Method and system for disengaging autonomous driving of vehicle, vehicle-mounted terminal, and storage medium

Abstract

The present invention provides a method and system for disengaging autonomous driving of a vehicle, a vehicle-mounted terminal, and a storage medium. The method comprises: receiving an autonomous driving disengagement request for a vehicle; performing risk scenario detection; when the vehicle is in a risk scenario mode or a predicted risk scenario mode, continuing to perform risk scenario detection; and when the vehicle is in a risk-free mode, disengaging autonomous driving of the vehicle. In the method, when an autonomous driving disengagement request is received during vehicle driving, risk scenario monitoring is performed on the vehicle, and an autonomous driving function is disengaged when the vehicle is in the risk-free mode. By means of the method, autonomous driving can be safely disengaged in the driving process of the vehicle. Using the method to disengage autonomous driving is not restricted by the driving state of the vehicle.

Description

Vehicle automatic driving exit method and system, vehicle terminal, and storage medium TECHNICAL FIELD

[0001] The present application relates to the field of automobiles, and in particular to a vehicle automatic driving exit method and system, a vehicle terminal, and a storage medium. BACKGROUND

[0002] Current new energy vehicle development requires higher and higher battery endurance, and the selection of various vehicle functions in new energy vehicles is the key to saving electricity. In addition to functions such as entertainment systems that are not related to safety, which can be canceled and closed, some functions that are strongly related to safety, such as automatic driving functions, also need to be closed in order to save electricity. During the closing process, many environmental and conditional factors need to be considered. The current industry closes the automatic driving function when the vehicle is in the stop gear or the vehicle is in the parking state, but this method is not convenient and cannot guarantee safety during vehicle travel. SUMMARY

[0003] In view of the above shortcomings of the prior art, the present application provides a vehicle automatic driving exit method and system, a vehicle terminal, and a storage medium to improve the technical problems of the prior art that the automatic driving exit method is not convenient and not safe.

[0004] To achieve the above object and other related objects, the present application provides a vehicle automatic driving exit method, comprising:

[0005] receiving a vehicle automatic driving exit request;

[0006] performing risk scenario detection;

[0007] when the vehicle is in a risk scenario mode or a predicted risk scenario mode, the risk scenario detection is continued;

[0008] when the vehicle is in a risk-free mode, the vehicle automatic driving is exited.

[0009] In an example of the present application, the risk scenario detection comprises:

[0010] obtaining a driving mode of the vehicle automatic driving;

[0011] obtaining vehicle parameters and driving scene information according to the driving mode;

[0012] performing risk scenario detection according to the vehicle parameters and the driving scene information.

[0013] In an example of the present application, the risk scenario detection according to the vehicle parameters and the driving scene information comprises:

[0014] According to the driving mode, whether the vehicle is in a risk scene is determined according to vehicle parameters and driving scene information:

[0015] If the vehicle parameters and the driving scene information satisfy preset risk scene conditions, the vehicle is in a risk scene mode;

[0016] If the vehicle parameters and the driving scene information do not satisfy the risk scene conditions but satisfy preset predicted risk scene conditions, the vehicle is in a predicted risk scene mode;

[0017] If the vehicle parameters and the driving scene information neither satisfy the risk scene conditions nor satisfy the predicted risk scene conditions, the vehicle is in a no-risk mode.

[0018] In an example of the present application, the vehicle parameters include a deceleration of the vehicle; and the driving scene information includes a lane-changing scene, a curve scene and a turning scene.

[0019] In an example of the present application, if the vehicle parameters and the driving scene information satisfy preset risk scene conditions, the vehicle is in a risk scene mode, including:

[0020] When the driving mode is a high-speed mode, the deceleration is greater than a preset first threshold, or the driving scene information is a lane-changing scene or a curve scene, the vehicle is in the risk scene mode;

[0021] When the driving mode is a regular mode, the deceleration is greater than a preset second threshold, or the driving scene information is a turning scene, the vehicle is in the risk scene mode.

[0022] In an example of the present application, if the vehicle parameters and the driving scene information do not satisfy the risk scene conditions but satisfy preset predicted risk scene conditions, the vehicle is in a predicted risk scene mode, including:

[0023] Detecting that the vehicle parameters and the driving scene information do not satisfy the risk scene conditions;

[0024] Obtaining a driving path in a preset future time period;

[0025] Detecting the driving path: when the driving path includes a lane-changing, an intersection and / or a curve, the vehicle is in a predicted risk scene.

[0026] In an example of the present application, if the vehicle parameters and the driving scene information do not satisfy the risk scene conditions but satisfy preset predicted risk scene conditions, the vehicle is in a predicted risk scene mode, including:

[0027] Detecting that the vehicle parameters and the driving scene information do not satisfy the risk scene conditions;

[0028] Obtaining a driving path within a preset distance; wherein the preset distance is set according to the speed of the vehicle;

[0029] Detecting the driving path: when the driving path includes: lane changing, intersection and / or curve, the vehicle is in a predicted risk scenario.

[0030] In an example of the present application, a vehicle automatic driving exit system is also provided, comprising:

[0031] A request receiving module is configured to receive an exit request of vehicle automatic driving;

[0032] A scenario monitoring module is configured to perform risk scenario detection;

[0033] A function returning module is configured to continue the risk scenario detection when the vehicle is in a risk scenario mode or a predicted risk scenario mode;

[0034] A system exit module is configured to exit the vehicle automatic driving when the vehicle is in a risk-free mode.

[0035] In an example of the present application, a vehicle terminal is also provided, comprising:

[0036] One or more processors;

[0037] A storage device is configured to store one or more programs, when the one or more programs are executed by the one or more processors, the vehicle terminal implements the vehicle automatic driving exit method according to any one of the above.

[0038] In an example of the present application, a computer readable storage medium is also provided, which stores a computer program, when the computer program is executed by a processor of a computer, the computer executes the vehicle automatic driving exit method according to any one of the above.

[0039] The present application provides a vehicle automatic driving exit method, system, vehicle terminal and storage medium, when the vehicle receives an automatic driving exit request during driving, the vehicle is monitored for risk scenarios, and the automatic driving function is exited when the vehicle is in a risk-free mode. The method can safely exit the automatic driving during the driving of the vehicle. The use of the method to exit the automatic driving is not limited by the driving state of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0041] Fig. 1 is a flow chart of a method for automatically exiting autonomous driving of a vehicle according to an embodiment of the present application;

[0042] Fig. 2 is a flow chart of a method for exiting autonomous driving of a vehicle according to an embodiment of the present application;

[0043] Fig. 3 is a block diagram of a system for automatically exiting autonomous driving of a vehicle according to an embodiment of the present application;

[0044] Fig. 4 is a schematic diagram of a computer system of a vehicle terminal according to an embodiment of the present application. DETAILED DESCRIPTION

[0045] The present application is herein described, by way of example only, with reference to the accompanying drawings, wherein:

[0046] When numerical ranges are given, it should be understood that every numerical range encompasses any number falling within the range. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. Any methods and materials similar or equivalent to those described herein can be used in the practice of the present application. It is intended to embrace all such similar techniques and materials.

[0047] It should be noted that the terms "upper", "lower", "left", "right", "intermediate", and "one" and the like as used herein are intended to be relative terms only and are not intended to limit the scope of the application to any specific orientation or configuration. The scope of the application encompasses changes or modifications to the relative orientations or configurations without departing from the spirit of the application.

[0048] Please refer to FIG. 1 to FIG. 4, a vehicle automatic driving exit method, system, vehicle terminal, storage medium, the method receives the automatic driving exit request when the vehicle is driving, the risk scene of the vehicle is monitored, the automatic driving function is exited when the vehicle is in the risk-free mode, to improve the technical problems of the existing automatic driving exit method is not convenient and unsafe. The method can safely exit the automatic driving in the driving process of the vehicle. The use of this method to exit the automatic driving is not limited by the driving state of the vehicle.

[0049] Please refer to FIG. 1, the method includes steps S1 to S4, as follows:

[0050] Step S1, receiving the exit request of vehicle automatic driving.

[0051] Step S2, risk scene detection.

[0052] Step S3, when the vehicle is in the risk scene mode or the predicted risk scene mode, the risk scene detection is continued.

[0053] Step S4, when the vehicle is in the risk-free mode, the vehicle automatic driving is exited.

[0054] In the driving process of the vehicle, when the vehicle power is low or in the power saving mode, etc., the automatic driving needs to exit for power saving. The automatic driving sends an exit request, and the vehicle controller receives the exit request. The road risk detection is performed on the current driving of the vehicle. If the vehicle deceleration is too large or the vehicle is in the dangerous risk scene mode such as lane change scene, curve scene and turning scene, or the vehicle is in the predicted risk scene mode which will enter the dangerous scene, the automatic driving function is not exited, and the risk detection is re-performed. In this process, the automatic driving function controls the vehicle to drive and controls the vehicle to pass through the risk road. If the vehicle deceleration is not large, the vehicle is not in the lane change scene, curve scene and turning scene, and the vehicle is not in the predicted risk scene mode which will enter the dangerous scene, the vehicle is in the risk-free mode, at this time there is no safety hazard, the vehicle directly exits the automatic driving function.

[0055] The risk scene detection in step S2 includes: acquiring a driving mode of the vehicle in automatic driving to distinguish whether the automatic driving of the vehicle is in a high-speed mode or a regular mode. Vehicle parameters and driving scene information are acquired according to the driving mode of the automatic driving, for risk mode monitoring of the vehicle. The vehicle parameters include a deceleration of the vehicle, and the driving scene information includes a lane changing scene, a curve scene and a turning scene. The risk scene is monitored according to whether the road is dangerous according to the deceleration of the vehicle and whether the vehicle is in the lane changing scene, the curve scene or the turning scene. When the deceleration of the vehicle is too large or the vehicle is in the lane changing scene, the curve scene or the turning scene, it is determined that the vehicle is in a risk scene mode, at this time, the automatic driving is not exited, and the automatic driving controls the vehicle to pass through the current road section and then re-performs risk detection. When the deceleration of the vehicle is not large and the vehicle is not in the lane changing scene, the curve scene or the turning scene, it is predicted whether the road ahead of the vehicle is dangerous, and it is determined whether the vehicle is in a predicted risk scene mode. The driving path of the vehicle in a future time period is acquired, and it is determined whether the driving path includes a lane change, an intersection and / or a curve. When the driving path includes the lane change, the intersection and / or the curve, it is determined that the vehicle is in the predicted risk scene mode, at this time, the automatic driving is not exited, and the automatic driving controls the vehicle to pass through the predicted risk scene and then re-performs risk detection. When the driving path of the vehicle does not include the lane change, the intersection and the curve, it is determined that the vehicle is in a risk-free mode, a request for exiting the automatic driving is responded to, and the automatic driving is exited.

[0056] In an embodiment of the present application, when it is determined whether the vehicle is in a predicted risk mode, road condition information within a preset distance ahead of the vehicle is acquired, it is determined whether the road condition information includes a lane change, an intersection and / or a curve, when the road condition information includes the lane change, the intersection and / or the curve, it is determined that the vehicle is in the predicted risk scene mode, at this time, the automatic driving is not exited, and the automatic driving controls the vehicle to pass through the predicted risk scene and then re-performs risk detection. When the road condition information does not include the lane change, the intersection and the curve, it is determined that the vehicle is in a risk-free mode, a request for exiting the automatic driving is responded to, and the automatic driving is exited. The preset distance is set according to the speed of the vehicle, in an embodiment, the preset distance is a distance of 3 seconds of driving of the vehicle at the current speed. When the radius of the curve of the road is less than 250 meters, the road is determined as a curve. The lane change includes that the vehicle receives a lane change start instruction or a lane change end instruction. The lane change also includes that according to the road condition information, it is determined that the vehicle needs to change lanes within a preset distance.

[0057] Please refer to FIG. 2, in an embodiment of the present application, when the driving mode of the vehicle is in the high-speed mode, the risk scene mode detection is performed according to the vehicle parameters, the driving scene information and the risk scene conditions. When the vehicle receives the request of exiting the automatic driving in the high-speed mode, it is determined whether the vehicle is in the risk scene mode. When the deceleration of the vehicle is greater than the first threshold value, for example, 0.4G (gravity acceleration), the deceleration of the vehicle is too large at this time, and the speed of the vehicle is fast on the highway section, the driver cannot move the foot directly to supplement the speed value to the position in time, resulting in too long braking distance, which is dangerous, so it is determined that the vehicle is in the risk scene mode, and the automatic driving control vehicle re-performs the risk detection after passing through the current scene. When the vehicle is in the lane change scene, the direction of the vehicle is not in the lane at this time, and the driver's hand is not necessarily on the steering wheel, resulting in that the vehicle cannot be returned to the current lane or the target lane in time, so it is determined that the vehicle is in the risk scene mode, and the automatic driving control vehicle re-performs the risk detection after passing through the current scene. When the vehicle is in the curve scene, the time of the driver taking over is short at this time, resulting in that the vehicle deviates from the current lane, so it is determined that the vehicle is in the risk scene mode, and the automatic driving control vehicle re-performs the risk detection after passing through the current scene. In other cases, it is determined that the vehicle is not in the risk scene mode, at this time, it is determined whether the vehicle is in the predicted risk scene mode, if the vehicle is in the predicted risk scene mode, the automatic driving is not exited, and the automatic driving control vehicle re-performs the risk detection after passing through the predicted risk scene. At this time, if the vehicle is not in the predicted risk scene mode, the request of exiting the automatic driving is responded, and the automatic driving is directly exited.

[0058] Referring to FIG. 2, in an embodiment of the present application, when the driving mode of the vehicle in automatic driving is a normal mode, risk scene mode detection is performed according to vehicle parameters and driving scene information and predicted risk scene conditions. When the driving mode of the vehicle in automatic driving is a high-speed mode, the vehicle receives a request for exiting automatic driving. It is determined whether the vehicle is in a risk scene mode. When the deceleration of the vehicle is greater than a second threshold value, for example, 0.3G, the deceleration of the vehicle is too large at this time, the driver cannot timely move the foot to directly supplement the speed value to the position, resulting in a too long braking distance, which is easy to rush through a red traffic light, collide with a pedestrian, and the like, so it is determined that the vehicle is in a risk scene mode, and the vehicle in automatic driving re-performs risk detection after passing through the current scene. When the vehicle is in a turning scene, the steering angle is large at this time, the torque of the steering wheel is large, the driver cannot timely take over the steering wheel, and the vehicle deviates, so it is determined that the vehicle is in a risk scene mode, and the vehicle in automatic driving re-performs risk detection after passing through the current scene. In other cases, it is determined that the vehicle is not in a risk scene mode, and it is determined whether the vehicle is in a predicted risk scene mode at this time. If the vehicle is in a predicted risk scene mode, the request for exiting automatic driving is not exited, and the vehicle in automatic driving re-performs risk detection after passing through the predicted risk scene. If the vehicle is not in a predicted risk scene mode, the request for exiting automatic driving is exited directly.

[0059] Referring to FIG. 3, a system 300 for exiting automatic driving of a vehicle is also provided, including a request receiving module 310 configured to receive a request for exiting automatic driving of the vehicle, a scene monitoring module 320 configured to perform risk scene detection, a function returning module 330 configured to continue to perform risk scene detection when the vehicle is in a risk scene mode or a predicted risk scene mode, and a system exiting module 340 configured to exit automatic driving of the vehicle when the vehicle is in a risk-free mode.

[0060] It should be noted that the exiting method and system for automatic driving of a vehicle provided in the above embodiments belong to the same concept, and the specific manner in which each module performs operations has been described in detail in the method embodiments, which will not be described here. In actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above, and this is not limited herein.

[0061] Embodiments of the present application also provide a vehicle terminal, including one or more processors, and a storage device configured to store one or more programs, which, when executed by the one or more processors, cause the vehicle terminal to implement the exiting method for automatic driving of a vehicle according to any one of the above embodiments.

[0062] FIG. 4 shows a structural diagram of a computer system of a vehicle terminal suitable for implementing the embodiments of the present application. It should be noted that the computer system of the vehicle terminal shown in FIG. 4 is only one embodiment and should not bring any limitation to the functions and use range of the embodiments of the present application.

[0063] As shown in FIG. 4, the computer system includes a central processing unit (CPU) 401 which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage portion 408 to a random access memory (RAM) 403, such as performing the methods described in the above embodiments. In the RAM 403, various programs and data required for system operation are also stored. The CPU 401, the ROM 402, and the RAM 403 are connected to each other through a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0064] The following components are connected to the I / O interface 405: an input portion 406 including a keyboard, a mouse, and the like; an output portion 407 including a display such as a cathode ray tube (CRT), a liquid crystal display (LCD), and the like, and a speaker, and the like; a storage portion 408 including a hard disk, and the like; and a communication portion 409 including a network interface card such as a LAN (Local Area Network) card, a modem, and the like. The communication portion 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as necessary. A removable media 411 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, and the like is mounted on the drive 410 as necessary, so that a computer program read therefrom is installed in the storage portion 408 as necessary.

[0065] In particular, according to the embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, the embodiments of the present application include a computer program product including a computer program carried on a computer-readable medium, the computer program containing a computer program for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by the communication portion 409, and / or installed from the removable media 411. When the computer program is executed by the central processing unit (CPU) 401, various functions defined in the system of the present application are performed.

[0066] It should be noted that the computer-readable medium in the embodiments shown in the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium may, for example, be an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable signal medium can include a data signal propagating in a baseband or as a carrier wave in a propagated data signal, in which the computer-readable computer program is carried. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate or transmit programs for use by or in connection with an instruction execution system, device or component. The computer program contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wired, or the like, or any suitable combination of the above.

[0067] The flowcharts and block diagrams in the drawings illustrate the possible implementation architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In the flowcharts or block diagrams, each block can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different order than that shown in the drawings. For example, two blocks represented in succession can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0068] The units described in the embodiments of the present application can be implemented in the form of software, or can be implemented in the form of hardware, and the described units can also be arranged in a processor. In some cases, the names of the units do not constitute a limitation on the units themselves.

[0069] Another aspect of the present application also provides a computer readable storage medium having a computer program stored thereon, which, when executed by a processor of a computer, causes the computer to perform the method for exiting automatic driving of a vehicle as described above. The computer readable storage medium can be included in the vehicle terminal described in the above embodiments, or can exist separately and not be assembled into the vehicle terminal.

[0070] The present application provides a method and system for exiting automatic driving of a vehicle, a vehicle terminal, and a storage medium. The method does not require stopping the vehicle or placing the vehicle in a stop gear when exiting automatic driving due to the need for power saving, and does not affect the normal driving of the vehicle to achieve exiting automatic driving. After the vehicle receives an exit request for automatic driving, the road is judged for risk, and the method sets different risk scenario conditions and preset risk scenario conditions for different driving modes of automatic driving. When the road is dangerous, the automatic driving does not exit, and the vehicle is controlled to pass through the road. When the road is not dangerous, the automatic driving exits. The method can safely exit the automatic driving without affecting the normal driving of the vehicle. Therefore, the present application effectively overcomes some practical problems in the prior art, thereby having high utilization value and use significance.

[0071] The above embodiments only exemplarily illustrate the principles and effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical idea disclosed by the present application should be covered by the claims of the present application.

Claims

1. A method for exiting automatic driving of a vehicle, characterized by, The method comprises the following steps: receiving an exit request of vehicle automatic driving; carrying out risk scene detection; when the vehicle is in a risk scene mode or a predicted risk scene mode, continuing to carry out risk scene detection; when the vehicle is in a no-risk mode, exiting the vehicle automatic driving.

2. The method of claim 1, wherein, The carrying out risk scene detection comprises the following steps: obtaining a driving mode of vehicle automatic driving; obtaining vehicle parameters and driving scene information according to the driving mode; carrying out risk scene detection according to the vehicle parameters and the driving scene information.

3. The method of claim 2, wherein, The carrying out risk scene detection according to the vehicle parameters and the driving scene information comprises the following steps: judging whether the vehicle is in a risk scene according to the vehicle parameters and the driving scene information according to the driving mode: if the vehicle parameters and the driving scene information satisfy a preset risk scene condition, the vehicle is in a risk scene mode; if the vehicle parameters and the driving scene information do not satisfy the risk scene condition but satisfy a preset predicted risk scene condition, the vehicle is in a predicted risk scene mode; if the vehicle parameters and the driving scene information neither satisfy the risk scene condition nor satisfy the predicted risk scene condition, the vehicle is in a no-risk mode.

4. The method of claim 3, wherein The vehicle parameters comprise a deceleration of the vehicle; and the driving scene information comprises a lane-changing scene, a curve scene and a turning scene.

5. The method of claim 4, wherein, The if the vehicle parameters and the driving scene information satisfy a preset risk scene condition, the vehicle is in a risk scene mode comprises the following steps: when the driving mode is a high-speed mode, the deceleration is greater than a preset first threshold value or the driving scene information is the lane-changing scene or the curve scene, the vehicle is in the risk scene mode; when the driving mode is a regular mode, the deceleration is greater than a preset second threshold value or the driving scene information is the turning scene, the vehicle is in the risk scene mode.

6. The method of claim 3, wherein, The if the vehicle parameters and the driving scene information do not satisfy the risk scene condition but satisfy a preset predicted risk scene condition, the vehicle is in a predicted risk scene mode comprises the following steps: detecting that the vehicle parameters and the driving scene information do not satisfy the risk scene condition; obtaining a driving path in a preset future time period; detecting that the driving path comprises a lane-changing, an intersection and / or a curve, the vehicle is in the predicted risk scene.

7. The method of claim 3, wherein, The if the vehicle parameters and the driving scene information do not satisfy the risk scene condition but satisfy a preset predicted risk scene condition, the vehicle is in a predicted risk scene mode comprises the following steps: detecting that the vehicle parameters and the driving scene information do not satisfy the risk scene condition; obtaining a driving path in a preset distance; wherein the preset distance is set according to a speed of the vehicle; detecting that the driving path comprises a lane-changing, an intersection and / or a curve, the vehicle is in the predicted risk scene.

8. A system for automatic exit of a vehicle from autonomous driving, characterized by, The method comprises the following steps: a request receiving module, configured to receive an exit request of vehicle automatic driving; a scene monitoring module, configured to carry out risk scene detection; a function returning module, configured to, when the vehicle is in a risk scene mode or a predicted risk scene mode, continue to carry out risk scene detection; A system exit module for exiting the vehicle from the autonomous driving mode when the vehicle is in the no-risk mode.

9. A vehicle terminal, characterized by The vehicle terminal comprises: one or more processors; a storage device for storing one or more programs, which, when executed by the one or more processors, cause the vehicle terminal to implement the method for exiting the autonomous driving of the vehicle according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, A computer program product having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform the method for exiting the autonomous driving of the vehicle according to any one of claims 1 to 7.

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