Intelligent driving control method, information processing method, and related device

Abstract

An intelligent driving control method, an information processing method, and a related device. Detection information of a sensor and travelling scene information of an intelligent driving terminal are used to determine an intelligent driving state of the intelligent driving terminal. On the basis of the detection information of the sensor, interference information of the sensor and an interference detection capability level of the sensor are determined (202). Then, on the basis of the interference information of the sensor, the interference detection capability level of the sensor and travelling scene information, an intelligent driving state of the intelligent driving terminal is determined (203). In this way, the use efficiency of detection information of a sensor can be effectively improved, and the detection efficiency of the sensor in an interfered state is improved. Associating the interference detection capability of the sensor with an intelligent driving state can also enhance the robustness of an intelligent driving function in a real application scene, and widen the application range of the sensor.

Description

An intelligent driving control method, information processing method and related equipment

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on March 26, 2024, with application number 202410358292.X and invention name “An intelligent driving control method, information processing method and related equipment”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The embodiments of the present application relate to the field of intelligent driving, and in particular to an intelligent driving control method, an information processing method, and related equipment. Background Art

[0003] For millimeter-wave radar sensors, the obstruction state refers to the state of the sensor when there are materials, objects, or things on the surface of the millimeter-wave radar sensor that block or change the propagation state or path of the electromagnetic waves, or when there are materials, objects, things, or events in the three-dimensional space between the millimeter-wave radar sensor and the object to be detected that change or block the propagation state or path of the electromagnetic waves.

[0004] When occlusion occurs, the millimeter-wave radar sensor detects the obstruction and reports its obstruction status to the host computer through the communication interface. Upon receiving the obstruction warning from the millimeter-wave radar sensor, the host computer discards all detection data from the millimeter-wave radar sensor. This indicates that the detection efficiency of the millimeter-wave radar sensor is low when it is interfered with (in this case, due to occlusion). Summary of the Invention

[0005] The present application provides an intelligent driving control method, an information processing method and related equipment, which use the detection data of the sensor to judge the intelligent driving status of the intelligent driving terminal, which can effectively improve the utilization efficiency of the sensor's detection data and improve the detection efficiency of the sensor in an interfered state.

[0006] In this application, interference to a sensor refers to various external environmental factors that can cause a degradation in sensor performance. Examples include occlusion or interference signals. Occlusion refers to an obstruction in the transmission of a sensor's signal or information, resulting in the shielding or complete attenuation of the signal. Interference signals, on the other hand, are signals identical or similar to the signal detected by the sensor. Interference signals enter the sensor's receiving end, causing the signal-to-noise ratio of the valid signal to decrease, leading to undetectable or erroneous detection.

[0007] In a first aspect, an intelligent driving control method is provided, which can be executed by an intelligent driving control device or a chip in the intelligent driving control device. The intelligent driving control method is applied to an intelligent driving terminal.

[0008] The intelligent driving control method includes the following steps: obtaining driving scenario information and sensor detection information of an intelligent driving terminal; determining sensor interference information and the sensor's interference detection capability level based on the detection information; and determining the intelligent driving state of the intelligent driving terminal based on the sensor interference information, the sensor's interference detection capability level, and the driving scenario information.

[0009] The driving scene information of the intelligent driving terminal is information related to driving. The driving scene information of the intelligent driving terminal includes the state information of the intelligent driving terminal itself and / or driving environment information. Alternatively, the driving scene information of the intelligent driving terminal includes the intelligent driving operation state information of the intelligent driving terminal and / or external scene information.

[0010] The sensor's interference information refers to the sensor's interference detection capability, including various information related to the sensor's interference status. The sensor's interference detection capability level indicates the sensor's interference detection capability; a higher level indicates a stronger interference detection capability. It also indicates the reliability of the sensor's interference information; a higher level indicates a more reliable interference information.

[0011] In this application, the interference information of the sensor and the interference detection capability level of the sensor are determined based on the detection information of the sensor in the intelligent driving terminal, and then the intelligent driving state of the intelligent driving terminal is determined based on the driving scene information of the intelligent driving terminal, the interference information of the sensor and the interference detection capability level of the sensor. It can be seen that this application uses the detection information of the sensor and the driving scene information of the intelligent driving terminal to judge the intelligent driving state of the intelligent driving terminal, which can effectively improve the utilization efficiency of the detection information of the sensor and improve the detection efficiency of the sensor in the interfered state.

[0012] In a possible implementation of the first aspect, the above-mentioned driving scene information includes at least one of the following: the intelligent driving function currently supported by the intelligent driving terminal, road conditions, traffic facility information, behavior information of the target intelligent driving terminal followed by the intelligent driving terminal, behavior information or natural environment information of the intelligent driving terminal.

[0013] In a possible implementation of the first aspect, the interference information of the sensor includes at least one of the following: interference status information of the sensor, a detection range of the sensor, a reporting time of the interference status information, signal attenuation result information of the sensor, or a target detection capability of the sensor.

[0014] The interference status information indicates whether the sensor is experiencing interference. A sensor's detection range indicates the specific range of its detection capabilities. A sensor's target detection capability can be understood as the detection range within which the sensor has a high degree of confidence.

[0015] In a possible implementation of the first aspect, the interference state information of the sensor includes at least one of the following: shielding state information or signal interference state information.

[0016] The above-mentioned blocking status information is used to indicate whether the sensor is blocked. The signal interference status information is used to indicate whether the sensor is interfered with by the signal. The interference signal of the sensor can be at least one of the following: strong light, static electricity or electromagnetic wave signal.

[0017] In a possible implementation of the first aspect, the interference detection capability level of the sensor is used to indicate the interference detection capability of the sensor. For example, a higher number corresponding to the interference detection capability level of the sensor indicates a stronger interference detection capability of the sensor.

[0018] In a possible implementation of the first aspect, the interference detection capability level of the sensor includes a first level, a second level, a third level, or a fourth level.

[0019] When the interference detection capability level of the sensor is at the first level, the confidence level of the sensor's detection range, the sensor's signal attenuation result information, and / or the sensor's target detection capability is zero. Furthermore, the confidence level of the sensor's interference status information is at the first confidence level, and the reporting time of the sensor's interference status information is less than or equal to the first time.

[0020] When the sensor's interference detection capability level is the second level, the confidence level of the sensor's detection range and the sensor's signal attenuation result information is the second confidence level. The sensor's target detection capability is the effective longitudinal confidence distance. Furthermore, the confidence level of the sensor's interference status information is the third confidence level, and the reporting time of the sensor's interference status information is less than or equal to the second time.

[0021] When the sensor's interference detection capability is at the third level, the confidence level of the sensor's detection range and the sensor's signal attenuation result information is at the fourth confidence level. The sensor's target detection capability is defined as an effective confidence space. The effective confidence space includes an effective longitudinal confidence distance and an effective lateral confidence distance. Furthermore, the confidence level of the sensor's interference status information is at the fifth confidence level, and the reporting time of the sensor's interference status information is less than or equal to the third time.

[0022] When the sensor's interference detection capability level is the fourth level, the confidence level of the sensor's detection range and the sensor's signal attenuation result information is the sixth confidence level. The sensor's target detection capability is the effective confidence target. Furthermore, the confidence level of the sensor's interference status information is the seventh confidence level, and the reporting time of the sensor's interference status information is less than or equal to the fourth time.

[0023] The first confidence level is less than the third confidence level, which is less than or equal to the fifth confidence level. The fifth confidence level is less than the seventh confidence level, the second confidence level is less than the fourth confidence level, and the fourth confidence level is less than the sixth confidence level. Furthermore, the first time is greater than the second time, the second time is greater than the third time, and the third time is greater than the fourth time.

[0024] In one possible implementation of the first aspect, determining the intelligent driving state of the intelligent driving terminal based on sensor interference information, the sensor's interference detection capability level, and driving scenario information specifically includes: determining a scenario safety factor of the intelligent driving terminal based on the driving scenario information; determining a match between the scenario safety factor, the sensor's interference information, and the sensor's interference detection capability level and the current intelligent driving state; and adjusting the current intelligent driving state based on the match.

[0025] In this application, the scene safety factor is determined based on the driving scene information of the intelligent driving terminal. The scene safety factor reflects the safety level of the driving scene in which the intelligent driving terminal is located. Then, based on the scene safety factor, the interference information of the sensor and the interference detection capability level of the sensor, the matching result with the current intelligent driving state is determined. If there is no match, the current intelligent driving state is adjusted, otherwise, the current intelligent driving state is maintained. In this application, each intelligent driving state has corresponding scene safety factor, interference information and interference detection capability level constraints. Therefore, based on the scene safety factor, the interference information of the sensor and the interference detection capability level of the sensor, it can be determined whether the current intelligent driving state needs to be adjusted to ensure that the intelligent driving state of the intelligent driving terminal meets the safety requirements and matches the capabilities of the sensor, effectively ensuring driving safety.

[0026] In a possible implementation of the first aspect, the intelligent driving state of the above-mentioned intelligent driving terminal includes L0, L1, L2, L3, L4 or L5 level intelligent driving.

[0027] When the intelligent driving state of the intelligent driving terminal is level 0, the corresponding constraint conditions are: the interference detection capability level of the sensor is level 1, level 2, level 3, or level 4. In addition, the reporting time of the sensor's interference status information is less than or equal to the fifth time. Moreover, the detection range of the sensor is less than or equal to the first range threshold, and the interference information of the sensor includes the interference status information of the sensor.

[0028] When the intelligent driving state of the intelligent driving terminal is L1 level intelligent driving, the corresponding constraint conditions are: the interference detection capability level of the sensor is the second level, the third level or the fourth level. In addition, the reporting time of the interference status information of the sensor is less than or equal to the sixth time. The detection range of the sensor is less than or equal to the second range threshold. The interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor, and the target detection capability of the sensor includes the effective longitudinal confidence distance. And the scene safety factor of the intelligent driving terminal is greater than or equal to the first coefficient threshold.

[0029] When the intelligent driving state of the intelligent driving terminal is L2 level intelligent driving, the corresponding constraint conditions are: the interference detection capability level of the sensor is the second level, the third level or the fourth level. In addition, the reporting time of the interference status information of the sensor is less than or equal to the seventh time. The detection range of the sensor is less than or equal to the third range threshold. The interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor. The target detection capability of the sensor includes the effective longitudinal confidence distance. And the scene safety factor of the intelligent driving terminal is greater than or equal to the second coefficient threshold.

[0030] When the intelligent driving state of the intelligent driving terminal is L3 level intelligent driving, the corresponding constraint conditions are: the interference detection capability level of the sensor is the third level or the fourth level. In addition, the reporting time of the interference status information of the sensor is less than or equal to the eighth time. The detection range of the sensor is less than or equal to the fourth range threshold. The interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor. The target detection capability of the sensor includes the effective longitudinal confidence distance and the effective lateral confidence distance. And the scene safety factor of the intelligent driving terminal is greater than or equal to the third coefficient threshold.

[0031] When the intelligent driving state of the intelligent driving terminal is L4 level intelligent driving, the corresponding constraint conditions are: the interference detection capability level of the sensor is the fourth level. In addition, the reporting time of the interference status information of the sensor is less than or equal to the ninth time. The detection range of the sensor is less than or equal to the fifth range threshold. The interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor, and the target detection capability of the sensor includes a valid confidence target. And the scene safety factor of the intelligent driving terminal is greater than or equal to the fourth coefficient threshold.

[0032] When the intelligent driving state of the intelligent driving terminal is L5 level intelligent driving, the corresponding constraint conditions are: the interference detection capability level of the sensor is the fourth level. In addition, the reporting time of the interference status information of the sensor is less than or equal to the tenth time. The detection range of the sensor is less than or equal to the sixth range threshold. The interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor, and the target detection capability of the sensor includes a valid confidence target. And the scene safety factor of the intelligent driving terminal is greater than or equal to the fourth coefficient threshold.

[0033] Among them, the first range threshold is less than the second range threshold, the second range threshold is less than or equal to the third range threshold, the third range threshold is less than the fourth range threshold, the fourth range threshold is less than the fifth range threshold, and the fifth range threshold is less than or equal to the sixth range threshold.

[0034] The fifth time is greater than the sixth time, the sixth time is greater than or equal to the seventh time, the seventh time is greater than the eighth time, the eighth time is greater than the ninth time, and the ninth time is greater than or equal to the tenth time; the fifth time is greater than or equal to the first time, the sixth time is greater than or equal to the second time, the eighth time is greater than or equal to the third time, and the ninth time is greater than or equal to the fourth time.

[0035] The first coefficient threshold is smaller than the second coefficient threshold, the second coefficient threshold is smaller than the third coefficient threshold, and the third coefficient threshold is smaller than the fourth coefficient threshold.

[0036] In a possible implementation of the first aspect, the intelligent driving control method further includes the following steps: outputting prompt information, where the prompt information is used to indicate the intelligent driving status of the intelligent driving terminal and / or to indicate the status of a check sensor.

[0037] In this application, prompt information is output to the driver so that the driver can promptly know the changes in the intelligent driving status of the intelligent driving terminal and / or the status changes of the sensor, so that the driver can adjust the driving operation in time, effectively ensure safe driving, and ensure the driver's life safety.

[0038] On the second aspect, the present application also provides an intelligent driving control method, which can be executed by an intelligent driving control device or by a chip in the intelligent driving control device.

[0039] The intelligent driving control method includes the following steps: obtaining driving scenario information of an intelligent driving terminal, interference information of sensors in the intelligent driving terminal, and the interference detection capability level of the sensors. The intelligent driving state of the intelligent driving terminal is determined based on the sensor interference information, the sensor interference detection capability level, and the driving scenario information. The sensor interference information and the sensor interference detection capability level are determined based on sensor detection information.

[0040] In this application, the intelligent driving state of the intelligent driving terminal is determined based on the driving scene information of the intelligent driving terminal, the interference information of the sensor, and the interference detection capability level of the sensor. It can be seen that this application uses the detection information of the sensor and the driving scene information of the intelligent driving terminal to determine the intelligent driving state of the intelligent driving terminal, which can effectively improve the utilization efficiency of the sensor's detection information and improve the detection efficiency of the sensor in the interference state.

[0041] On the third aspect, the present application also provides an information processing method, which can be executed by an information processing device or by a chip in the information processing device.

[0042] The information processing method includes the following steps: obtaining detection information from a sensor in an intelligent driving terminal; determining interference information of the sensor and an interference detection capability level of the sensor based on the detection information; and outputting the interference information of the sensor and the interference detection capability level of the sensor.

[0043] In this application, the interference information and interference detection capability level of the sensor are obtained based on the detection information of the sensor, and the interference information and interference detection capability level of the sensor are output, so as to determine the intelligent driving state of the intelligent driving terminal using the interference information and interference detection capability level of the sensor. Therefore, using the detection information of the sensor and the driving scene information of the intelligent driving terminal to judge the intelligent driving state of the intelligent driving terminal can effectively improve the utilization efficiency of the detection information of the sensor and improve the detection efficiency of the sensor in the interference state.

[0044] In a fourth aspect, the present application also provides an intelligent driving control device, which includes a unit or module for executing the intelligent driving control method of the first aspect or the second aspect.

[0045] In this application, the above-mentioned intelligent driving control device refers to a first intelligent driving control device or a second intelligent driving control device. The first intelligent driving control device includes a unit or module for executing the intelligent driving control method of the first aspect; the second intelligent driving control device includes a unit or module for executing the intelligent driving control method of the second aspect.

[0046] Among them, in one example, the first intelligent driving control device may include a first unit (or module), a second unit (or module) and a third unit (or module), and the first unit is used to obtain the driving scene information of the intelligent driving terminal. The second unit is used to obtain the detection information of the sensor; and determine the interference information of the sensor and the interference detection capability level of the sensor based on the detection information. The third unit is used to determine the intelligent driving state of the intelligent driving terminal based on the interference information of the sensor, the interference detection capability level of the sensor and the driving scene information. In another example, the first unit is used to obtain the driving scene information of the intelligent driving terminal. The second unit is used to obtain the detection information of the sensor; the third unit is used to determine the interference information of the sensor and the interference detection capability level of the sensor based on the detection information; and determine the intelligent driving state of the intelligent driving terminal based on the interference information of the sensor, the interference detection capability level of the sensor and the driving scene information.

[0047] In a fifth aspect, the present application also provides an information processing device, which includes a unit or module for executing the information processing method of the third aspect.

[0048] In one embodiment, the first intelligent driving control device includes a second intelligent driving control device and an information processing device. For example, the second unit is implemented by the information processing device, and the third unit is implemented by the second intelligent driving control device.

[0049] In a sixth aspect, the present application also provides an intelligent driving control device, comprising a processor and a memory, wherein the processor and the memory are connected, wherein the memory is used to store program code, and the processor is used to call the program code to execute the intelligent driving control method of the first aspect or the second aspect.

[0050] In the seventh aspect, the present application also provides an information processing device, including a processor and a memory, wherein the processor and the memory are connected, wherein the memory is used to store program code, and the processor is used to call the program code to execute the information processing method as in the third aspect.

[0051] In the eighth aspect, the present application also provides an intelligent driving terminal, comprising the device described in any one of the fourth to seventh aspects.

[0052] In a ninth aspect, the present application further provides a computer-readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the method as described in any one of the first to third aspects.

[0053] In a tenth aspect, the present application further provides a computer program product, which, when executed on a computer, enables the computer to execute the method described in any one of the first to third aspects.

[0054] In the eleventh aspect, the present application also provides a chip, which includes a processor and a data interface. The processor reads instructions stored in the memory through the data interface and executes the method described in any one of the first to third aspects.

[0055] Optionally, as an implementation method, the chip may further include a memory storing instructions, and the processor is used to execute the instructions stored in the memory. When the instructions are executed, the processor is used to execute the method described in any one of the first to third aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The following is an introduction to the drawings used in the embodiments of this application.

[0057] FIG1 is a schematic diagram of an obstruction state of a millimeter-wave radar provided in an embodiment of the present application;

[0058] FIG2 is a schematic flow chart of an intelligent driving control method provided in an embodiment of the present application;

[0059] FIG3A is a schematic diagram of a specific flow chart of an intelligent driving control method provided in an embodiment of the present application;

[0060] FIG3B is a schematic diagram of an interference detection capability level provided by an embodiment of the present application;

[0061] FIG4 is a flow chart of another intelligent driving control method provided in an embodiment of the present application;

[0062] FIG5 is a flow chart of an information processing method provided in an embodiment of the present application;

[0063] FIG6 is a schematic structural diagram of an intelligent driving control device provided in an embodiment of the present application;

[0064] FIG7 is a schematic structural diagram of another intelligent driving control device provided in an embodiment of the present application;

[0065] FIG8 is a schematic structural diagram of an information processing device provided in an embodiment of the present application;

[0066] FIG9 is a schematic structural diagram of another intelligent driving control device provided in an embodiment of the present application;

[0067] FIG10 is a schematic structural diagram of another information processing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0068] The technical solution in this application will be described below with reference to the accompanying drawings.

[0069] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0070] The "at least one" mentioned in the embodiments of this application refers to one or more, and "plurality" refers to two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can be represented by: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. The serial numbers of the steps in the embodiments of this application (such as step S1, step S21, etc.) are only for distinguishing different steps and do not limit the order of execution between the steps.

[0071] Furthermore, unless otherwise specified, ordinal numbers such as "first" and "second" in the embodiments of this application are used to distinguish multiple objects and are not used to limit the order, timing, priority, or importance of multiple objects. For example, the first device and the second device are only for ease of description and do not indicate differences in structure, importance, etc. between the first and second devices. In some embodiments, the first device and the second device can also be the same device.

[0072] In the above embodiments, the term "when" can be interpreted to mean "if...", "after...", "in response to determining...", or "in response to detecting...", depending on the context. The above are merely optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the concepts and principles of the present application shall be included in the scope of protection of the present application.

[0073] To facilitate understanding, the following first introduces relevant terms and other related concepts involved in the embodiments of this application.

[0074] (1) Intelligent driving terminal

[0075] The intelligent driving terminals involved in this application may include intelligent terminals or vehicles such as vehicles, robots, drones, ships, and steamships. Among them, vehicles are vehicles in a broad sense, and can be transportation vehicles (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as mowers, harvesters, etc.), etc. For example, robots can be intelligent handling robots (automated guided vehicles, AGVs), walking conversational robots, service robots, and other robots.

[0076] In the embodiment of the present application, the sensor installed on the intelligent driving terminal includes at least one of the following: millimeter wave radar (Radar) (sensor), laser radar (LiDAR) (sensor), ultrasonic radar (sensor) or camera (Camera) (sensor), etc.

[0077] (2) Autonomous driving

[0078] The different stages of autonomous driving technology can be represented by L0, L1, L2, L3, L4 to L5 levels of intelligent driving. The higher the level value, the higher the quality indicator of autonomous driving.

[0079] L0 level intelligent driving means there is no autonomous driving technology and it is completely controlled by human drivers; but there may be assisted driving technology.

[0080] L1 level of intelligent driving means it has automatic assisted driving technology, but the driver still needs to complete all driving operations.

[0081] L2 level of intelligent driving means semi-automatic driving or partial automatic driving.

[0082] L3 level of intelligent driving means conditional autonomous driving.

[0083] L4 level of intelligent driving means highly automated driving.

[0084] L5 level of intelligent driving means fully autonomous driving.

[0085] (3) The interference state of the sensor

[0086] A sensor's interference state refers to a state where its detection process is disrupted. Sensor interference refers to various external environmental factors that degrade sensor performance. Examples include occlusion or interference signals. Occlusion refers to an obstruction in the transmission of sensor signals or information, resulting in signal shielding or complete attenuation. Interference signals, on the other hand, are signals identical or similar to those detected by the sensor. When these signals enter the sensor's receiving end, they reduce the signal-to-noise ratio of the valid signal, leading to detection failure or erroneous detection. These interference signals can be at least one of strong light, static electricity, or electromagnetic waves.

[0087] (4) Millimeter wave radar

[0088] Radar is the transliteration of the English word Radar, which comes from the abbreviation of "radio detection and ranging", meaning "radio detection and ranging". It uses radio methods to detect targets and determine the spatial position of targets.

[0089] The detection medium of radar is electromagnetic waves. It uses the emission and reception of electromagnetic waves to detect targets, for example, to measure distance, speed, or azimuth.

[0090] Radar can measure the distance to a target based on the time of flight of electromagnetic waves, which is the time difference between the transmission and reception of electromagnetic waves. Radar transmits an electromagnetic wave signal and receives an echo signal. The distance to the target is determined based on the time difference between the received echo signal and the transmitted electromagnetic wave signal and the propagation speed of the electromagnetic wave. The distance between the radar and the target can be determined using the following formula: s = c * t / 2, where s is the distance to the target, t is the time of flight (the time from the radar transmitting the electromagnetic wave signal to the receipt of the echo signal), and c is the speed of light.

[0091] Radar uses the Doppler effect to measure target velocity. The Doppler effect works as follows: when a vibration source, such as sound, light, or radio waves, moves relative to an observer at a relative speed, the frequency of the vibration received by the observer differs from the frequency emitted by the source. When the electromagnetic waves emitted by the radar and the target are in relative motion, the frequency of the echo signal will differ from the frequency of the transmitted electromagnetic wave. When the target approaches the radar antenna, the frequency of the echo signal will be higher than the frequency of the transmitted electromagnetic wave; conversely, when the target moves away from the radar antenna, the frequency of the echo signal will be lower than the frequency of the transmitted electromagnetic wave. The frequency change caused by the Doppler effect is called the Doppler shift, which is proportional to the relative velocity and inversely proportional to the vibration frequency. Therefore, by detecting the frequency difference between the transmitted electromagnetic wave signal and the echo signal, the target's speed relative to the radar—that is, the relative velocity between the target and the radar—can be measured.

[0092] Radar can use amplitude method, phase method and other methods to measure azimuth angle. The amplitude method uses the amplitude value of the echo signal received by the antenna to measure the angle. The change pattern of the amplitude value depends on the antenna radiation pattern and the antenna scanning method; the phase method uses the phase difference between the echo signals received by multiple antenna units to measure the angle. For example, the radar receives the echo signal reflected by the same target through the antenna array, and calculates the azimuth angle of the target based on the phase difference of the echo signal.

[0093] Millimeter-wave radar uses electromagnetic waves within a specific wavelength range. For example, in the field of intelligent driving terminals, this wavelength is typically 77 GHz. Because its wavelength lies at the intersection of microwaves and far-infrared waves, millimeter-wave radar combines the characteristics of both spectrums. According to wave propagation theory, higher frequencies and shorter wavelengths yield higher resolution and greater penetration, but also greater propagation losses and shorter transmission distances. Conversely, lower frequencies and longer wavelengths yield greater diffraction resistance and longer transmission distances. Therefore, compared to microwaves, millimeter-wave radar offers higher resolution, better directivity, stronger anti-interference capabilities, and superior detection performance. Compared to infrared, millimeter-wave radar experiences less atmospheric attenuation, has better penetration of smoke and dust, and is less affected by weather. Consequently, millimeter-wave radar is gaining increasing application in a variety of fields, including intelligent vehicles, drones, intelligent transportation, and industrial automation.

[0094] (5) Blockage status of millimeter wave radar

[0095] The broad definition of millimeter-wave radar obstruction states: Occlusion refers to obstruction or obstruction. Occlusion refers to the state of one object relative to another after the distance between them is blocked or obstructed. In the definition of millimeter-wave radar sensors, obstruction refers to the presence of materials, objects, or things on the surface of the millimeter-wave radar sensor that obstruct or alter the propagation state or path of electromagnetic waves, or materials, objects, or things in the three-dimensional space between the millimeter-wave radar sensor and the object being observed that alter or obstruct the propagation state or path of electromagnetic waves.

[0096] Narrow definition of the millimeter-wave radar obstruction state: Refer to Figure 1, which is a schematic diagram of the obstruction state of a millimeter-wave radar provided in an embodiment of the present application; the surface (first surface) of the millimeter-wave radar sensor 102 shell is obstructed by a strong reflector or a strong absorbing material (such as 103 in Figure 1), or there is an obstruction such as a skin 101 (second surface) in front of the millimeter-wave radar sensor 102, causing the sensor to be unable to normally transmit and receive electromagnetic wave signals within the working field of view (FOV), thereby resulting in a sensor working state in which the millimeter-wave radar sensor capability is reduced.

[0097] The broad definition of millimeter-wave radar obstructions is: substances, objects, and things that cause the millimeter-wave radar sensor to enter an obstruction state, that is, millimeter-wave radar obstructions.

[0098] Narrow definition of obstructions to millimeter-wave radar: In front of the vehicle-mounted millimeter-wave radar, there are things that cause obstruction, such as water, mud, ice, etc.; things that cause obstruction include: skin obstructions of the entire vehicle, rain, plants (which can be driven through), etc.

[0099] (6) Interference signal of millimeter wave radar

[0100] The interference signal of millimeter-wave radar refers to an electromagnetic wave signal with the same or similar detection frequency as the millimeter-wave radar. The interference signal is received by the millimeter-wave radar antenna, resulting in a decrease in the signal-to-noise ratio of the effective signal or the appearance of an abnormal signal, ultimately leading to the inability to detect the real target or the detection of a false target.

[0101] (7) LiDAR

[0102] LiDAR is a radar system that uses laser beams to detect a target's position, speed, and other characteristic parameters. Its operating principle is to transmit a detection signal (a laser beam) toward the target. The received signal reflected from the target (the target echo) is then compared with the transmitted signal. After appropriate processing, relevant target information such as distance, direction, altitude, speed, attitude, and even shape can be obtained, allowing the target to be detected, tracked, and identified.

[0103] (8) Ultrasonic radar

[0104] Ultrasonic radar is a sensor device that uses ultrasonic waves for distance measurement. It calculates the distance to obstacles by emitting ultrasonic waves and detecting the time difference between their reflections. Ultrasonic radar is one of the most common in-vehicle sensors, primarily used for short-range measurement.

[0105] Ultrasonic waves are highly directional, consume energy slowly, and return high echoes after encountering obstacles, making them an excellent distance measurement medium. For example, in scenarios like backing into a garage or parking, ultrasonic radar is often used to provide distance information to obstacles around the vehicle, providing feedback to the driver.

[0106] (9) Camera

[0107] The camera is a passive sensor that is closest to the human eye (without an active light-emitting part) and uses reflected light imaging to perceive surrounding objects.

[0108] The aforementioned cameras include at least one of the following: visible light cameras or infrared cameras. Infrared cameras primarily utilize infrared filters to achieve day / night switching. During daytime, the filters are activated to block infrared light from entering the imaging optoelectronic device, allowing the device to sense only visible light. During night vision or in poor lighting conditions, the filters cease to block infrared light from entering the imaging optoelectronic device. Infrared light is then reflected off objects and enters the lens for imaging.

[0109] The imaging optoelectronic devices in the camera include charge-coupled device (CCD) sensors or complementary metal-oxide-semiconductor (CMOS) sensors.

[0110] When occlusion occurs, the millimeter-wave radar sensor's capabilities are significantly reduced, or even blinded. To ensure system resilience, the millimeter-wave radar sensor detects occlusion and reports its obstruction status to the host computer through a communication interface. Upon receiving the occlusion warning from the millimeter-wave radar sensor, the host computer discards all detection data from the millimeter-wave radar sensor. This shows that the detection efficiency of the millimeter-wave radar sensor is low when it is interfered with (in this case, occlusion interference).

[0111] Therefore, an embodiment of the present application provides a driving control method, which is applied to an intelligent driving terminal. The embodiment of the present application uses the detection data of the sensor to judge the intelligent driving status of the intelligent driving terminal, which can effectively improve the utilization efficiency of the sensor's detection data and improve the detection efficiency of the sensor in an interfered state.

[0112] The above-mentioned intelligent driving control method can be executed by an intelligent driving control device, or by a chip in the intelligent driving control device.

[0113] Example 1

[0114] The above intelligent driving control method is described in detail below.

[0115] Referring to FIG. 2 , FIG. 2 is a flow chart of an intelligent driving control method provided in an embodiment of the present application. In this embodiment, the execution subject is an intelligent driving control device as an example. The intelligent driving control method includes the following steps:

[0116] 201. The intelligent driving control device obtains the driving scene information of the intelligent driving terminal and the detection information of the sensor.

[0117] Specifically, the driving scenario information of the intelligent driving terminal refers to information related to driving. Exemplarily, the driving scenario information includes at least one of the following: intelligent driving functions currently supported by the intelligent driving terminal, road conditions, traffic facility information, behavior information of a target intelligent driving terminal that the intelligent driving terminal is following, and behavior information or natural environment information of the intelligent driving terminal.

[0118] In one example, the driving scenario information of the intelligent driving terminal includes the state information of the intelligent driving terminal itself and / or driving environment information. The state information of the intelligent driving terminal itself includes at least one of the following: the intelligent driving functions currently supported by the intelligent driving terminal or the behavior information of the intelligent driving terminal. The driving environment information includes at least one of the following: road conditions, traffic facility information, behavior information of a target intelligent driving terminal that the intelligent driving terminal is following, or natural environment information.

[0119] In another example, the driving scene information of the intelligent driving terminal includes the intelligent driving operation state information of the intelligent driving terminal and / or external scene information. The intelligent driving operation state information of the intelligent driving terminal includes the intelligent driving functions currently supported by the intelligent driving terminal. The external scene information includes at least one of the following: road conditions, traffic facility information, behavior information of a target intelligent driving terminal followed by the intelligent driving terminal, behavior information of the intelligent driving terminal, or natural environment information.

[0120] The intelligent driving functions currently supported by the intelligent driving terminal include at least one of the following: AEB, ACC, NCA, RCTA, LCC, ALC, LKA, APA, etc. When the status of the control link of a certain intelligent driving function is healthy or stable, it indicates that the intelligent driving terminal currently supports the use of this intelligent driving function.

[0121] The above-mentioned road status refers to the type of road on which the intelligent driving terminal is traveling, for example, whether the road type is a curve or a straight road.

[0122] The above-mentioned traffic facilities include basic traffic facilities and / or temporary road facilities. Basic traffic facilities can be understood as traffic facilities that are installed on the road on a daily basis, such as road traffic signs (warning signs, direction signs, direction signs, etc.), road markings (prohibition markings, direction markings, warning markings, etc.), guardrails, isolation fences, sight guidance signs or anti-glare facilities, etc. Temporary road facilities are road facilities installed temporarily, such as water barriers, temporary guardrails or temporary enclosures.

[0123] The target intelligent driving terminal is the object that the intelligent driving terminal follows. The behavior information of the target intelligent driving terminal refers to the driving behavior information of the target intelligent driving terminal, such as the vehicle speed (specific speed) and / or vehicle speed change information (constant speed or deceleration, etc.). The behavior information of the intelligent driving terminal refers to the driving behavior information of the intelligent driving terminal during the following driving process, such as the following speed, the following speed change information and / or the distance from the target intelligent driving terminal.

[0124] The above-mentioned natural environment information is information about the driving environment in which the intelligent driving terminal is located, such as weather (sunny or rainy, etc.) or visibility.

[0125] In an embodiment of the present application, the sensor may be various sensors in an intelligent driving terminal, such as one or more of a millimeter-wave radar, a lidar, an ultrasonic radar, or a camera. The detection information of the sensor refers to information related to target detection by the sensor. For example, the detection information of the millimeter-wave radar includes the echo signal received by the millimeter-wave radar. In addition, the detection information of the millimeter-wave radar also includes the electromagnetic wave signal emitted by the millimeter-wave radar. For another example, the detection information of the lidar includes the electromagnetic wave signal emitted by the lidar and the echo signal received. For another example, the detection information of the ultrasonic radar includes the ultrasonic pulse signal received by the ultrasonic radar (reflected by an obstacle) or the digital signal obtained by analog-to-digital conversion of the above-mentioned ultrasonic pulse signal. For another example, the detection information of the camera includes images and / or videos captured by the camera.

[0126] 202. The intelligent driving control device determines the interference information of the sensor and the interference detection capability level of the sensor based on the detection information.

[0127] Specifically, the sensor interference information is information about the sensor's interference detection capability, including various information related to the sensor's interference status. Exemplarily, the sensor interference information includes at least one of the following: sensor interference status information, sensor detection range, interference status reporting time, sensor signal attenuation result information, or sensor target detection capability.

[0128] The interference status information indicates whether the sensor is experiencing interference. In one example, the sensor interference status information includes at least one of the following: obstruction status information or signal interference status information. The obstruction status information indicates whether the sensor is obstructed. The signal interference status information indicates whether the sensor is experiencing signal interference. The sensor interference signal can be at least one of the following: strong light, static electricity, or electromagnetic wave signals.

[0129] For example, if the sensor is a millimeter-wave radar, the interference status information may be occlusion status information or signal interference status information. In this case, the interference to the sensor is caused by obstruction of the millimeter-wave radar or interference from electromagnetic wave signals. For another example, if the sensor is a lidar, the interference status information may be occlusion status information. In this case, the interference to the sensor is caused by obstruction of the lidar's viewing window. For another example, if the sensor is a camera, the interference status information may be signal interference status information. In this case, the interference to the sensor is caused by strong light interference.

[0130] The definitions of the millimeter wave radar's obstruction state and obstruction object can refer to the above-mentioned related records. When the sensor is other sensors, the definitions of the interference state and interference object may be the same or different and are not particularly limited.

[0131] The sensor's detection range indicates the sensor's specific detection capability, which can also be understood as the sensor's perception range. The sensor's target detection capability can be understood as the sensor's detection range with a higher confidence level, meaning the target detection capability corresponds to a range smaller than the sensor's detection range.

[0132] The sensor's interference detection capability level indicates the sensor's interference detection capability. A sensor's interference detection capability level represents the strength of the sensor's interference detection capability. A higher interference detection capability level indicates a stronger interference detection capability. For example, a higher number corresponds to the sensor's interference detection capability level, indicating a stronger interference detection capability. The sensor's interference detection capability level also indicates the reliability of the sensor's interference information. A higher interference detection capability level indicates a higher reliability of the sensor's interference information.

[0133] In an embodiment of the present application, the interference detection capability level of the sensor can be set according to actual conditions, and the interference detection capability level can be set to at least two levels, such as 2 levels, 3 levels, 4 levels or 5 levels, etc.; the relevant constraints of the interference information corresponding to each level can also be set according to actual conditions, without special limitation.

[0134] Exemplarily, the interference detection capability level corresponding to the interference state information of the sensor includes at least one of the following: an obstruction detection capability level or a signal interference detection capability level.

[0135] 203. The intelligent driving control device determines the intelligent driving state of the intelligent driving terminal based on the interference information of the sensor, the interference detection capability level of the sensor, and the driving scene information.

[0136] In the embodiment of the present application, the intelligent driving control device determines whether it is necessary to adjust the intelligent driving state of the intelligent driving terminal based on the driving scene information of the intelligent driving terminal, the interference information of the sensor, and the interference detection capability level of the sensor. It can be seen that the present application uses the detection information of the sensor and the driving scene information of the intelligent driving terminal to judge the intelligent driving state of the intelligent driving terminal, which can effectively improve the utilization efficiency of the sensor's detection information and improve the detection efficiency of the sensor in an interfered state. It can also enhance the robustness of the intelligent driving function in real application scenarios and increase the application range of the sensor. In addition, after associating the interference detection capability of the sensor with the intelligent driving state, it is beneficial to ensure safety during the intelligent driving process.

[0137] In a possible implementation, referring to FIG2 , the intelligent driving control method further includes the following steps:

[0138] 204. The intelligent driving control device outputs prompt information.

[0139] The above prompt information is used to indicate the intelligent driving status of the intelligent driving terminal and / or indicate the status of the check sensor.

[0140] Specifically, the prompt information may be an adjustment strategy for the intelligent driving status, such as upgrading, downgrading, maintaining, manual takeover, or exiting the current intelligent driving function.

[0141] Referring to Figure 3A , which is a schematic flow chart of a specific intelligent driving control method provided in an embodiment of the present application, after determining the intelligent driving state adjustment strategy in step 203, the intelligent driving control device outputs a prompt message to inform the driver of the intelligent driving state of the intelligent driving terminal and / or instructs the driver to check the status of the sensor. For example, this output can be through a human-machine interface, including information prompts on a display interface, audio prompts, or seat vibration.

[0142] In an embodiment of the present application, the intelligent driving control device outputs prompt information to the driver so that the driver can promptly know the changes in the intelligent driving status of the intelligent driving terminal and / or the status changes of the sensor, so that the driver can adjust the driving operation in time, effectively ensure safe driving, and ensure the driver's life safety.

[0143] In step 202, the intelligent driving control device should have the ability to determine the interference information and interference detection capability level of the sensor, so as to facilitate the processing of sensor anomalies and the adaptation of intelligent driving capabilities, and ensure safety during the intelligent driving process.

[0144] Specifically, referring to Figure 3A, step 202 includes extracting sensor detection information, calculating interference information, determining the sensor's interference detection capability level, and reporting the interference information and interference detection capability level. The calculation of the sensor's interference information and the determination of the sensor's interference detection capability level are based on the sensor's detection information.

[0145] Taking millimeter-wave radar as an example of the sensor and a vehicle as an example of the intelligent driving terminal, the above-mentioned extraction of sensor detection information includes extracting single-frame detection information of the sensor and accumulating multi-frame detection information, calculating the interference information of the sensor based on the multi-frame detection information, and determining the interference detection capability level of the sensor.

[0146] The single-frame detection information of the above-mentioned sensor includes at least one of the following: farthest detection energy attenuation, (close range) reflected energy, DC component, ground clutter energy, roadside energy or vehicle characteristics, etc.

[0147] Millimeter-wave radar energy can encounter various obstacles during transmission, causing signal attenuation. Obstacles include gas molecules, water vapor, and snow. Therefore, the maximum detection energy attenuation refers to the maximum attenuation of the millimeter-wave radar's detection energy.

[0148] Reflected energy refers to the intensity (amplitude) of the echo signal received by the millimeter-wave radar.

[0149] The DC component refers to the intensity of energy reflection at close range.

[0150] Ground clutter refers to interference signals generated by millimeter-wave radar signals reflecting off the ground or other objects. Ground clutter can affect the radar's detection and recognition of targets. Therefore, ground clutter energy refers to the signal strength of the ground clutter.

[0151] Curb energy refers to the intensity (amplitude) of the stationary echo signal on the curb received by the millimeter-wave radar.

[0152] Vehicle characteristics refer to the relative relationship (amplitude) between the intensity and position of the vehicle echo signal received by the millimeter-wave radar.

[0153] Accumulating multi-frame detection information primarily determines the cumulative number and duration of specific frames within a single-frame detection, further enhancing the confidence level of that single-frame detection information. A specific frame refers to a single-frame detection information related to the millimeter-wave radar's interference status. The sensor's interference detection capability level can be determined based on the cumulative number of frames and duration.

[0154] In a possible implementation, the interference detection capability level of the sensor includes a first level, a second level, a third level, or a fourth level.

[0155] In one example, the sensor's interference detection capability levels can be defined based on usability: Level 1 provides the ability to determine whether a sensor is subject to interference. Once the first level is met, Level 2 provides the ability to determine whether the interfered sensor is usable. Once the second level is met, Level 3 provides the ability to determine the usable range of the interfered sensor. Once the third level is met, Level 4 provides the ability to determine the usable target of the interfered sensor.

[0156] Referring to Figure 3B, Figure 3B is a schematic diagram of an interference detection capability level provided in an embodiment of the present application; in an embodiment of the present application, after the intelligent driving terminal is started, it starts from the first level, and can be upgraded from the first level to the second level after meeting certain upgrade conditions; then it can be upgraded from the second level to the third level after continuing to meet certain upgrade conditions; and finally it can be upgraded from the third level to the fourth level after meeting certain upgrade conditions. The fourth level can usually represent that the sensitivity and accuracy of the sensor at this time are high enough to cope with all environments and all levels of intelligent driving functions. When the detection information of the sensor is abnormal or develops in an unpredictable direction, it means that the interference detection at this time is inaccurate, and it is necessary to appropriately fall back and downgrade to the appropriate interference detection capability level.

[0157] Taking millimeter-wave radar as an example, after the intelligent driving terminal is activated, the millimeter-wave radar's occlusion detection capability level should be at level 1. As the detection information accumulated over multiple frames becomes more sufficient, the occlusion detection capability level increases. Achieving level 4 requires meeting levels 1, 2, and 3. A higher occlusion detection capability level means the millimeter-wave radar detects occlusions more quickly and accurately, and responds more quickly to changes in occlusion in the real environment. This allows the intelligent driving terminal to provide customers with safer and more comfortable control strategies. When the external occlusion state changes or an anomaly occurs within the sensor, the sensor actively selects a fallback level based on the occlusion detection capability level assessment results. The lower the occlusion detection capability level, the lower the sensor's ability to provide safety and comfort.

[0158] For example, a vehicle operating in temperatures below 0°C (12.5°F) possesses Level 4 obstruction detection capabilities. After passing through a flooded section, the millimeter-wave radar's radar surface may freeze due to a prolonged stop (e.g., 5 minutes or 1 hour), reducing its interference detection capabilities. This sensor interference information must be immediately reported to the intelligent driving control device, which then makes appropriate decisions about the vehicle's intelligent driving state based on the interference information and driving scenario. After the vehicle is restarted, the interference detection capability level must be upgraded from Level 1 until the appropriate level is determined. During this upgrade period, high-level intelligent driving functions will be restricted. After driving for a period of time, the millimeter-wave radar itself generates heat, melting the ice on the surface, improving its interference detection capabilities and removing restrictions on high-level intelligent driving functions.

[0159] In one example, when the interference detection capability level of the sensor is at the first level, the confidence level of the sensor's detection range, the sensor's signal attenuation result information, and / or the sensor's target detection capability is zero. Furthermore, the confidence level of the sensor's interference status information is at the first confidence level, and the reporting time of the sensor's interference status information is less than or equal to the first time.

[0160] When the sensor's interference detection capability level is the second level, the confidence level of the sensor's detection range and the sensor's signal attenuation result information is the second confidence level. The sensor's target detection capability is the effective longitudinal confidence distance. Furthermore, the confidence level of the sensor's interference status information is the third confidence level, and the reporting time of the sensor's interference status information is less than or equal to the second time. Taking millimeter-wave radar as an example, the effective longitudinal confidence distance refers to the longitudinal range (parallel to or in the same direction as the radar's detection direction) within the sensor's detection range where the confidence level is higher.

[0161] When the interference detection capability level of the sensor is the third level, the confidence level of the sensor's detection range and the sensor's signal attenuation result information is the fourth confidence level. The sensor's target detection capability is the effective confidence space. The effective confidence space includes the effective longitudinal confidence distance and the effective lateral confidence distance. Moreover, the confidence level of the sensor's interference status information is the fifth confidence level, and the reporting time of the sensor's interference status information is less than or equal to the third time. Among them, taking the millimeter-wave radar as an example, the effective lateral confidence distance refers to the range with higher confidence in the sensor's detection range, which is the lateral range (the direction perpendicular to the radar's detection direction). The effective confidence space refers to the space composed of the above-mentioned effective lateral confidence distance and the effective longitudinal confidence distance.

[0162] When the sensor's interference detection capability is at level 4, the confidence level of the sensor's detection range and the sensor's signal attenuation results is at level 6. The sensor's target detection capability is at level 7. Furthermore, the confidence level of the sensor's interference status information is at level 7, and the reporting time for the sensor's interference status information is less than or equal to the level 4. When the sensor is a millimeter-wave radar, the effective confidence target can also be a effective confidence point cloud. Effective confidence targets / point clouds refer to targets or point clouds within the sensor's detection range that have a high confidence level.

[0163] The first confidence level is less than the third confidence level, the third confidence level is less than or equal to the fifth confidence level, and the fifth confidence level is less than the seventh confidence level. Furthermore, the second confidence level is less than the fourth confidence level, and the fourth confidence level is less than the sixth confidence level. Furthermore, the first time is greater than the second time, the second time is greater than the third time, and the third time is greater than the fourth time.

[0164] Optionally, the first confidence level and the fourth confidence level are the same.

[0165] Optionally, the third confidence level and / or the fifth confidence level is the same as the sixth confidence level.

[0166] The specific values ​​of the first confidence level, the second confidence level, the third confidence level, the fourth confidence level, the first time, the second time, the third time and the fourth time can be set according to actual conditions and are not particularly limited.

[0167] Taking millimeter-wave radar as an example, the interference detection capability level is the occlusion detection capability level, and the interference information is the occlusion information. The definition of each occlusion detection capability level and the corresponding occlusion information are shown in Table 1.

[0168] Table 1 Definition of occlusion detection capability level and correspondence between occlusion information

[0169] Among them, the occlusion information of the millimeter-wave radar includes occlusion status information, reporting time of occlusion status information, detection range (ie, distance detection capability), (signal) attenuation results, and target / point cloud detection capability. For example, in Table 1, the first confidence level is 95%, and the first time is 5 minutes (min). The second confidence level is 80%, the third confidence level and the fifth confidence level are 99%, and the second time is 12 seconds (s). The fourth confidence level is 95%, and the third time is 200 milliseconds (ms). The sixth confidence level is 99%, the seventh confidence level is 99.9%, and the fourth time is 50 milliseconds (ms).

[0170] In one example, when an intelligent driving control device includes a sensor and a host computer, and the sensor determines and reports its interference information and interference detection capability level to the host computer, the sensor does not need to report the confidence level when reporting the interference information, as the confidence level is already represented by the occlusion detection capability level. Example 1: Example of occlusion information and occlusion detection capability level reported on a clear, open road with no obstruction: Occlusion detection capability level: Level 4; Occlusion status information: No obstruction; Occlusion status information reporting time: 50ms; Detection range: 200m; Signal attenuation result: 0db; Target detection capability: No obstructed targets. Example 2: Example of occlusion status reported on a rainy, open road with obstruction: Occlusion detection capability level: Level 3; Occlusion status information: Occlusion; Occlusion status information reporting time: 180ms; Detection range: 100m; Signal attenuation result: 24db; Target detection capability: High spatial confidence within 80m of the lane. The "this lane" indicates the effective longitudinal confidence distance, and the "80m" indicates the effective lateral confidence distance. Additionally, "Level 4" indicates the fourth level, and "Level 3" indicates the third level.

[0171] In a possible implementation, referring to FIG3A , step 203 specifically includes:

[0172] The intelligent driving control device determines the scenario safety factor of the intelligent driving terminal based on the driving scenario information.

[0173] Specifically, the scenario safety factor reflects the safety level of the driving scenario that the intelligent driving terminal is in. The method for determining the scenario safety factor of the intelligent driving terminal based on the driving scenario information is not limited.

[0174] The intelligent driving control device determines the matching result of the scene safety factor, the interference information of the sensor, and the interference detection capability level of the sensor with the current intelligent driving state.

[0175] The intelligent driving control device adjusts the current intelligent driving state according to the matching result.

[0176] Specifically, the intelligent driving control device performs intelligent driving coordination adaptation according to the matching results, that is, intelligent driving function adjustment, including at least one of the following: intelligent driving function downgrade, intelligent driving function upgrade, intelligent driving function maintenance, intelligent driving function manual takeover and intelligent driving function exit. For example, the current intelligent driving state corresponds to an intelligent driving level. When the scene safety factor, the interference information of the sensor and the interference detection capability level of the sensor can only meet the intelligent driving level lower than the current intelligent driving level, the intelligent driving control device downgrades the intelligent driving function. For example, when the scene safety factor, the interference information of the sensor and the interference detection capability level of the sensor can meet the intelligent driving level higher than the current intelligent driving level, the intelligent driving control device upgrades the intelligent driving function. For example, when the scene safety factor, the interference information of the sensor and the interference detection capability level of the sensor can just meet the intelligent driving level of the current intelligent driving level, the intelligent driving control device maintains the current intelligent driving function. For example, when the scene safety factor, the interference information of the sensor, and the interference detection capability level of the sensor cannot meet the requirements of any intelligent driving level (i.e., the sensor can only meet the requirements of L0 level intelligent driving at this time), the intelligent driving control device is forced to exit (i.e., prohibit the use of) the current intelligent driving function (e.g., when the current intelligent driving level is a lower level, such as L1 or L2 level) or the intelligent driving function is manually taken over (e.g., when the current intelligent driving level is a higher level, such as L3, L4, or L5 level). Among them, the specific strategy for adjusting the intelligent driving function can be set according to actual conditions and is not particularly limited.

[0177] For example, in step 203, after the intelligent driving control device determines the intelligent driving state of the intelligent driving terminal, the intelligent driving function can be directly adjusted. For another example, before the intelligent driving control device adjusts the intelligent driving function, it can output a prompt message to alert the driver in advance. In step 203, after the intelligent driving control device determines the intelligent driving state of the intelligent driving terminal, there can be a variety of control strategies for adjusting the intelligent driving function, without particular limitation.

[0178] In an embodiment of the present application, each intelligent driving state has corresponding constraints on the scene safety factor, interference information and interference detection capability level. The intelligent driving control device determines the matching result with the current intelligent driving state based on the scene safety factor, the interference information of the sensor and the interference detection capability level of the sensor. If there is no match, the current intelligent driving state is adjusted; otherwise, the current intelligent driving state is maintained to ensure that the intelligent driving state of the intelligent driving terminal meets the safety requirements and matches the capabilities of the sensor, thereby effectively ensuring driving safety.

[0179] In one example, referring to Figure 3A, after the intelligent driving control device obtains the driving scene information of the intelligent driving terminal, the scene safety factor of the intelligent driving terminal can be calculated based on the driving scene information. The intelligent driving control device then determines the matching result of the scene safety factor, the interference information of the sensor, and the interference detection capability level of the sensor with the current intelligent driving state to determine the intelligent driving state of the intelligent driving terminal based on the matching result.

[0180] Exemplarily, a value is assigned to each type of driving scene information, and then the scene safety factor of the intelligent driving terminal is calculated based on the driving scene information of the intelligent driving terminal and the calculation formula. Among them, the specific form of the calculation formula can be adjusted according to the actual situation and is not limited. For example, taking the example of traffic facilities including basic traffic facilities and temporary road facilities, the driving scene information of the intelligent driving terminal includes road status a, basic traffic facilities b, temporary road facilities c, the behavior information d of the target intelligent driving terminal followed by the intelligent driving terminal (referred to as target behavior), natural environment information e, the behavior information f of the intelligent driving terminal (referred to as vehicle behavior) and the intelligent driving function g currently supported by the intelligent driving terminal, then the scene safety factor X of the intelligent driving terminal can be calculated according to the calculation formula X=f(a, b, c, d, e, f, g).

[0181] As another example, refer to Table 2, which shows the scene safety factors corresponding to different driving scene information. As shown in Table 2, the sensor takes the millimeter-wave radar as an example. The behavior of this vehicle is taken as an example of the distance between the vehicle and the target vehicle following it. The scene environment in Example 1 is pure and simple, and the target behavior is safe, with little weather interference. Therefore, the scene safety factor is high, the risk is low, and the requirements for the millimeter-wave radar occlusion detection capability are low. The scene in Example 2 has unfavorable factors such as curves, construction guardrails, and rainy days. Therefore, the scene safety factor is low, the risk is high, and the requirements for the millimeter-wave radar occlusion detection capability are high.

[0182] Table 2 Correspondence between different driving scenario information and scenario safety factors

[0183] In Example 1, the intelligent driving functions currently supported by the intelligent driving terminal include Autonomous Emergency Braking (AEB), Adaptive Cruise Control (ACC), Navigation Cruise Assist (NCA), and Rear Cross Traffic Alert (RCTA). In Example 2, the intelligent driving functions currently supported by the intelligent driving terminal include AEB, ACC, and RCTA.

[0184] Furthermore, in step 203, the intelligent driving control device may determine a match result with the current intelligent driving state based on the scenario safety factor, interference information, and interference detection capability level constraints corresponding to each intelligent driving state, as well as the current scenario safety factor, interference information, and interference detection capability level, and then adjust the current intelligent driving state based on the match result. For example, based on the current scenario safety factor, interference information, interference detection capability level, and the constraints of each intelligent driving state, an intelligent driving state that satisfies the constraints may be determined. The intelligent driving state that satisfies the constraints may then be compared with the current intelligent driving state. If the two are identical, no adjustment is required and the current intelligent driving state may be maintained. Otherwise, the current intelligent driving state may be adjusted to an intelligent driving state that satisfies the constraints.

[0185] In a possible implementation, the intelligent driving state of the intelligent driving terminal includes L0, L1, L2, L3, L4 or L5 level intelligent driving.

[0186] When the intelligent driving status of the intelligent driving terminal is level 0, the corresponding constraints are: the sensor's interference detection capability level is level 1, level 2, level 3, or level 4. In addition, the reporting time of the sensor's interference status information is less than or equal to the fifth time. Moreover, the sensor's detection range is less than or equal to the first range threshold, and the sensor's interference information includes the sensor's interference status information. There are no specific requirements for the scenario safety factor.

[0187] When the intelligent driving state of the intelligent driving terminal is L1 level intelligent driving, the corresponding constraint conditions are: the interference detection capability level of the sensor is the second level, the third level or the fourth level. In addition, the reporting time of the interference status information of the sensor is less than or equal to the sixth time. The detection range of the sensor is less than or equal to the second range threshold. The interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor, and the target detection capability of the sensor includes the effective longitudinal confidence distance. And the scene safety factor of the intelligent driving terminal is greater than or equal to the first coefficient threshold.

[0188] When the intelligent driving state of the intelligent driving terminal is L2 level intelligent driving, the corresponding constraint conditions are: the interference detection capability level of the sensor is the second level, the third level or the fourth level. In addition, the reporting time of the interference status information of the sensor is less than or equal to the seventh time. The detection range of the sensor is less than or equal to the third range threshold. The interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor. The target detection capability of the sensor includes the effective longitudinal confidence distance. And the scene safety factor of the intelligent driving terminal is greater than or equal to the second coefficient threshold.

[0189] When the intelligent driving state of the intelligent driving terminal is L3 level intelligent driving, the corresponding constraint conditions are: the interference detection capability level of the sensor is the third level or the fourth level. In addition, the reporting time of the interference status information of the sensor is less than or equal to the eighth time. The detection range of the sensor is less than or equal to the fourth range threshold. The interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor. The target detection capability of the sensor includes the effective longitudinal confidence distance and the effective lateral confidence distance. And the scene safety factor of the intelligent driving terminal is greater than or equal to the third coefficient threshold.

[0190] When the intelligent driving state of the intelligent driving terminal is L4 level intelligent driving, the corresponding constraint conditions are: the interference detection capability level of the sensor is the fourth level. In addition, the reporting time of the interference status information of the sensor is less than or equal to the ninth time. The detection range of the sensor is less than or equal to the fifth range threshold. The interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor, and the target detection capability of the sensor includes a valid confidence target. And the scene safety factor of the intelligent driving terminal is greater than or equal to the fourth coefficient threshold.

[0191] When the intelligent driving state of the intelligent driving terminal is L5 level intelligent driving, the corresponding constraint conditions are: the interference detection capability level of the sensor is the fourth level. In addition, the reporting time of the interference status information of the sensor is less than or equal to the tenth time. The detection range of the sensor is less than or equal to the sixth range threshold. The interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor, and the target detection capability of the sensor includes a valid confidence target. And the scene safety factor of the intelligent driving terminal is greater than or equal to the fourth coefficient threshold.

[0192] Among them, the first range threshold is less than the second range threshold, the second range threshold is less than or equal to the third range threshold, the third range threshold is less than the fourth range threshold, the fourth range threshold is less than the fifth range threshold, and the fifth range threshold is less than or equal to the sixth range threshold.

[0193] The fifth time is greater than the sixth time, the sixth time is greater than or equal to the seventh time, the seventh time is greater than the eighth time, the eighth time is greater than the ninth time, and the ninth time is greater than or equal to the tenth time; the fifth time is greater than or equal to the first time, the sixth time is greater than or equal to the second time, the eighth time is greater than or equal to the third time, and the ninth time is greater than or equal to the fourth time.

[0194] The first coefficient threshold is smaller than the second coefficient threshold, the second coefficient threshold is smaller than the third coefficient threshold, and the third coefficient threshold is smaller than the fourth coefficient threshold.

[0195] The specific values ​​of the first range threshold, the second range threshold, the third range threshold, the fourth range threshold, the fifth range threshold, the sixth range threshold, the fifth time, the sixth time, the seventh time, the eighth time, the ninth time, the tenth time, the first coefficient threshold, the second coefficient threshold, the third coefficient threshold and the fourth coefficient threshold can be set according to the specific situation without any special limitation.

[0196] For example, the sensor is a millimeter-wave radar, and the interference is occlusion. The interference detection capability level is the occlusion detection capability level. Table 3 shows the various constraints corresponding to different intelligent driving states. "1," "2," "3," and "4" correspond to the occlusion detection capability levels of Level 1, Level 2, Level 3, and Level 4, respectively.

[0197] Table 3 Corresponding table of constraints for different intelligent driving states

[0198] In Table 3, for example, the first range threshold is 50 meters (m), the second and third range thresholds are 150 meters, the fourth range threshold is 200 meters, and the fifth and sixth range thresholds are 300 meters. Furthermore, the fifth time is equal to the first time, exemplified by 5 minutes; the sixth and seventh time are the same, equal to the second time, exemplified by 12 seconds; the eighth time is equal to the third time, exemplified by 200 milliseconds; the ninth and tenth time are the same, equal to the fourth time, exemplified by 50 milliseconds. The first coefficient threshold is 10, the second coefficient threshold is 30, the third coefficient threshold is 70, and the fourth coefficient threshold is 90.

[0199] In Table 3, representative functions of L0 intelligent driving include blind spot detection (BSD) and RCTA. Representative functions of L1 intelligent driving include AEB and ACC. Representative functions of L2 intelligent driving include lane centering control (LCC). Representative functions of L3 intelligent driving include NCA and automated parking assist (APA). Representative functions of L4 intelligent driving include valet parking.

[0200] As another example, the constraints on millimeter-wave radar should be adjusted in response to actual functional requirements. For example, for the APA function corresponding to L3, the detection range constraint can be appropriately relaxed to 50m while other constraints remain unchanged.

[0201] For example, in Table 3, different intelligent driving states have corresponding constraints on the interference information, interference detection capability level and scene safety factor of the millimeter-wave radar. The higher the level of intelligent driving function, the more stringent the constraints on the millimeter-wave radar. Before entering the intelligent driving function, the intelligent driving control device needs to verify whether the millimeter-wave radar can meet the various constraints of the current intelligent driving function. The intelligent driving function can only be started when the constraints are met. When there are external reasons that affect the millimeter-wave radar and cause the constraints to not be met, the intelligent driving system should be downgraded to the appropriate intelligent driving level, or even request the driver to take over the vehicle.

[0202] For example, referring to Table 3, the intelligent driving terminal takes a vehicle as an example. A vehicle traveling on a highway in clear weather has a fourth-level occlusion detection capability, and the scene safety factor is assessed as 100. At this time, the sensor's interference information, interference detection capability level, and scene safety factor meet the L3 level of intelligent driving. For example, the vehicle is driving with the NCA function activated.

[0203] After a while, the weather turned to light rain, and the safety factor was assessed to be 72. The millimeter-wave radar had Level 4 obstruction detection capabilities, still meeting Level 3 intelligent driving requirements, and the NCA function remained. Suddenly, construction began in the right lane, and the safety factor was assessed to be 71. However, the millimeter-wave radar had Level 4 obstruction detection capabilities, and the intelligent driving control device determined that the current sensor capabilities met Level 3 intelligent driving requirements, indicating that NCA could continue driving, thus maintaining NCA.

[0204] After a while, the vehicle exits the construction section, demonstrating overall sensor perception and a relatively safe vehicle system. Assuming the weather continues to deteriorate into heavy rain, the scenario safety factor is assessed to be reduced to 50. The heavy rain also reduces the millimeter-wave radar's detection range (i.e., distance detection capability) from 200 meters to 150 meters, resulting in a fourth-level occlusion detection capability. The intelligent driving control system then determines that Level 2 intelligent driving is being met, prompting the driver and downgrading to LCC operation to ensure system stability.

[0205] Assuming the weather remains clear, the scene safety factor assessment remains at 100. Suddenly, the millimeter-wave radar is subjected to abnormal vibration and displaced significantly, causing the occlusion detection capability to regress from the fourth level to the first level (the ground clutter information changes dramatically at this time, meeting the occlusion detection capability degradation standard). At this time, the interference information of the millimeter-wave radar is in an unreliable state. The intelligent driving control device determines that it meets the L0 level of intelligent driving and needs to prompt the driver to take over the vehicle immediately and exit the intelligent driving function.

[0206] In one example, when an intelligent driving terminal has multiple sensors, a sensor fusion weighting strategy can be adopted to appropriately reduce reliance on a particular sensor based on the sensor's interference detection capability level. For example, when an intelligent driving terminal includes three sensors: millimeter-wave radar, camera, and lidar, the weight of the millimeter-wave radar can be appropriately lowered during daytime hours when visibility is good. When the millimeter-wave radar is interfered with, the perception information from the camera and lidar is sufficient for the intelligent driving function. That is, when the millimeter-wave radar is interfered with, the intelligent driving function does not need to be adjusted. However, when driving in foggy weather, the detection capabilities of the camera and lidar drop sharply, and the weight of the millimeter-wave radar needs to be increased. Therefore, when the millimeter-wave radar is interfered with, certain adjustments should be made to the intelligent driving function.

[0207] Interference states are normal conditions in nature, and sensors should provide as much interference information as possible. Different interference states of sensors should be handled in a hierarchical manner. The intelligent driving control device promptly adjusts the usage strategy of the corresponding problem sensor based on the capability limitations provided by the sensor and the current driving scene information, until the problem sensor is completely unusable. The embodiment of this application proposes a solution that associates the interference detection capability of the sensor with the intelligent driving state. This can effectively improve the utilization efficiency of the sensor's detection information and improve the detection efficiency of the sensor in the interfered state, while ensuring that the intelligent driving can make the most reasonable strategy and ensure driving safety.

[0208] Example 2

[0209] The present application also provides another intelligent driving control method, which can be executed by an intelligent driving control device or by a chip in the intelligent driving control device.

[0210] The intelligent driving control method of the embodiment of the present application is described in detail below.

[0211] Referring to FIG4 , FIG4 is a flow chart of another intelligent driving control method provided by an embodiment of the present application. The execution subject is an intelligent driving control device as an example. The intelligent driving control method includes the following steps:

[0212] 401. The intelligent driving control device obtains driving scene information of the intelligent driving terminal, interference information of the sensor in the intelligent driving terminal, and the interference detection capability level of the sensor.

[0213] 402. The intelligent driving control device determines the intelligent driving state of the intelligent driving terminal based on the interference information of the sensor, the interference detection capability level of the sensor, and the driving scene information.

[0214] The interference information of the sensor and the interference detection capability level of the sensor are determined by the detection information of the sensor.

[0215] In the embodiment of the present application, the intelligent driving control device determines the intelligent driving state of the intelligent driving terminal based on the driving scene information of the intelligent driving terminal, the interference information of the sensor, and the interference detection capability level of the sensor. It can be seen that the embodiment of the present application uses the detection information of the sensor and the driving scene information of the intelligent driving terminal to determine the intelligent driving state of the intelligent driving terminal, which can effectively improve the utilization efficiency of the sensor's detection information and improve the detection efficiency of the sensor in the interference state.

[0216] In a possible implementation, referring to FIG4 , the intelligent driving control method further includes the following steps:

[0217] 403. The intelligent driving control device controls output of prompt information.

[0218] The above prompt information is used to indicate the intelligent driving status of the intelligent driving terminal and / or indicate the status of the check sensor.

[0219] In an embodiment of the present application, prompt information is output to the driver through control so that the driver can promptly know the changes in the intelligent driving status of the intelligent driving terminal and / or the status changes of the sensor, so that the driver can adjust the driving operation in time, effectively ensure safe driving, and ensure the driver's life safety.

[0220] In a possible implementation, the driving scene information includes at least one of the following: the intelligent driving function currently supported by the intelligent driving terminal, road conditions, traffic facility information, behavior information of the target intelligent driving terminal followed by the intelligent driving terminal, and behavior information or natural environment information of the intelligent driving terminal.

[0221] In a possible implementation, the interference information of the sensor includes at least one of the following: interference status information of the sensor, detection range of the sensor, reporting time of interference status information, signal attenuation result information of the sensor, or target detection capability of the sensor.

[0222] In a possible implementation manner, the interference state information of the sensor includes at least one of the following: shielding state information or signal interference state information.

[0223] In a possible implementation manner, the interference detection capability level of the sensor is used to indicate the interference detection capability of the sensor.

[0224] In a possible implementation, the interference detection capability level of the sensor includes a first level, a second level, a third level, or a fourth level.

[0225] When the sensor's interference detection capability level is the second level, the confidence level of the sensor's detection range and the sensor's signal attenuation result information is the second confidence level. The sensor's target detection capability is the effective longitudinal confidence distance. Furthermore, the confidence level of the sensor's interference status information is the third confidence level, and the reporting time of the sensor's interference status information is less than or equal to the second time.

[0226] When the sensor's interference detection capability is at the third level, the confidence level of the sensor's detection range and the sensor's signal attenuation result information is at the fourth confidence level. The sensor's target detection capability is defined as an effective confidence space. The effective confidence space includes an effective longitudinal confidence distance and an effective lateral confidence distance. Furthermore, the confidence level of the sensor's interference status information is at the fifth confidence level, and the reporting time of the sensor's interference status information is less than or equal to the third time.

[0227] When the sensor's interference detection capability level is the fourth level, the confidence level of the sensor's detection range and the sensor's signal attenuation result information is the sixth confidence level. The sensor's target detection capability is the effective confidence target. Furthermore, the confidence level of the sensor's interference status information is the seventh confidence level, and the reporting time of the sensor's interference status information is less than or equal to the fourth time.

[0228] The first confidence level is less than the third confidence level, which is less than or equal to the fifth confidence level. The fifth confidence level is less than the seventh confidence level, the second confidence level is less than the fourth confidence level, and the fourth confidence level is less than the sixth confidence level. Furthermore, the first time is greater than the second time, the second time is greater than the third time, and the third time is greater than the fourth time.

[0229] In a possible implementation, step 402 specifically includes the following steps:

[0230] The intelligent driving control device determines the scenario safety factor of the intelligent driving terminal based on the driving scenario information.

[0231] The intelligent driving control device determines the matching result of the scene safety factor, the interference information of the sensor, and the interference detection capability level of the sensor with the current intelligent driving state.

[0232] The intelligent driving control device adjusts the current intelligent driving state according to the matching result.

[0233] In the embodiment of the present application, each intelligent driving state has corresponding constraints on the scene safety factor, interference information and interference detection capability level. Therefore, based on the scene safety factor, the interference information of the sensor and the interference detection capability level of the sensor, it can be determined whether the current intelligent driving state needs to be adjusted to ensure that the intelligent driving state of the intelligent driving terminal meets the safety requirements and matches the capabilities of the sensor, thereby effectively ensuring driving safety.

[0234] In a possible implementation, the intelligent driving state of the intelligent driving terminal includes L0, L1, L2, L3, L4 or L5 level intelligent driving.

[0235] When the intelligent driving state of the intelligent driving terminal is level 0, the corresponding constraint conditions are: the interference detection capability level of the sensor is level 1, level 2, level 3, or level 4. In addition, the reporting time of the sensor's interference status information is less than or equal to the fifth time. Moreover, the detection range of the sensor is less than or equal to the first range threshold, and the interference information of the sensor includes the interference status information of the sensor.

[0236] When the intelligent driving state of the intelligent driving terminal is L1 level intelligent driving, the corresponding constraint conditions are: the interference detection capability level of the sensor is the second level, the third level or the fourth level. In addition, the reporting time of the interference status information of the sensor is less than or equal to the sixth time. The detection range of the sensor is less than or equal to the second range threshold. The interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor, and the target detection capability of the sensor includes the effective longitudinal confidence distance. And the scene safety factor of the intelligent driving terminal is greater than or equal to the first coefficient threshold.

[0237] When the intelligent driving state of the intelligent driving terminal is L2 level intelligent driving, the corresponding constraint conditions are: the interference detection capability level of the sensor is the second level, the third level or the fourth level. In addition, the reporting time of the interference status information of the sensor is less than or equal to the seventh time. The detection range of the sensor is less than or equal to the third range threshold. The interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor. The target detection capability of the sensor includes the effective longitudinal confidence distance. And the scene safety factor of the intelligent driving terminal is greater than or equal to the second coefficient threshold.

[0238] When the intelligent driving state of the intelligent driving terminal is L3 level intelligent driving, the corresponding constraint conditions are: the interference detection capability level of the sensor is the third level or the fourth level. In addition, the reporting time of the interference status information of the sensor is less than or equal to the eighth time. The detection range of the sensor is less than or equal to the fourth range threshold. The interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor. The target detection capability of the sensor includes the effective longitudinal confidence distance and the effective lateral confidence distance. And the scene safety factor of the intelligent driving terminal is greater than or equal to the third coefficient threshold.

[0239] When the intelligent driving state of the intelligent driving terminal is L4 level intelligent driving, the corresponding constraint conditions are: the interference detection capability level of the sensor is the fourth level. In addition, the reporting time of the interference status information of the sensor is less than or equal to the ninth time. The detection range of the sensor is less than or equal to the fifth range threshold. The interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor, and the target detection capability of the sensor includes a valid confidence target. And the scene safety factor of the intelligent driving terminal is greater than or equal to the fourth coefficient threshold.

[0240] When the intelligent driving state of the intelligent driving terminal is L5 level intelligent driving, the corresponding constraint conditions are: the interference detection capability level of the sensor is the fourth level. In addition, the reporting time of the interference status information of the sensor is less than or equal to the tenth time. The detection range of the sensor is less than or equal to the sixth range threshold. The interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor, and the target detection capability of the sensor includes a valid confidence target. And the scene safety factor of the intelligent driving terminal is greater than or equal to the fourth coefficient threshold.

[0241] Among them, the first range threshold is less than the second range threshold, the second range threshold is less than or equal to the third range threshold, the third range threshold is less than the fourth range threshold, the fourth range threshold is less than the fifth range threshold, and the fifth range threshold is less than or equal to the sixth range threshold.

[0242] The fifth time is greater than the sixth time, the sixth time is greater than or equal to the seventh time, the seventh time is greater than the eighth time, the eighth time is greater than the ninth time, and the ninth time is greater than or equal to the tenth time; the fifth time is greater than or equal to the first time, the sixth time is greater than or equal to the second time, the eighth time is greater than or equal to the third time, and the ninth time is greater than or equal to the fourth time.

[0243] The first coefficient threshold is smaller than the second coefficient threshold, the second coefficient threshold is smaller than the third coefficient threshold, and the third coefficient threshold is smaller than the fourth coefficient threshold.

[0244] For detailed description and beneficial effects of the embodiments of the present application, please refer to the relevant records of Example 1 and will not be repeated here.

[0245] Example 3

[0246] The present application also provides an information processing method, which can be executed by an information processing device or a chip in the information processing device.

[0247] The information processing method of the embodiment of the present application is described in detail below.

[0248] Referring to FIG5 , FIG5 is a flow chart of an information processing method provided by an embodiment of the present application. The execution subject is an information processing device as an example. The information processing method includes the following steps:

[0249] 501. The information processing device obtains detection information of the sensor in the intelligent driving terminal.

[0250] 502. The information processing device determines interference information of the sensor and the interference detection capability level of the sensor based on the detection information.

[0251] 503. The information processing device outputs the interference information of the sensor and the interference detection capability level of the sensor.

[0252] In an embodiment of the present application, the information processing device obtains the sensor's interference information and interference detection capability level based on the sensor's detection information, and outputs the sensor's interference information and the sensor's interference detection capability level, so as to determine the intelligent driving state of the intelligent driving terminal using the sensor's interference information and the sensor's interference detection capability level. Therefore, using the sensor's detection information and the intelligent driving terminal's driving scene information to determine the intelligent driving state of the intelligent driving terminal can effectively improve the utilization efficiency of the sensor's detection information and improve the sensor's detection efficiency in an interfered state.

[0253] In a possible implementation, the interference information of the sensor includes at least one of the following: interference status information of the sensor, detection range of the sensor, reporting time of interference status information, signal attenuation result information of the sensor, or target detection capability of the sensor.

[0254] In a possible implementation manner, the interference state information of the sensor includes at least one of the following: shielding state information or signal interference state information.

[0255] In a possible implementation manner, the interference detection capability level of the sensor is used to indicate the interference detection capability of the sensor.

[0256] In a possible implementation, the interference detection capability level of the sensor includes a first level, a second level, a third level, or a fourth level.

[0257] When the sensor's interference detection capability level is the second level, the confidence level of the sensor's detection range and the sensor's signal attenuation result information is the second confidence level. The sensor's target detection capability is the effective longitudinal confidence distance. Furthermore, the confidence level of the sensor's interference status information is the third confidence level, and the reporting time of the sensor's interference status information is less than or equal to the second time.

[0258] When the sensor's interference detection capability is at the third level, the confidence level of the sensor's detection range and the sensor's signal attenuation result information is at the fourth confidence level. The sensor's target detection capability is defined as an effective confidence space. The effective confidence space includes an effective longitudinal confidence distance and an effective lateral confidence distance. Furthermore, the confidence level of the sensor's interference status information is at the fifth confidence level, and the reporting time of the sensor's interference status information is less than or equal to the third time.

[0259] When the sensor's interference detection capability level is the fourth level, the confidence level of the sensor's detection range and the sensor's signal attenuation result information is the sixth confidence level. The sensor's target detection capability is the effective confidence target. Furthermore, the confidence level of the sensor's interference status information is the seventh confidence level, and the reporting time of the sensor's interference status information is less than or equal to the fourth time.

[0260] The first confidence level is less than the third confidence level, which is less than or equal to the fifth confidence level. The fifth confidence level is less than the seventh confidence level, the second confidence level is less than the fourth confidence level, and the fourth confidence level is less than the sixth confidence level. Furthermore, the first time is greater than the second time, the second time is greater than the third time, and the third time is greater than the fourth time.

[0261] For detailed description and beneficial effects of the embodiments of the present application, please refer to the relevant records of Example 1 and will not be repeated here.

[0262] The above describes in detail the method of the embodiment of the present application. The following describes the device provided by the embodiment of the present application.

[0263] Figures 6, 7, 8, 9 and 10 are schematic diagrams of the structures of possible devices provided in the embodiments of the present application. Among them, the intelligent driving control device shown in Figure 6 can be used to implement the function of the intelligent driving control method (Example 1) shown in Figure 2 above, and therefore can also achieve the beneficial effects possessed by the above-mentioned intelligent driving control method embodiment. In the embodiment of the present application, the intelligent driving control device can be an electronic device, and can also be a module (such as a chip) applied to an electronic device. The intelligent driving control device shown in Figure 7 can be used to implement the function of the intelligent driving control method (Example 2) shown in Figure 4 above, and therefore can also achieve the beneficial effects possessed by the above-mentioned intelligent driving control method embodiment. In the embodiment of the present application, the intelligent driving control device can be an electronic device, and can also be a module (such as a chip) applied to an electronic device. The information processing device shown in Figure 8 can be used to implement the function of the information processing method (Example 3) shown in Figure 5 above, and therefore can also achieve the beneficial effects possessed by the above-mentioned information processing method embodiment. In the embodiment of the present application, the information processing device can be an electronic device, and can also be a module (such as a chip) applied to an electronic device.

[0264] As shown in FIG6 , FIG6 is a schematic diagram of the structure of an intelligent driving control device provided in an embodiment of the present application; the intelligent driving control device 600 includes an acquisition module 610, a processing module 620, and a determination module 630. The intelligent driving control device 600 is used to implement the functions of the embodiment of the intelligent driving control method shown in FIG2 above. Alternatively, the intelligent driving control device 600 may include a module for implementing any function or operation of the embodiment of the intelligent driving control method shown in FIG2 above, and the module may be implemented in whole or in part by software, hardware, firmware, or any combination thereof.

[0265] When the intelligent driving control device 600 is used to implement the functions of the method embodiment shown in FIG2 , the acquisition module 610 is used to obtain driving scene information and sensor detection information of the intelligent driving terminal. The processing module 620 is used to determine the sensor interference information and the sensor interference detection capability level based on the detection information. The determination module 630 is further used to determine the intelligent driving state of the intelligent driving terminal based on the sensor interference information, the sensor interference detection capability level, and the driving scene information.

[0266] In one possible implementation, the determination module 630 is specifically configured to determine a scenario safety factor for the intelligent driving terminal based on driving scenario information, determine a match between the scenario safety factor, sensor interference information, and the sensor's interference detection capability level, and the current intelligent driving state, and adjust the current intelligent driving state based on the match.

[0267] In one possible implementation, referring to FIG6 , the intelligent driving control device 600 further includes an output module 640. The output module 640 is configured to output prompt information. The prompt information is configured to indicate the intelligent driving status of the intelligent driving terminal and / or indicate the status of a check sensor.

[0268] For the introduction and beneficial effects of the above modules, please refer to the description of the above embodiment 1, which will not be repeated here.

[0269] As shown in FIG7 , FIG7 is a schematic diagram of the structure of another intelligent driving control device provided in an embodiment of the present application; the intelligent driving control device 700 includes an acquisition module 710 and a determination module 720. The intelligent driving control device 700 is used to implement the functions of the embodiment of the intelligent driving control method shown in FIG4 above. Alternatively, the intelligent driving control device 700 may include a module for implementing any function or operation of the embodiment of the intelligent driving control method shown in FIG4 above, and the module may be implemented in whole or in part by software, hardware, firmware, or any combination thereof.

[0270] When the intelligent driving control device 700 is used to implement the functions of the method embodiment shown in Figure 4, the acquisition module 710 is used to obtain the driving scene information of the intelligent driving terminal, the interference information of the sensors in the intelligent driving terminal, and the interference detection capability level of the sensors. The determination module 720 is used to determine the intelligent driving state of the intelligent driving terminal based on the sensor interference information, the sensor interference detection capability level, and the driving scene information. The sensor interference information and the sensor interference detection capability level are determined by the sensor detection information.

[0271] In one possible implementation, the determination module 720 is specifically configured to determine a scenario safety factor for the intelligent driving terminal based on driving scenario information, determine a match between the scenario safety factor, sensor interference information, and the sensor's interference detection capability level, and the current intelligent driving state, and adjust the current intelligent driving state based on the match.

[0272] In one possible implementation, referring to FIG7 , the intelligent driving control device 700 further includes a control module 730. The control module 730 is configured to control the output of prompt information, which is used to indicate the intelligent driving status of the intelligent driving terminal and / or to indicate the status of the check sensor.

[0273] For the introduction and beneficial effects of the above modules, please refer to the description of the aforementioned embodiment 2, which will not be repeated here.

[0274] As shown in Figure 8, Figure 8 is a schematic diagram of the structure of an information processing device provided in an embodiment of the present application; information processing device 800 includes an acquisition module 810, a determination module 820, and an output module 830. Information processing device 800 is used to implement the functions of the information processing method embodiment shown in Figure 5 above. Alternatively, information processing device 800 may include a module for implementing any function or operation of the information processing method embodiment shown in Figure 5 above, and the module may be implemented in whole or in part through software, hardware, firmware, or any combination thereof.

[0275] When the information processing device 800 is used to implement the functions of the method embodiment shown in FIG5 , the acquisition module 810 is configured to acquire detection information from sensors in the intelligent driving terminal. The determination module 820 is configured to determine the sensor's interference information and the sensor's interference detection capability level based on the detection information. The output module 830 is configured to output the sensor's interference information and the sensor's interference detection capability level.

[0276] For the introduction and beneficial effects of the above modules, please refer to the description of the aforementioned embodiment 3, which will not be repeated here.

[0277] Referring to Figure 9 , which is a schematic diagram of the structure of another intelligent driving control device provided in an embodiment of the present application, the intelligent driving control device 900 includes a memory 901, a processor 902, a communication interface 904, and a bus 903. The memory 901, processor 902, and communication interface 904 are communicatively connected to each other via the bus 903.

[0278] Optionally, the intelligent driving control device 900 further includes a display screen (not shown), which is connected to the memory 901, the processor 902, and the communication interface 904 via the bus 903. The display screen is used to output information and interact with the user, such as voice output or display output.

[0279] The memory 901 may be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 901 may store programs. When the program stored in the memory 901 is executed by the processor 902, the processor 902 and the communication interface 904 are used to perform the various steps of the intelligent driving control method of the first or second embodiment of the present application.

[0280] The processor 902 can adopt a general central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), a graphics processing unit (GPU) or one or more integrated circuits to execute relevant programs to implement the functions required to be performed by the units in the intelligent driving control device of any embodiment of the present application, or to execute the intelligent driving control method of embodiment one or embodiment two of the present application.

[0281] The processor 902 may also be an integrated circuit chip with signal processing capabilities. During implementation, the various steps of the intelligent driving control method of Example 1 or Example 2 of the present application may be completed by hardware integrated logic circuits or software instructions in the processor 902. The aforementioned processor 902 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The intelligent driving control method, steps, and logic block diagram of Example 1 or Example 2 of the present application may be implemented or executed. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the intelligent driving control method of Example 1 or Example 2 of the present application may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor. The software module may be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers, or the like. The storage medium is located in the memory 901, and the processor 902 reads the information in the memory 901 and combines its hardware to complete the functions required to be performed by the units included in the intelligent driving control device of any embodiment of the present application, or executes the intelligent driving control method of embodiment one or embodiment two of the present application.

[0282] The communication interface 904 uses a transceiver such as, but not limited to, a transceiver to enable communication between the intelligent driving control device 900 and other devices or communication networks. For example, driving scene information or sensor detection information can be obtained through the communication interface 904.

[0283] The bus 903 may include a path for transmitting information between various components of the intelligent driving control device 900 (eg, the memory 901 , the processor 902 , and the communication interface 904 ).

[0284] Referring to Figure 10 , Figure 10 is a schematic diagram of the structure of another information processing device provided in an embodiment of the present application; information processing device 1000 includes a memory 1001, a processor 1002, a communication interface 1004, and a bus 1003. The memory 1001, processor 1002, and communication interface 1004 are communicatively connected to each other via bus 1003.

[0285] Optionally, the information processing device 1000 further includes a display screen (not shown), which is connected to the memory 1001, the processor 1002, and the communication interface 1004 via the bus 1003. The display screen is used to output information and interact with the user, such as voice output or display output.

[0286] The memory 1001 may be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1001 may store programs. When the program stored in the memory 1001 is executed by the processor 1002, the processor 1002 and the communication interface 1004 are used to perform the various steps of the information processing method of any embodiment of the present application.

[0287] The processor 1002 can adopt a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), a graphics processing unit (GPU) or one or more integrated circuits to execute relevant programs to implement the functions required to be performed by the units in the information processing device of any embodiment of the present application, or to execute the information processing method of any embodiment of the present application.

[0288] The processor 1002 may also be an integrated circuit chip having signal processing capabilities. During implementation, the various steps of the information processing method of any embodiment of the present application may be completed by hardware integrated logic circuits or software instructions in the processor 1002. The above-mentioned processor 1002 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The disclosed information processing methods, steps, and logic block diagrams in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the information processing method in conjunction with any embodiment of the present application may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, or the like. The storage medium is located in the memory 1001, and the processor 1002 reads the information in the memory 1001 and combines its hardware to complete the functions required to be performed by the units included in the information processing device of any embodiment of the present application, or executes the information processing method of any embodiment of the present application.

[0289] The communication interface 1004 uses a transceiver device such as, but not limited to, a transceiver to implement communication between the information processing device 1000 and other devices or a communication network. For example, detection information of a sensor can be obtained through the communication interface 1004.

[0290] The bus 1003 may include a path for transmitting information between various components of the information processing device 1000 (eg, the memory 1001 , the processor 1002 , and the communication interface 1004 ).

[0291] The present application also provides an intelligent driving terminal, comprising the intelligent driving control device or information processing device described in any embodiment.

[0292] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0293] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0294] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0295] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, computer, server or data center to another website, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a read-only memory (ROM), a random access memory (RAM), or a magnetic medium, such as a floppy disk, a hard disk, a tape, a magnetic disk, or an optical medium, such as a digital versatile disc (DVD), or a semiconductor medium, such as a solid state drive (SSD).

[0296] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. An intelligent driving control method, characterized in that: Applied to an intelligent driving terminal, the method includes: Acquire driving scene information of the intelligent driving terminal and detection information of the sensor; determining interference information of the sensor and an interference detection capability level of the sensor based on the detection information; The intelligent driving state of the intelligent driving terminal is determined according to the interference information of the sensor, the interference detection capability level of the sensor and the driving scene information.

2. The method according to claim 1, characterized in that The driving scene information includes at least one of the following: the intelligent driving function currently supported by the intelligent driving terminal, road conditions, traffic facility information, behavior information of the target intelligent driving terminal followed by the intelligent driving terminal, and behavior information or natural environment information of the intelligent driving terminal.

3. The method according to claim 1 or 2, characterized in that The interference information of the sensor includes at least one of the following: interference status information of the sensor, detection range of the sensor, reporting time of the interference status information, signal attenuation result information of the sensor, or target detection capability of the sensor.

4. The method according to any one of claims 1 to 3, characterized in that The interference state information of the sensor includes at least one of the following: shielding state information or signal interference state information.

5. The method according to any one of claims 1 to 4, characterized in that The interference detection capability level of the sensor is used to indicate the interference detection capability of the sensor.

6. The method according to any one of claims 1 to 5, characterized in that The interference detection capability level of the sensor includes a first level, a second level, a third level, or a fourth level; When the interference detection capability level of the sensor is the first level, the confidence level of the detection range of the sensor, the signal attenuation result information of the sensor, and / or the target detection capability of the sensor is zero, the confidence level of the interference status information of the sensor is the first confidence level, and the reporting time of the interference status information of the sensor is less than or equal to the first time; When the interference detection capability level of the sensor is the second level, the confidence levels of the detection range of the sensor and the signal attenuation result information of the sensor are the second confidence level, the target detection capability of the sensor is the effective longitudinal confidence distance, the confidence level of the interference status information of the sensor is the third confidence level, and the reporting time of the interference status information of the sensor is less than or equal to the second time; When the interference detection capability level of the sensor is the third level, the confidence level of the detection range of the sensor and the signal attenuation result information of the sensor is a fourth confidence level, the target detection capability of the sensor is an effective confidence space, the effective confidence space includes an effective longitudinal confidence distance and an effective lateral confidence distance, the confidence level of the interference status information of the sensor is a fifth confidence level, and the reporting time of the interference status information of the sensor is less than or equal to the third time; When the interference detection capability level of the sensor is the fourth level, the confidence levels of the detection range of the sensor and the signal attenuation result information of the sensor are the sixth confidence level, the target detection capability of the sensor is a valid confidence target, the confidence level of the interference status information of the sensor is the seventh confidence level, and the reporting time of the interference status information of the sensor is less than or equal to the fourth time; Among them, the first confidence level is less than the third confidence level, the third confidence level is less than or equal to the fifth confidence level; the fifth confidence level is less than the seventh confidence level, the second confidence level is less than the fourth confidence level, and the fourth confidence level is less than the sixth confidence level; the first time is greater than the second time, the second time is greater than the third time, and the third time is greater than the fourth time.

7. The method according to any one of claims 1 to 6, characterized in that The determining the intelligent driving state of the intelligent driving terminal according to the interference information of the sensor, the interference detection capability level of the sensor, and the driving scene information includes: Determining a scenario safety factor of the intelligent driving terminal according to the driving scenario information; Determining a matching result between the scenario safety factor, the interference information of the sensor, and the interference detection capability level of the sensor and the current intelligent driving state; The current intelligent driving state is adjusted according to the matching result.

8. The method according to claim 7, characterized in that The intelligent driving state of the intelligent driving terminal includes L0, L1, L2, L3, L4 or L5 level intelligent driving; The L0 level of intelligent driving corresponds to the interference detection capability level of the sensor being the first level, the second level, the third level, or the fourth level, the reporting time of the interference status information of the sensor being less than or equal to the fifth time, the detection range of the sensor being less than or equal to the first range threshold, and the interference information of the sensor including the interference status information of the sensor; The L1 level of intelligent driving corresponds to the second level, the third level, or the fourth level of interference detection capability of the sensor; the reporting time of the interference status information of the sensor is less than or equal to the sixth time; the detection range of the sensor is less than or equal to the second range threshold; the interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor; the target detection capability of the sensor includes an effective longitudinal confidence distance; and the scenario safety factor of the intelligent driving terminal is greater than or equal to the first coefficient threshold; The L2 level of intelligent driving corresponds to the second level, the third level, or the fourth level of interference detection capability of the sensor; the reporting time of the interference status information of the sensor is less than or equal to the seventh time; the detection range of the sensor is less than or equal to the third range threshold; the interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor; the target detection capability of the sensor includes the effective longitudinal confidence distance; and the scenario safety factor of the intelligent driving terminal is greater than or equal to the second coefficient threshold; The L3 level of intelligent driving corresponds to the interference detection capability level of the sensor being the third level or the fourth level, the reporting time of the interference status information of the sensor being less than or equal to the eighth time, the detection range of the sensor being less than or equal to the fourth range threshold, the interference information of the sensor including the interference status information of the sensor and the target detection capability of the sensor, the target detection capability of the sensor including the effective longitudinal confidence distance and the effective lateral confidence distance, and the scenario safety factor of the intelligent driving terminal being greater than or equal to the third coefficient threshold; The L4 level of intelligent driving corresponds to the fourth level of interference detection capability of the sensor, the reporting time of the interference status information of the sensor is less than or equal to the ninth time, the detection range of the sensor is less than or equal to the fifth range threshold, the interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor, the target detection capability of the sensor includes a valid confidence target, and the scenario safety factor of the intelligent driving terminal is greater than or equal to the fourth coefficient threshold; The L5 level of intelligent driving corresponds to the fourth level of interference detection capability of the sensor, the reporting time of the interference status information of the sensor is less than or equal to the tenth time, the detection range of the sensor is less than or equal to the sixth range threshold, the interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor, the target detection capability of the sensor includes a valid confidence target, and the scenario safety factor of the intelligent driving terminal is greater than or equal to the fourth coefficient threshold; Wherein, the first range threshold is less than the second range threshold, the second range threshold is less than or equal to the third range threshold, the third range threshold is less than the fourth range threshold, the fourth range threshold is less than the fifth range threshold, and the fifth range threshold is less than or equal to the sixth range threshold; The fifth time is greater than the sixth time, the sixth time is greater than or equal to the seventh time, the seventh time is greater than the eighth time, the eighth time is greater than the ninth time, and the ninth time is greater than or equal to the tenth time; the fifth time is greater than or equal to the first time, the sixth time is greater than or equal to the second time, the eighth time is greater than or equal to the third time, and the ninth time is greater than or equal to the fourth time; The first coefficient threshold is smaller than the second coefficient threshold, the second coefficient threshold is smaller than the third coefficient threshold, and the third coefficient threshold is smaller than the fourth coefficient threshold.

9. The method according to any one of claims 1 to 8, characterized in that The method further comprises: Output prompt information, where the prompt information is used to indicate the intelligent driving status of the intelligent driving terminal and / or to instruct to check the status of the sensor.

10. An intelligent driving control method, characterized in that: The method comprises: Obtaining driving scene information of an intelligent driving terminal, interference information of a sensor in the intelligent driving terminal, and an interference detection capability level of the sensor, where the interference information of the sensor and the interference detection capability level of the sensor are determined by detection information of the sensor; The intelligent driving state of the intelligent driving terminal is determined according to the interference information of the sensor, the interference detection capability level of the sensor and the driving scene information.

11. The method according to claim 10, characterized in that The driving scene information includes at least one of the following: the intelligent driving function currently supported by the intelligent driving terminal, road conditions, traffic facility information, behavior information of the target intelligent driving terminal followed by the intelligent driving terminal, and behavior information or natural environment information of the intelligent driving terminal.

12. The method according to claim 10 or 11, characterized in that The interference information of the sensor includes at least one of the following: interference status information of the sensor, detection range of the sensor, reporting time of the interference status information, signal attenuation result information of the sensor, or target detection capability of the sensor.

13. The method according to any one of claims 10 to 12, characterized in that: The interference state information of the sensor includes at least one of the following: shielding state information or signal interference state information.

14. The method according to any one of claims 10 to 13, characterized in that: The interference detection capability level of the sensor is used to indicate the interference detection capability of the sensor.

15. The method according to any one of claims 10 to 14, characterized in that: The interference detection capability level of the sensor includes a first level, a second level, a third level, or a fourth level; When the interference detection capability level of the sensor is the first level, the confidence level of the detection range of the sensor, the signal attenuation result information of the sensor, and / or the target detection capability of the sensor is zero, the confidence level of the interference status information of the sensor is the first confidence level, and the reporting time of the interference status information of the sensor is less than or equal to the first time; When the interference detection capability level of the sensor is the second level, the confidence levels of the detection range of the sensor and the signal attenuation result information of the sensor are the second confidence level, the target detection capability of the sensor is the effective longitudinal confidence distance, the confidence level of the interference status information of the sensor is the third confidence level, and the reporting time of the interference status information of the sensor is less than or equal to the second time; When the interference detection capability level of the sensor is the third level, the confidence level of the detection range of the sensor and the signal attenuation result information of the sensor is a fourth confidence level, the target detection capability of the sensor is an effective confidence space, the effective confidence space includes an effective longitudinal confidence distance and an effective lateral confidence distance, the confidence level of the interference status information of the sensor is a fifth confidence level, and the reporting time of the interference status information of the sensor is less than or equal to the third time; When the interference detection capability level of the sensor is the fourth level, the confidence levels of the detection range of the sensor and the signal attenuation result information of the sensor are the sixth confidence level, the target detection capability of the sensor is a valid confidence target, the confidence level of the interference status information of the sensor is the seventh confidence level, and the reporting time of the interference status information of the sensor is less than or equal to the fourth time; Among them, the first confidence level is less than the third confidence level, the third confidence level is less than or equal to the fifth confidence level; the fifth confidence level is less than the seventh confidence level, the second confidence level is less than the fourth confidence level, and the fourth confidence level is less than the sixth confidence level; the first time is greater than the second time, the second time is greater than the third time, and the third time is greater than the fourth time.

16. The method according to any one of claims 10 to 15, characterized in that: The determining the intelligent driving state of the intelligent driving terminal according to the interference information of the sensor, the interference detection capability level of the sensor, and the driving scene information includes: Determining a scenario safety factor of the intelligent driving terminal according to the driving scenario information; Determining a matching result between the scenario safety factor, the interference information of the sensor, and the interference detection capability level of the sensor and the current intelligent driving state; The current intelligent driving state is adjusted according to the matching result.

17. The method according to claim 16, characterized in that The intelligent driving state of the intelligent driving terminal includes L0, L1, L2, L3, L4 or L5 level intelligent driving; The L0 level of intelligent driving corresponds to the interference detection capability level of the sensor being the first level, the second level, the third level, or the fourth level, the reporting time of the interference status information of the sensor being less than or equal to the fifth time, the detection range of the sensor being less than or equal to the first range threshold, and the interference information of the sensor including the interference status information of the sensor; The L1 level of intelligent driving corresponds to the second level, the third level, or the fourth level of interference detection capability of the sensor; the reporting time of the interference status information of the sensor is less than or equal to the sixth time; the detection range of the sensor is less than or equal to the second range threshold; the interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor; the target detection capability of the sensor includes an effective longitudinal confidence distance; and the scenario safety factor of the intelligent driving terminal is greater than or equal to the first coefficient threshold; The L2 level of intelligent driving corresponds to the second level, the third level, or the fourth level of interference detection capability of the sensor; the reporting time of the interference status information of the sensor is less than or equal to the seventh time; the detection range of the sensor is less than or equal to the third range threshold; the interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor; the target detection capability of the sensor includes the effective longitudinal confidence distance; and the scenario safety factor of the intelligent driving terminal is greater than or equal to the second coefficient threshold; The L3 level of intelligent driving corresponds to the interference detection capability level of the sensor being the third level or the fourth level, the reporting time of the interference status information of the sensor being less than or equal to the eighth time, the detection range of the sensor being less than or equal to the fourth range threshold, the interference information of the sensor including the interference status information of the sensor and the target detection capability of the sensor, the target detection capability of the sensor including the effective longitudinal confidence distance and the effective lateral confidence distance, and the scenario safety factor of the intelligent driving terminal being greater than or equal to the third coefficient threshold; The L4 level of intelligent driving corresponds to the fourth level of interference detection capability of the sensor, the reporting time of the interference status information of the sensor is less than or equal to the ninth time, the detection range of the sensor is less than or equal to the fifth range threshold, the interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor, the target detection capability of the sensor includes a valid confidence target, and the scenario safety factor of the intelligent driving terminal is greater than or equal to the fourth coefficient threshold; The L5 level of intelligent driving corresponds to the fourth level of interference detection capability of the sensor, the reporting time of the interference status information of the sensor is less than or equal to the tenth time, the detection range of the sensor is less than or equal to the sixth range threshold, the interference information of the sensor includes the interference status information of the sensor and the target detection capability of the sensor, the target detection capability of the sensor includes a valid confidence target, and the scenario safety factor of the intelligent driving terminal is greater than or equal to the fourth coefficient threshold; Wherein, the first range threshold is less than the second range threshold, the second range threshold is less than or equal to the third range threshold, the third range threshold is less than the fourth range threshold, the fourth range threshold is less than the fifth range threshold, and the fifth range threshold is less than or equal to the sixth range threshold; The fifth time is greater than the sixth time, the sixth time is greater than or equal to the seventh time, the seventh time is greater than the eighth time, the eighth time is greater than the ninth time, and the ninth time is greater than or equal to the tenth time; the fifth time is greater than or equal to the first time, the sixth time is greater than or equal to the second time, the eighth time is greater than or equal to the third time, and the ninth time is greater than or equal to the fourth time; The first coefficient threshold is smaller than the second coefficient threshold, the second coefficient threshold is smaller than the third coefficient threshold, and the third coefficient threshold is smaller than the fourth coefficient threshold.

18. The method according to any one of claims 10 to 17, characterized in that: The method further comprises: Control output prompt information, where the prompt information is used to indicate the intelligent driving status of the intelligent driving terminal and / or to instruct to check the status of the sensor.

19. An information processing method, characterized in that: The method comprises: Obtain detection information from sensors in the intelligent driving terminal; determining interference information of the sensor and an interference detection capability level of the sensor based on the detection information; Interference information of the sensor and an interference detection capability level of the sensor are output.

20. The method according to claim 19, characterized in that The interference information of the sensor includes at least one of the following: interference status information of the sensor, detection range of the sensor, reporting time of the interference status information, signal attenuation result information of the sensor, or target detection capability of the sensor.

21. The method according to claim 19 or 20, characterized in that The interference state information of the sensor includes at least one of the following: shielding state information or signal interference state information.

22. The method according to any one of claims 19 to 21, characterized in that The interference detection capability level of the sensor is used to indicate the interference detection capability of the sensor.

23. The method according to any one of claims 19 to 22, characterized in that: The interference detection capability level of the sensor includes a first level, a second level, a third level, or a fourth level; When the interference detection capability level of the sensor is the first level, the confidence level of the detection range of the sensor, the signal attenuation result information of the sensor, and / or the target detection capability of the sensor is zero, the confidence level of the interference status information of the sensor is the first confidence level, and the reporting time of the interference status information of the sensor is less than or equal to the first time; When the interference detection capability level of the sensor is the second level, the confidence levels of the detection range of the sensor and the signal attenuation result information of the sensor are the second confidence level, the target detection capability of the sensor is the effective longitudinal confidence distance, the confidence level of the interference status information of the sensor is the third confidence level, and the reporting time of the interference status information of the sensor is less than or equal to the second time; When the interference detection capability level of the sensor is the third level, the confidence level of the detection range of the sensor and the signal attenuation result information of the sensor is a fourth confidence level, the target detection capability of the sensor is an effective confidence space, the effective confidence space includes an effective longitudinal confidence distance and an effective lateral confidence distance, the confidence level of the interference status information of the sensor is a fifth confidence level, and the reporting time of the interference status information of the sensor is less than or equal to the third time; When the interference detection capability level of the sensor is the fourth level, the confidence levels of the detection range of the sensor and the signal attenuation result information of the sensor are the sixth confidence level, the target detection capability of the sensor is a valid confidence target, the confidence level of the interference status information of the sensor is the seventh confidence level, and the reporting time of the interference status information of the sensor is less than or equal to the fourth time; Among them, the first confidence level is less than the third confidence level, the third confidence level is less than or equal to the fifth confidence level; the fifth confidence level is less than the seventh confidence level, the second confidence level is less than the fourth confidence level, and the fourth confidence level is less than the sixth confidence level; the first time is greater than the second time, the second time is greater than the third time, and the third time is greater than the fourth time.

24. An intelligent driving control device, characterized in that: The device includes a unit or module for executing the intelligent driving control method according to any one of claims 1 to 18.

25. An information processing device, characterized in that: The device includes a unit or module for executing the information processing method according to any one of claims 19 to 23.

26. An intelligent driving control device, characterized in that: It includes a processor and a memory, wherein the processor and the memory are connected, wherein the memory is used to store program code, and the processor is used to call the program code to execute the intelligent driving control method according to any one of claims 1 to 18.

27. An information processing device, characterized in that: It includes a processor and a memory, wherein the processor and the memory are connected, wherein the memory is used to store program code, and the processor is used to call the program code to execute the information processing method according to any one of claims 19 to 23.

28. An intelligent driving terminal, characterized in that: Comprising the device according to any one of claims 24 to 27.

29. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method according to any one of claims 1 to 23.

30. A computer program product, characterized in that When the computer program product is run on a computer, the computer is caused to perform the method according to any one of claims 1 to 23.

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