user input by operating the on-board computer 148, which may be operated by using a touch screen. In other cases, the peripherals 108 may provide a means for the vehicle 100 to communicate with another on-board device. For example, the microphone 150 may receive audio (e.g., voice commands or another voice input) from the user of the vehicle 100. Similarly, the loudspeaker 152 may output audio to the user of the vehicle 100.

[0060] The wireless communication system 146 may wirelessly communicate with one or more devices, either directly or through a communication network. For example, the wireless communication system 146 may use 3G cellular communications, such as code division multiple access (CDMA), global system for mobile communications (GSM), and general packet radio service (GPRS), 4G cellular communications, such as long term evolution (LTE), or 5G cellular communications. The wireless communication system 146 may communicate with a wireless local area network (WLAN) by using Wi-Fi. In some embodiments, the wireless communication system 146 may communicate directly with devices by using infrared links, Bluetooth, or the like. Other wireless protocols, such as various vehicular communication systems, for example, the wireless communication system 146 may include one or more dedicated short range communications (DSRC) devices. These devices may include vehicles and / or roadside station equipment that communicate public and / or private data with each other.

[0061] The power source 110 provides power to the components of the vehicle 100. In one embodiment, the power source 110 may be a rechargeable lithium-ion or lead-acid battery. One or more battery packs of such batteries may be configured as the power source that provides power to the components of the vehicle 100. In some embodiments, the power source 110 and the energy source 119 may be implemented together, such as in some pure electric vehicles.

[0062] Some or all functions of vehicle 100 are controlled by computer system 112. Computer system 112 may include at least one processor 113, which executes instructions 115 stored on a non-transitory computer-readable medium, such as memory 114. Computer system 112 may alternatively be multiple computing devices controlling individual components or subsystems of vehicle 100 in a distributed manner.

[0063] The processor 113 may be any conventional processor, e.g., a commercially available CPU. Alternatively, the processor may be a dedicated device, e.g., an ASIC or other hardware-based processor. While FIG. 1 functionally illustrates the processor, memory, and other elements of the computer 110 in the same block, one skilled in the art should understand that the processor, computer, or memory may actually include multiple processors, computers, or memories that may or may not be housed in the same physical housing. For example, the memory may be a hard disk drive or another storage medium located in a housing different from that of the computer 110. Thus, reference to a processor or computer is understood to include reference to a set of processors or computers or memories that may or may not operate in parallel. Unlike using a single processor to perform the steps described herein, some components, such as the steering component or deceleration component, may include respective processors. The processors perform only the calculations related to the component-specific functions.

[0064] In various aspects described herein, the processor may be located remotely from the vehicle and communicate wirelessly with the vehicle. In other aspects, some processes described herein are performed on a processor located within the vehicle, while other processes are performed by a remote processor. A process includes the steps necessary to perform a single operation.

[0065] In some embodiments, memory 114 may include instructions 115 (e.g., program logic) that may be executed by processor 113 to perform various functions of vehicle 100, including the functions described above. Memory 114 may also include additional instructions, including instructions to transmit data to, receive data from, interact with, and / or control one or more of driving system 102, sensor system 104, control system 106, and peripherals 108.

[0066] In addition to instructions 115, memory 114 may also store data, such as road maps, route information, vehicle location, direction, speed, data for other vehicles of this type, and other information, which may be used by vehicle 100 and computer system 112 during operation of vehicle 100 in autonomous, semi-autonomous, and / or manual modes.

[0067] User interface 116 is configured to provide information to or receive information from a user of vehicle 100. Optionally, user interface 116 may be included in one or more input / output devices in the set of peripherals 108, such as wireless communication system 146, on-board computer 148, microphone 150, and loudspeaker 152.

[0068] The computer system 112 may control functions of the vehicle 100 based on inputs received from various subsystems (e.g., the cruise system 102, the sensor system 104, and the control system 106) and the user interface 116. For example, the computer system 112 may use inputs from the control system 106 to control the steering unit 132 to avoid obstacles detected by the sensor system 104 and the obstacle avoidance system 144. In some embodiments, the computer system 112 may be operated to control many aspects of the vehicle 100 and its subsystems.

[0069] Optionally, one or more of the aforementioned components may be mounted separately from or in association with the vehicle 100. For example, the memory 114 may exist partially or completely separate from the vehicle 100. The aforementioned components may be communicatively coupled to each other via wires and / or wirelessly.

[0070] Optionally, the above components are merely examples. In actual applications, components in the above modules may be added or removed according to actual requirements. Figure 1 should not be understood as a limitation on the embodiments of the present application.

[0071] An autonomous vehicle traveling on a road, such as vehicle 100, may identify objects in the environment surrounding vehicle 100 in order to determine to adjust its current speed. The objects may be another vehicle, a traffic control device, or another type of object. In some examples, each identified object may be considered independently and used to determine the speed to be adjusted by the autonomous vehicle based on characteristics of each object, such as the object's current speed, the object's acceleration, the spacing between the object and the vehicle, etc.

[0072] Optionally, the autonomous vehicle 100 or a computing device associated with the autonomous vehicle 100 (e.g., the computer system 112, the computer vision system 140, or the memory 114 in FIG. 1 ) may predict the behavior of the identified object based on the characteristics of the identified object and the state of the surrounding environment (e.g., traffic, rain, or ice on the road, etc.). Optionally, the identified objects depend on each other's behavior. Therefore, all the identified objects may be considered together to predict the behavior of a single identified object. The vehicle 100 may adjust the speed of the vehicle 100 based on the predicted behavior of the identified object. In other words, the autonomous vehicle may determine that the vehicle needs to be adjusted to a certain stable state (e.g., accelerate, decelerate, stop) based on the predicted behavior of the object. In this process, other factors may also be considered to determine the speed of the vehicle 100, such as the horizontal position of the vehicle 100 on the road on which the vehicle 100 travels, the curvature of the road, and the proximity between stationary and dynamic objects.

[0073] In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device may provide instructions to change the steering angle of the vehicle 100 so that the autonomous vehicle follows a given track and / or maintains a safe lateral and longitudinal distance from objects near the autonomous vehicle (e.g., cars in adjacent lanes on the road).

[0074] Optionally, autonomous vehicle 100 or a computing device associated with autonomous vehicle 100 (e.g., computer system 112, computer vision system 140, or memory 114 in FIG. 1 ) may further predict whether a road section ahead is available for autonomous driving based on the vehicle state and detected environmental information, and control switching between autonomous and manual driving modes.

[0075] The vehicle 100 may be a car, truck, motorcycle, bus, boat, airplane, helicopter, lawn mower, recreational vehicle, amusement park ride, construction equipment, trolley, golf cart, train, pushcart, etc., which is not particularly limited in this embodiment of the present application.

[0076] FIG. 2 is an exemplary diagram of an automated driving system according to one embodiment of the present application.

[0077] The autonomous driving system shown in Figure 2 includes a computer system 101. The computer system 101 includes a processor 103, which is coupled to a system bus 105. The processor 103 may be one or more processors, and each processor may include one or more processor cores. A display adapter (video adapter) 107 may drive a display 109, which is coupled to the system bus 105. The system bus 105 is coupled to an input / output (I / O) bus 113 via a bus bridge 111. An I / O interface 115 is coupled to the I / O bus. The I / O interface 115 communicates with multiple I / O devices, such as an input device 117 (e.g., a keyboard, a mouse, a touch screen), a multimedia tray (media tray) 121 (e.g., a compact disc read-only memory (CD-ROM) or a multimedia interface), a transceiver 123 (which may send and receive wireless communication signals), a camera lens 155 (which may capture static and dynamic digital video images), and an external universal serial bus (USB) interface 125. Optionally, the interface connected to the I / O interface 115 may be a USB interface.

[0078] Processor 103 may be any conventional processor, such as a reduced instruction set computer (RISC) processor, a complex instruction set computer (CISC) processor, or a combination thereof. Optionally, the processor may be a special-purpose device, such as an application specific integrated circuit (ASIC), etc. Processor 103 may be a neural network processor, or a combination of a neural network processor and the aforementioned conventional processors.

[0079] Optionally, in various embodiments described herein, the computer system 101 may be located remotely from the autonomous vehicle and may communicate wirelessly with the autonomous vehicle. In other aspects, some processes described herein are executed on a processor located within the autonomous vehicle, while other processes are executed by a remote processor. A process includes actions necessary to perform a single operation.

[0080] The computer 101 may communicate with the software deployment server 149 via a network interface 129. The network interface 129 is a hardware network interface, such as a network interface card. The network 127 may be an external network, such as the Internet, or may be an internal network, such as an Ethernet or a virtual private network (VPN). Alternatively, the network 127 may be a wireless network, such as a Wi-Fi network or a cellular network.

[0081] A hard disk drive interface is coupled to the system bus 105. A hardware driver interface is connected to the hard disk drive. A system memory 135 is coupled to the system bus 105. Operating systems 137 and application programs 143 of the computer 101 may include.

[0082] The operating system includes a shell 139 and a kernel 141. The shell 139 is the interface between the user and the kernel of the operating system. The shell may be the outermost layer of the operating system. The shell manages the interaction between the user and the operating system: waiting for user input, interpreting the user input to the operating system, and handling various output results of the operating system.

[0083] Kernel 141 includes the components of an operating system configured to manage memory, files, peripheral devices, and system resources. Kernel 141 interacts directly with the hardware. An operating system kernel typically runs processes, provides communication between processes, provides CPU time slice management, interrupts, memory management, I / O management, etc.

[0084] The application programs 143 include related programs for controlling the autonomous driving of the vehicle, such as programs for managing the interaction of the autonomous vehicle with roadway obstacles, programs for controlling the route or speed of the autonomous vehicle, and programs for controlling the interaction of the autonomous vehicle with other autonomous vehicles on the roadway. The application programs 143 also reside on the system of the deployment server 149. In one embodiment, the computer system 101 may download the application programs 143 from the deployment server 147 when it needs to run the application programs 147.

[0085] For example, the application program 141 may be a program for controlling an autonomous vehicle to allow enabling or disabling of autonomous driving assistance features.

[0086] The sensor 153 is associated with the computer system 101, and the sensor 153 is configured to detect the surrounding environment of the computer 101. For example, the sensor 153 may detect animals, cars, obstacles, and crosswalks. Furthermore, the sensor may detect the surrounding environment of the aforementioned objects such as animals, cars, obstacles, and crosswalks, for example, the surrounding environment of the animal, other animals around the animal, weather conditions, brightness of the surrounding environment. Optionally, if the computer 101 is located in an autonomous vehicle, the sensor may be a camera lens, an infrared sensor, a chemical detector, a microphone, etc.

[0087] 1 may also receive information from or transfer information to other computer systems. Alternatively, sensor data collected from the sensor system 104 of the vehicle 100 may be transferred to another computer for processing the data.

[0088] For example, as shown in FIG. 3, data from the computer system 312 may be sent to the cloud-side server 320 (also referred to as cloud side) via a network for further processing. The network and intermediate nodes may include various configurations and protocols, including the Internet, the World Wide Web, an intranet, a virtual private network, a wide area network, a local area network, a private network using one or more company's proprietary communication protocols, Ethernet, Wi-Fi, hypertext transfer protocol (HTTP), and various combinations thereof. Such communication may be implemented by any device capable of transmitting data to and from another computer, such as a modem and a wireless interface. For example, data such as vehicle status and environmental information is sent to the cloud-side server 320 for further processing. The cloud-side server may identify and process these data by using multiple neural network models and feed back the identification results to the computer system 312, so that the computer system 312 can confirm whether to enable or disable the automated driving assistance function.

[0089] In one example, server 320 may include a server with multiple computers, such as a load-balancing server cluster, exchanging information with different nodes of a network to transmit, process, and transmit data from computer system 312. The server may be configured in a similar manner as computer system 312, having a processor 330, memory 340, instructions 350, and data 360.

[0090] The autonomous driving system may include several autonomous driving assistance features, such as a pre-collision system (PCS), adaptive cruise control (ACC), lane keeping aid (LKA), cross traffic alert (CTA), rear cross traffic alert (RCTA), blind spot warning (BSW), vehicle alert turn off, and traffic jam assist (TJA).

[0091] With the rapid development of autonomous driving in recent years, autonomous driving can be divided into multiple levels according to the degree of automation. Table 1 shows the autonomous driving level classification situation provided in this embodiment of the present application. From Table 1, we can know that below level L4, manual takeover or area-based manual driving is still a basic requirement for autonomous driving. [Table 1] TIFF0007620784000002.tif224166 TIFF0007620784000003.tif43166

[0092] Existing autonomous driving technologies usually only consider the real-time detection information of the current vehicle. When detecting that a dangerous situation exists in the range ahead of the current vehicle, the current vehicle will forcefully request the driver to take over the vehicle urgently. However, in reality, the driver is easily distracted during autonomous driving. During manual handover, it takes time for cognitive recovery (average 10 seconds, sometimes 30 seconds), and the response is not in time, making it easier for risks to occur during handover.

[0093] In consideration of the above problems, the present application provides a method for controlling the switching of driving modes of a vehicle. In a target road section at a certain distance ahead of the traveling direction of a first vehicle, based on the environmental information detected by a second vehicle, it is properly predicted whether the target road section is suitable for automatic driving; if the target road section is not suitable for automatic driving and the first vehicle is currently in an automatic driving mode, a handover reminder is sent to the driver of the current vehicle to avoid the driver having to take over the vehicle urgently and avoiding the risk caused by the driver not responding in time, thereby improving the safety of automatic driving.

[0094] 4 is a diagram of an example of a method for controlling vehicle driving mode switching according to an embodiment of the present application. The method 400 may be performed by the autonomous vehicle 100 shown in FIG. 1, the autonomous driving system 101 shown in FIG. 2, or the server 320 shown in FIG. 3. The method 400 includes steps S410 to S430. The details of these steps are provided below.

[0095] S410: Obtain environmental information detected by a second vehicle.

[0096] It should be understood that the second vehicle is a vehicle traveling on the target road section, which is a road section located ahead in the direction of travel of the first vehicle, in other words, the first vehicle is not traveling on the target road section at this point in time and there is still a certain distance to the target road section.

[0097] In one example, the distance may be 100 m or more. For example, the target road section may be 100 m away from the first vehicle, 500 m away from the first vehicle, or 1000 m away from the first vehicle. This is not limited in this application. It should be understood that the distance should ensure that the driver of the first vehicle has sufficient response time to take over driving control. In addition, the length of the target road section is not limited in this application and may be adjusted based on road conditions or weather information.

[0098] Optionally, the second vehicle may be a vehicle traveling along the target road section and having environmental information detection capability, or may be a collection vehicle having that capability, such as a dedicated measurement vehicle. Optionally, the environmental information detected by the second vehicle may be reported or transmitted by the second vehicle, or may be collected by another device having acquisition capability.

[0099] Optionally, obtaining the environmental information detected by the second vehicle may be obtaining the environmental information detected by one or more second vehicles in the target road section ahead of the first vehicle in the traveling direction, which means in the present application that the prediction may be made based on the environmental information detected by one second vehicle, or the prediction may be made by comprehensively analyzing the environmental information detected by multiple second vehicles, so as to refer to the prediction result and improve the safety of the automated driving.

[0100] It should be understood that the environmental information detected by the second vehicle may include road conditions and / or weather information. The road conditions may be obstacle conditions on the road, width of the road, pedestrians on the road, straightness / curve of the road, water accumulation or ice condition on the road, whether the road is closed to traffic, etc. The weather information may be visibility, temperature conditions, light intensity, etc. caused by rain, snow, fog, etc. It should be understood that the environmental information is merely an example and does not constitute a limitation of the present application. In practical applications, the environmental information may be determined based on the actual detection information of the second vehicle.

[0101] S420: Predict whether the target road section is suitable for automated driving based on environmental information detected by the second vehicle.

[0102] Optionally, road conditions and / or weather information detected by the one or more second vehicles may be analyzed, and the extent of the influence of each road condition or weather factor on the automated driving is analyzed, i.e., whether automated driving is suitable in the environment.

[0103] Optionally, the method 400 further includes: generating an automated driving environment map, the automated driving environment map being used to indicate whether a plurality of road segments located ahead in the direction of travel of the first vehicle are suitable for automated driving, the plurality of road segments including the target road segment.

[0104] It should be understood that the autonomous driving environment map can indicate whether each of a plurality of road segments in an area or on a road ahead in the direction of travel of the first vehicle is suitable for autonomous driving. The autonomous driving environment map may further include location information of the plurality of road segments. It should be understood that the autonomous driving environment map may be used by a plurality of vehicles within a certain period of time and is continuously updated as information such as the environment changes.

[0105] For example, if the road section is suitable for automated driving, "yes" may be marked on the road section on the map; or if the prediction result indicates that the road section is not suitable for automated driving, "no" may be marked on the road section on the map. Alternatively, different colors may be used to represent the automated driving sections and the manual driving sections. This results in an automated driving environment map of multiple road sections in an area. Thus, the computer device or server may notify the driver of a vehicle that is about to pass through a specific road section whether the road section is suitable for automated driving based on the automated driving environment map in advance to make a global decision on the automated driving state in a road or area, or may send the automated driving environment map to the driver so that the driver can know whether each of the multiple road sections ahead is suitable for automated driving based on the map in advance.

[0106] In this embodiment of the present application, an autonomous driving environment map is generated, so that the driver can know in advance based on the autonomous driving environment map whether multiple road sections ahead in the direction of travel are suitable for autonomous driving, and then the driver can enter a preparation state or perform route planning in advance, thereby improving the safety of autonomous driving.

[0107] Optionally, in the present application, a driving mode of the second vehicle may be further obtained, the driving mode being an automated driving mode or a manual driving mode; and whether the target road section is suitable for automated driving is predicted based on the driving mode of the second vehicle.

[0108] For example, a driving mode of one second vehicle in the target road section is obtained. If the driving mode is autonomous, the target road section may be deemed suitable for autonomous driving. Alternatively, driving modes of multiple second vehicles in the target road section are obtained. If a quantity of the multiple second vehicles equal to or greater than a certain value is in the autonomous driving mode, the target road section may be deemed suitable for autonomous driving.

[0109] Optionally, the method 400 further includes: obtaining driving mode change information of the second vehicle; and predicting whether the target road section is suitable for automated driving based on the environmental information detected by the second vehicle and the driving mode change information of the second vehicle.

[0110] It should be understood that the driving mode change information of the second vehicle in the target road section is information generated when the driving mode of the second vehicle in the target road section is changed. Optionally, the driving mode change information may include a changed driving mode and a change reason. The change reason is the reason why the driving mode is changed. Optionally, the change reason may be a weather factor (rain, snow, fog, etc.), a road factor (obstacle, pedestrian, road condition, etc.), a driver cause (manual active trigger), or a vehicle cause (system failure, etc.). This is not limited in the present application. Optionally, the driving mode change information may further include information regarding the location where the driving mode is changed.

[0111] Optionally, when whether the target road section is suitable for automated driving is predicted based on the environmental information detected by the second vehicle and the driving mode change information of the second vehicle, if the driving mode of the second vehicle of the target road section has not been changed, the prediction may be made based on the environmental information detected by the second vehicle. If the driving mode of the second vehicle of the target road section has been changed, the prediction may be made based on the driving mode change information in addition to the detected environmental information, or the prediction may be made based only on the driving mode change information. This is not limited in the present application. For example, if the driving mode of the second vehicle has been changed but the reason for the change is a system failure of the second vehicle, a manual active trigger, etc., the prediction may be made based on the environmental information detected by the second vehicle, or the driving mode of the previous road section may be directly used in this case. If the reason for the change is a weather factor or road factor equivalent to the detected environmental information, etc., the prediction may be made based only on the driving mode change information. It should be understood that when the prediction is made based on the driving mode change information, the prediction information can be appropriately acquired, thereby reducing the amount of acquired information and improving prediction efficiency.

[0112] In the running process of a vehicle, the driving mode of the vehicle may be changed for many reasons, and the reasons for changing the driving mode of different vehicles may be the same or different. In addition, the change reasons have different values ​​for reference and different valid periods for reference by other vehicles. Therefore, in the actual prediction process, the weight and / or valid period of the change reasons may be determined; whether the target road section is suitable for automatic driving by the first vehicle is predicted based on the weight and / or valid period of the change reasons. Specifically, corresponding weights may be set to one or more change reasons based on the values ​​for reference and the degree of influence on automatic driving, or these reason events may be classified based on the length of the valid period. After that, a comprehensive analysis is performed on whether the driving mode change reasons are common, whether the reason can be used for reference by other vehicles, and whether the reason can be used for reference by other vehicles in a long or short period. A specific example is detailed in the following embodiment. Details are not described here.

[0113] Optionally, predicting whether the target road section is suitable for automated driving performed by the first vehicle based on the weight and / or validity period of the change reason includes: predicting whether the target road section is suitable for automated driving performed by the first vehicle based on the changed driving mode when the weight of the change reason is greater than or equal to a first threshold and / or the validity period of the change reason is greater than or equal to a second threshold.

[0114] Optionally, if there is one change reason, when the weight of the change reason is equal to or greater than a first threshold and / or the validity period of the change reason is equal to or greater than a second threshold, whether the target road section is suitable for the automated driving performed by the first vehicle may be predicted based on the changed driving mode. If there are multiple change reasons, when the weight of at least one change reason is equal to or greater than a first threshold and / or the validity period of at least one change reason is equal to or greater than a second threshold, whether the target road section is suitable for the automated driving performed by the first vehicle may be predicted based on the changed driving mode. It should be understood that the above is merely an implementation, and whether the target road section is suitable for the automated driving may be determined by the actual operation situation. This is not a limitation in the present application.

[0115] In this embodiment of the present application, whether the target road section is suitable for autonomous driving performed by the first vehicle is predicted based on the weight and / or validity period of the change reasons, so that the influence degree of different change reasons for the driving mode and the validity period of different change reasons are fully taken into account in the prediction process, thereby effectively improving the referenceability and safety of the predicted results of autonomous driving.

[0116] S430: If the target road section is not suitable for automated driving and the first vehicle is currently in an automated driving mode, prompt the driver of the first vehicle to take over driving control of the first vehicle.

[0117] It should be understood that the purpose of prompting the driver of the first vehicle to take over driving control of the first vehicle is to enable the driving mode to be switched from an automated driving mode to a manual driving mode under the control of the driver of the first vehicle.

[0118] Optionally, if the target road section is not suitable for automated driving and the first vehicle is currently in an automated driving mode, the driver of the first vehicle may be prompted to prepare to take over driving control of the first vehicle. For example, FIG. 5 is an exemplary flowchart of a control exchange method according to an embodiment of the present application. As shown in FIG. 5, the method includes the following steps:

[0119] S510: Determine whether the first vehicle is currently in an autonomous mode, and if the first vehicle is in an autonomous mode, proceed to S520.

[0120] S520: Determine whether the target road section ahead of the first vehicle is suitable for automated driving, and proceed to S530 if the target road section is not suitable for automated driving.

[0121] S530: Alert the driver of the first vehicle to prepare to take over driving control of the first vehicle.

[0122] It should be understood that after the driver of the first vehicle is reminded to prepare to take over driving control of the first vehicle, automated driving can still be performed for vehicle control until manual intervention or the next takeover level is reached. Specifically, after the driver of the first vehicle receives a reminder that he or she needs to prepare to take over driving control of the first vehicle, the driver of the first vehicle may initially choose not to take over driving control of the first vehicle, continue to drive in the automated driving mode, and take over driving control of the first vehicle when reaching a location that is not suitable for automated driving. In this way, the driver of the first vehicle has a longer preparation and response time.

[0123] Optionally, if the target road section is not suitable for automated driving and the first vehicle is currently in an automated driving mode, the driver of the first vehicle may be prompted to directly take over driving control of the first vehicle, in which case excessively long response times of the driver of the first vehicle will not affect driving safety.

[0124] In this embodiment of the present application, environmental information detected by a second vehicle in a target road section ahead of the first vehicle in the traveling direction is obtained; whether the target road section is suitable for automatic driving is predicted based on the environmental information; if the target road section is not suitable for automatic driving and the first vehicle is currently in an automatic driving mode, the driver of the first vehicle can be reminded to take over the driving control of the first vehicle, so that the first vehicle is switched from the automatic driving mode to the manual driving mode by the driver's handover. In this way, during the driving process, the automatic driving vehicle can know in advance whether the target road section ahead is suitable for automatic driving. Therefore, the real-time requirement of manual handover during automatic driving is effectively reduced, the handover requirement is changed from the current second level to the minute level, and a certain time is provided for the driver to recover cognition before the handover, thereby improving the safety of automatic driving.

[0125] Optionally, if the target road section is not suitable for automated driving and the first vehicle is currently in an automated driving mode, the driver of the first vehicle may alternatively be forced to take over driving control of the first vehicle to increase the driver's sense of urgency and improve the safety of automated driving.

[0126] Optionally, if the target road section is not suitable for automated driving and the first vehicle is currently in a manual driving mode, the method 400 further includes: prompting the driver of the first vehicle not to switch to automated driving mode.

[0127] Optionally, if the target road section is not suitable for automated driving and the first vehicle is currently in a manual driving mode, method 400 further includes: prompting the driver of the first vehicle not to switch to the automated driving mode if the driver is activating the automated driving mode.

[0128] For example, Figure 6 is an exemplary flowchart of another control right exchange method according to an embodiment of the present application. As shown in Figure 6, the method includes the following steps:

[0129] S610: Determine whether the first vehicle is in an autonomous mode, and proceed to S620 if the first vehicle is not in an autonomous mode.

[0130] S620: Determine whether the driver of the first vehicle has activated the autonomous driving mode, and if the driver has activated the autonomous driving mode, proceed to S630.

[0131] S630: Determine whether the target road section ahead of the first vehicle is suitable for automated driving, and proceed to S640 if the target road section is not suitable for automated driving.

[0132] S640: The driver of the first vehicle is warned not to switch to the autonomous driving mode.

[0133] It should be understood that in the current manual driving mode, when the driver activates the automatic driving mode, if the driver finds that the automatic driving is not suitable for use in a certain distance ahead, the driver must also switch back to the manual driving mode, which results in frequent switching between automatic driving and manual driving. Therefore, in this embodiment of the present application, if the target road section is not suitable for automatic driving and the first vehicle is currently in the manual driving mode, the driver of the first vehicle is reminded not to switch to the automatic driving mode. This effectively avoids frequent switching of the driving mode during the vehicle's driving process, thereby ensuring the continuity of automatic driving and the driver's experience.

[0134] Optionally, if the target road section is not suitable for automated driving and the first vehicle is currently in a manual driving mode, the first vehicle may be notified that switching from the manual driving mode to the automated driving mode is prohibited.

[0135] Optionally, if the target road section is not suitable for automated driving and the first vehicle is currently in manual driving mode, if the driver activates the automated driving mode, the first vehicle is notified that it is prohibited from switching from manual driving mode to automated driving mode.

[0136] In this embodiment of the present application, if the target road section is not suitable for autonomous driving and the first vehicle is currently in a manual driving mode, the first vehicle is notified that switching from the manual driving mode to the autonomous driving mode is prohibited, so that the computing system of the first vehicle makes a corresponding decision in time to prohibit switching between driving modes, thereby ensuring the continuity of autonomous driving and the driver's experience.

[0137] Optionally, the above process may be performed in a cloud-side service center, or by another device or expert having functions such as information collection, information analysis, and information transmission, or may be performed by the first vehicle, in particular by a computer system of the first vehicle.

[0138] Preferably, the following describes the solution of the present application by using a cloud-side service center as an example. In this embodiment of the present application, the cloud-side service center may also be referred to as the cloud side, and it should be understood that the cloud side is associated with the second vehicle and the first vehicle by using a network.

[0139] In a specific implementation, the cloud side may obtain environmental information detected by the second vehicle; may predict whether the target road section is suitable for autonomous driving based on the environmental information detected by the second vehicle; if the target road section is not suitable for autonomous driving and the first vehicle is currently in autonomous driving mode, may prompt the driver of the first vehicle to take over driving control of the first vehicle so that the first vehicle can be switched from the autonomous driving mode to the manual driving mode.

[0140] Optionally, if the target road section is not suitable for autonomous driving and the first vehicle is currently in manual driving mode, the cloud side may remind the driver of the first vehicle not to switch to autonomous driving mode; or may notify the first vehicle that switching from manual driving mode to autonomous driving mode is prohibited.

[0141] Optionally, the cloud side may further generate an autonomous driving environment map, which is used to indicate whether a plurality of road sections located ahead in the direction of travel of the first vehicle are suitable for autonomous driving, the plurality of road sections including the target road section.

[0142] Optionally, the cloud side may further obtain driving mode change information of the second vehicle, where the driving mode change information includes a changed driving mode and a reason for the change; and may predict whether the target road section is suitable for autonomous driving based on the environmental information detected by the second vehicle and the driving mode change information of the second vehicle.

[0143] It should be understood that in practical operation, the cloud side may provide services to multiple vehicles within a certain range, and the cloud side can detect information from these vehicles and send prompt information to these vehicles to remind the vehicles whether the current road segment or multiple road segments ahead are suitable for autonomous driving.

[0144] 7 is a diagram of the architecture of a vehicle-cloud cooperation system according to an embodiment of the present application. As shown in FIG. 7, the system architecture includes a cloud side 710, a network 720, and a vehicle side 730.

[0145] The cloud side 710 may receive data, such as sensor data, from the vehicle side 730 in the operating environment of the cloud side 710 via a network 720, for example a wireless communication network. The vehicle side 730 includes a plurality of vehicles, such as the first vehicle and one or more second vehicles described above. The cloud side 710 executes the vehicle driving related programs stored in the cloud side 710 based on the received data to realize the method shown in Fig. 4. It should be understood that a direct association between the vehicle side and the cloud side may be considered as an association between a computer system and the cloud side.

[0146] In the implementation, the cloud side 710 is configured to: obtain environmental information detected by the vehicle side 730 on multiple road sections in a driving area, and predict whether the multiple road sections in the driving area of ​​the vehicle side 730 are suitable for automated driving based on the environmental information detected by the vehicle side 730. When the multiple road sections are not suitable for automated driving, the cloud side 710 may send prompt information to the vehicle side 730. The cloud side 710 may further be configured to generate an automated driving environment map of the road or area by fusion based on the prediction result. The vehicle side 730 may confirm whether to manually take over driving control based on the prediction result, the reminder, or the automated driving environment map of the cloud side 710.

[0147] It should be understood that the vehicle side 730 includes the first vehicle and the second vehicle described above. This means that during the driving process of the first vehicle, the cloud side can predict whether the road section on which the second vehicle is traveling is suitable for automatic driving based on the environmental information detected by the second vehicle ahead of the first vehicle in the traveling direction, and provide the prediction result for reference to the first vehicle that is about to proceed to the road section. The first vehicle can also report the environmental information detected in the current traveling road section to the cloud side, so that the cloud side can predict whether the current traveling road section of the first vehicle is suitable for automatic driving based on the information provided by the first vehicle, and provide the prediction result for reference to other vehicles that are about to proceed to the road section.

[0148] In another implementation, the cloud side 710 may alternatively predict whether multiple road sections within the driving area of ​​the vehicle side 730 are suitable for automated driving based on the driving mode change information identified by the vehicle side 730.

[0149] Specifically, the cloud side 710 is configured to predict whether multiple road sections in a driving area of ​​the vehicle side 730 are suitable for autonomous driving based on the driving mode change information detected by the vehicle side 730. The cloud side 710 may be further configured to generate an autonomous driving environment map of the road or area by fusion based on the prediction result.

[0150] The vehicle side 730 is configured to identify a change in driving mode. The vehicle side 730 may further be configured to check whether to manually take over driving control based on the prediction result or reminder of the cloud side 710.

[0151] This implementation is detailed below with reference to FIG. 8 and Table 1.

[0152] Specifically, when a plurality of vehicles on the vehicle side 730 proceed through the area or road where the vehicles are located, if the vehicles identify that the driving mode of the vehicles has been changed, the vehicles report driving mode change information to the cloud side 710. FIG. 8 is an exemplary flowchart of the reporting of driving mode change information by the vehicle side according to one embodiment of the present application. As shown in FIG. 8, the following steps are included: S810: The vehicle side 730 identifies whether the driving mode of the vehicle side 730 has been changed, and if the driving mode of the vehicle side 730 has been changed, execute step S820. S820: Report the driving mode change information to the cloud side 710. In addition, in this embodiment, the driving mode change information may include the changed driving mode and the reason for the change.

[0153] Then, after receiving the driving mode change information reported by the vehicle side 730, the cloud side 710 comprehensively predicts whether the multiple road sections where the vehicle side 730 is located are suitable for autonomous driving.

[0154] Specifically, the cloud side 710 analyzes the driving mode change reasons of the vehicle side 730 together, sets weights corresponding to the change reasons according to the values ​​for reference of the change reasons and their impact on autonomous driving, or classifies the change reasons according to the length of the validity period, and then predicts whether multiple road sections traveled by the vehicle side 730 are suitable for autonomous driving based on the weights and / or validity periods of the change reasons. Table 2 shows an exemplary table of classifications of different change reasons and the validity periods of the change reasons: [Table 2]

[0155] As shown in Table 2, the change reasons can be classified into three types according to their validity period. The first type of change reason is applicable to all autonomous vehicles for reference within a certain period, for example, changes caused by temporary obstacles, weather, and pedestrians. The second type of change reason is applicable to all autonomous vehicles for long-term reference, for example, changes caused by the prohibition of autonomous driving imposed by traffic regulations. The third type of change reason is not used by other vehicles for reference, for example, changes caused by vehicle system failures and manual triggers.

[0156] Based on the above description, optionally, the cloud side 710 may set weights corresponding to the change reasons based on the values ​​for reference of the change reasons and the degree of impact on autonomous driving, and based on the weights of the change reasons, may predict whether multiple road sections along which the vehicle side 730 proceeds are suitable for autonomous driving.

[0157] For example, if the vehicle driving mode is changed to the manual driving mode because there is an obstacle or road construction and reconstruction ahead of the vehicle's current driving lane, the cloud side may learn through the analysis of this case that the reason affects the automated driving of the road section to some extent, and may set the weight of the reason to A, for example, 0.6. If the vehicle driving mode is changed because the automated driving is prohibited on the road section being traveled, the cloud side may learn through the analysis of this case that the reason makes the automated driving completely inapplicable on the road section, and may set the weight of the reason to B, for example, 1. If the vehicle driving mode is changed due to the sudden intrusion of pedestrians, vehicles, animals, etc., the cloud side may learn through the analysis of this case that the reason does not affect the automated driving performed by other vehicles, and may set the weight of the reason to C, for example, 0. In addition, when the weight set for the change reason is equal to or greater than the first threshold, the cloud side may further predict whether the road section is suitable for automated driving based on the changed driving mode. For example, in this example, when the weight set for the detected change reason is greater than 0.5, whether the road section is suitable for automated driving may be predicted based on the changed driving mode.

[0158] Optionally, the cloud side 710 may further classify reason events based on the length of validity of the change reason, and may predict whether multiple road sections traveled by the vehicle side 730 are suitable for autonomous driving based on the validity of the change reason.

[0159] For example, if the vehicle driving mode is changed to the manual driving mode because there is an obstacle or road construction and reconstruction ahead of the driving lane, the cloud side can know through the analysis of this case that the valid period during which the reason may exist is the construction period, and can set the valid period to a short period, for example, 10 days. If the vehicle driving mode is changed because automatic driving is prohibited on the proceeding road section, the cloud side can know through the analysis of this case that the reason exists due to traffic regulation and exists for a long period, and can set the valid period of the reason to be long. If the vehicle driving mode is changed due to the sudden intrusion of pedestrians, vehicles, animals, etc., or the cause of the vehicle, the cloud side can know through the analysis of this case that the reason exists due to an emergency or vehicle state and cannot be applied to other vehicles for reference, and can set the valid period of the reason to 0. In addition, when the specified valid period is equal to or greater than the second threshold, the cloud side can further predict whether the road section is suitable for automatic driving based on the changed driving mode. The second threshold can be determined according to the actual situation, for example, based on the time when the following vehicle arrives at the road section. For example, in this example, if the vehicle enters a road section in an hour and there is a change reason with a validity period of one hour or more, whether the road section is suitable for automated driving is predicted based on the changed driving mode.

[0160] Optionally, the cloud side 710 may further comprehensively predict whether multiple road sections along which the vehicle side 730 travels are suitable for autonomous driving based on the weights of the change reasons and the effective time.

[0161] It should be understood that the cloud side can analyze all data acquired within the service scope. Therefore, in a road section, if the driving mode is not changed, or if the driving mode is changed but the change reason has no value for reference or the validity period of the change reason is less than the second threshold, whether the road section is suitable for automated driving can be predicted based on the driving mode of the road section before the road section. For example, if the driving mode of the previous road section is an automated driving mode and the driving mode of the current road section is not changed, it can be predicted that the current road section is suitable for automated driving.

[0162] In yet another implementation, the cloud side 710 may alternatively obtain both the environmental information and the driving mode change information detected by the vehicle side 730, and perform prediction based on the detected environmental information and the detected driving mode change information, which will not be described in detail here.

[0163] It should be understood that the network 720 may include a variety of configurations and protocols, including the Internet, the World Wide Web, an intranet, a virtual private network, a wide area network, a local area network, a private network using one or more corporate proprietary communication protocols, Ethernet, Wi-Fi, HTTP, and various combinations thereof. Such communications may be implemented by any device capable of transmitting data to and from another computer, such as modems and wireless interfaces.

[0164] In one example, cloud side 710 may include a server with multiple computers, such as a load-balanced server cluster. These servers may be configured similarly to computer system 201 or computer system 150, having processors, memory, instructions, etc.

[0165] 9 is an exemplary diagram of a structure of an apparatus for controlling vehicle driving mode switching according to an embodiment of the present application. The apparatus 900 includes an acquisition module 910 and a processing module 920.

[0166] The acquisition module 910 is configured to acquire environmental information detected by a second vehicle, where the second vehicle is a vehicle traveling on a target road section, and the target road section is a road section located ahead in the traveling direction of the first vehicle. The processing module 920 is configured to: predict whether the target road section is suitable for autonomous driving based on the environmental information detected by the second vehicle; if the target road section is not suitable for autonomous driving and the first vehicle is currently in an autonomous driving mode, prompt the driver to take over driving control of the first vehicle so that the first vehicle can be switched from the autonomous driving mode to a manual driving mode;

[0167] Optionally, if the target road section is not suitable for automated driving and the first vehicle is currently in a manual driving mode, the processing module 920 may be further configured to: prompt the driver of the first vehicle not to switch to automated driving mode; or notify the first vehicle that switching from manual driving mode to automated driving mode is prohibited.

[0168] Optionally, the processing module 920 may be further configured to generate an autonomous driving environment map, which is used to indicate whether a plurality of road sections located ahead in the direction of travel of the first vehicle are suitable for autonomous driving, the plurality of road sections including the target road section.

[0169] Optionally, the acquisition module 910 may be further configured to acquire driving mode change information of the second vehicle, where the driving mode change information includes a changed driving mode and a change reason. The processing module 920 may be further configured to predict whether the target road section is suitable for automated driving based on the environment information detected by the second vehicle and the driving mode change information of the second vehicle.

[0170] 10 is an exemplary diagram of the structure of an apparatus 1300 according to an embodiment of the present application. The apparatus 1300 includes a processor 1302, a communication interface 1303, and a memory 1304. For example, the apparatus 1300 is a chip. As another example, the apparatus 1300 is a computing device.

[0171] The processor 1302, the memory 1304, and the communication interface 1303 may communicate with each other via a bus. The memory 1304 stores executable code, and the processor 1302 reads the executable code in the memory 1304 and executes a corresponding method. The memory 1304 may further include other software modules necessary for process execution, such as an operating system. The operating system may be Linux (trademark), Unix (trademark), Windows (trademark), or the like.

[0172] For example, the executable code in the memory 1304 may be used to implement the method illustrated in FIG. 4, and the processor 1302 may read the executable code in the memory 1304 to execute the method illustrated in FIG.

[0173] The processor 1302 may be a CPU. The memory 1304 may include a volatile memory, such as a random access memory (RAM). The memory 1304 may further include a non-volatile memory. (n on-volatile memory 、N VM), e.g., read-only memory (r ead-only memory 、R OM), flash memory, hard disk drive (HDD), and solid state disk (SSD).

[0174] In some embodiments of the present application, the disclosed method may be implemented by using computer program instructions encoded in machine-readable form on a computer-readable storage medium or encoded in another non-transitory medium or artifact. FIG. 11 illustrates a conceptual partial view of an exemplary computer program product arranged in accordance with at least some embodiments described herein. The exemplary computer program product includes a computer program for executing a computer process on a computing device. In one embodiment, the exemplary computer program product 1400 is provided by using a signal-bearing medium 1401. The signal-bearing medium 1401 may include one or more program instructions 1402. When the program instructions 1402 are executed by one or more processors, the above-mentioned functions or a part of the above-mentioned functions described for the method illustrated in FIG. 4 are provided. Thus, for example, referring to the embodiment illustrated in FIG. 4, one or more functions of S410 to S430 may be implemented by using one or more instructions associated with the signal-bearing medium 1401.

[0175] In some examples, the signal bearing medium 1401 may include a computer readable medium 1403, such as, but not limited to, a hard disk drive, a compact disk (CD), a digital video disk (DVD), a digital tape, a memory, a read-only memory (ROM), or a random access memory (RAM). In some embodiments, the signal bearing medium 1401 may include a computer recordable medium 1404, such as, but not limited to, a memory, a read / write (R / W) CD, or a R / W DVD. In some embodiments, the signal bearing medium 1401 may include a communication medium 1405, such as, but not limited to, a digital and / or analog communication medium (e.g., a fiber optic cable, a wave guide, a wired communication link, or a wireless communication link). In this case, for example, the signal bearing medium 1401 may perform the transmission by using a wireless type of communication medium 1405 (e.g., a wireless communication medium conforming to the IEEE 802.11 standard or other transmission protocol). The one or more program instructions 1402 may be, for example, computer-executable instructions or logic-implemented instructions. In some examples, the aforementioned computing device may be configured to provide various operations, functions, or actions in response to one or more program instructions 1402 transmitted to the computing device via the computer-readable medium 1403, the computer storage medium 1404, and / or the communication medium 1405. It should be understood that the arrangements described herein are for illustration purposes only. Thus, those skilled in the art will understand that other arrangements and other elements (e.g., machines, interfaces, functions, sequences, and functional groupings) may be alternatively used and that some elements may be omitted depending on the expected results. In addition, many of the described elements may be implemented as discrete or distributed components, or may be functional entities implemented in conjunction with other components by using any suitable combination and location.

[0176] Those skilled in the art can recognize that the units and algorithm steps can be implemented by electronic hardware or a combination of computer software and electronic hardware in combination with the examples described in the embodiments disclosed herein. Whether a function is performed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the functions described in each specific application, but the implementation should not be considered to go beyond the scope of this application.

[0177] For the sake of convenience and concise description, the detailed working processes of the above systems, devices and units may be referred to the corresponding processes in the above method embodiments, which can be clearly understood by those skilled in the art, and the details will not be described again here.

[0178] In the embodiments provided in this application, it should be understood that the disclosed system, device, and method may be implemented in other ways. For example, the described device embodiment is merely an example. For example, the unit division is merely a division of logical functions, and may be other divisions in actual implementation. For example, multiple units or components may be combined or integrated into other systems, and some functions may be ignored or not performed. In addition, the shown or discussed mutual couplings or direct couplings or communication connections may be implemented through some interfaces. Indirect couplings or communication connections between devices or units may be implemented in electrical, mechanical, or other forms.

[0179] Units described as separate components may or may not be physically separated, and components shown as units may or may not be physical units. In particular, components may be located in one location or distributed across multiple network units. Some or all of the units may be selected based on actual requirements to achieve the objectives of the solutions of the embodiments.

[0180] In addition, the functional units in the embodiments of the present application may be integrated into a single processing unit, each unit may exist physically alone, or two or more units may be integrated into a single unit.

[0181] When a function is implemented in the form of a software functional unit and sold or used as an independent product, the function may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application essentially, the part contributing to the prior art, or part of the technical solution may be implemented in the form of a software product. The computer software product is stored in a storage medium and includes some instructions for instructing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or some steps of the method described in the embodiments of the present application. The aforementioned storage medium includes any medium that can store program code, such as a USB flash drive, a removable hard disk, a read-only memory, a random access memory, a magnetic disk, or an optical disk.

[0182] The above description is merely a specific implementation of the present application and is not intended to limit the scope of protection of the present application. Any variations or replacements that can be easily understood by those skilled in the art within the technical scope disclosed in the present application shall be within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the scope of protection of the claims.

Claims

1. A method for controlling switching of a vehicle's driving mode by a computer system, comprising: The computer system obtains environmental information detected by a second vehicle, the second vehicle being a vehicle traveling on a target road section, the target road section being a road section located ahead of the first vehicle in a traveling direction; the computer system obtaining driving mode change information for the second vehicle, the driving mode change information including a changed driving mode and a reason for the change; The computer system predicts whether the target road section is suitable for automated driving based on the environmental information detected by the second vehicle and the driving mode change information of the second vehicle; and if the target road section is not suitable for automated driving and the first vehicle is currently in an automated driving mode, the computer system prompts a driver of the first vehicle to take over driving control so that the first vehicle can be switched from the automated driving mode to a manual driving mode. method.

2. If the target road section is not suitable for automated driving and the first vehicle is currently in the manual driving mode, the method further comprises: the computer system notifying the driver of the first vehicle not to switch to the automated driving mode; or the computer system notifying the first vehicle that switching from the manual driving mode to the automated driving mode is prohibited; The method of claim 1.

3. The method further comprises: the computer system generates an automated driving environment map, the automated driving environment map being used to indicate whether a plurality of road segments located ahead in the direction of travel of the first vehicle are suitable for automated driving, the plurality of road segments including the target road segment; The method according to claim 1 or 2.

4. The reason for the change includes at least one of a weight and a validity period of the reason for the change.

4. The method according to claim 1 .

5. An apparatus for controlling vehicle driving mode switching, the apparatus having an acquisition module and a processing module; The acquisition module is configured to acquire environmental information detected by a second vehicle, the second vehicle being a vehicle traveling on a target road section, the target road section being a road section located ahead in a traveling direction of the first vehicle, the acquisition module is further configured to acquire driving mode change information of the second vehicle, the driving mode change information including a changed driving mode and a reason for the change; The processing module is configured to: predict whether the target road section is suitable for automated driving based on the environmental information detected by the second vehicle and the driving mode change information of the second vehicle; if the target road section is not suitable for automated driving and the first vehicle is currently in an automated driving mode, prompt a driver of the first vehicle to take over driving control of the first vehicle so that the first vehicle can be switched from the automated driving mode to a manual driving mode. Device.

6. If the target road section is not suitable for automated driving and the first vehicle is currently in the manual driving mode, the processing module further: Reminding the driver of the first vehicle not to switch to the automated driving mode; or notifying the first vehicle that switching from the manual driving mode to the automated driving mode is prohibited.

6. The apparatus of claim 5.

7. The processing module further comprises: and generating an automated driving environment map, the automated driving environment map being used to indicate whether a plurality of road sections located ahead in the direction of travel of the first vehicle are suitable for automated driving, the plurality of road sections including the target road section.

7. Apparatus according to claim 5 or 6.

8. The reason for the change includes at least one of a weight and a validity period of the reason for the change.

8. Apparatus according to any one of claims 5 to 7.

9. 5. An apparatus for controlling vehicle driving mode switching, comprising a processor and a memory, the memory configured to store program instructions, the processor configured to call the program instructions to perform the method of any one of claims 1 to 4.

10. An autonomous vehicle comprising an apparatus according to any one of claims 5 to 8.

11. A computer readable storage medium having stored thereon program instructions which, when executed by a processor, implement the method of any one of claims 1 to 4.

12. A chip having a processor and a data interface, the processor reading instructions stored in a memory through the data interface, and the processor, when executing the instructions, performing the method of any one of claims 1 to 4.

Images