WO2020210933A1

WO2020210933A1 - Alarm control method and device for self-driving vehicle, and self-driving vehicle

Info

Publication number: WO2020210933A1
Application number: PCT/CN2019/082630
Authority: WO
Inventors: 应佳行; 商志猛; 马建云; 丁瑞
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-04-15
Filing date: 2019-04-15
Publication date: 2020-10-22
Also published as: CN111683855A

Abstract

An alarm control method for a self-driving vehicle (31), an alarm control device (32), the self-driving vehicle (31) and a computer-readable storage medium, wherein the method comprises: acquiring the current operation state of the self-driving vehicle (31); according to the current operation state, determining whether the self-driving vehicle (31) is in an abnormal state; if the self-driving vehicle (31) is in an abnormal state, determining the type of abnormal state; according to the type of abnormal state, determining a preset alarm operation mode that corresponds to the type of abnormal state, wherein there are various preset alarm operation modes, each preset alarm operation mode comprises a sound alarm, and the sound alarms for different preset alarm operation modes are different; controlling a sound alarm apparatus (105) of the self-driving vehicle (31) to emit an alarm sound according to the preset alarm operation mode so as to raise an alarm, so that different operation states and alarm information of the self-driving vehicle (31) are indicated by means of different alarm sounds, and the safety performance during the operation of the self-driving vehicle (31) is improved.

Description

Alarm control method and equipment for automatic driving vehicle and automatic driving vehicle

Technical field

The present invention relates to the field of automatic driving, in particular to an alarm control method and equipment for an automatic driving vehicle, and an automatic driving vehicle.

Background technique

In the field of autonomous driving, the most important thing to ensure is safety. Any behavior that threatens the safety of passengers, other vehicles, and pedestrians in the car should be avoided or corrected in time. Solving safety issues in the field of autonomous driving mainly relies on the intelligence of autonomous vehicles. Autonomous vehicles can independently analyze whether the current operating status is normal and provide reminders with text, image display, and voice reminders on the screen.

However, when the passengers in the car are not paying attention, it is easy to miss the text and graphics on the display screen, and the inventor found that the voice reminder is not obvious enough to distinguish various information, and it can only distinguish the normal operation state and abnormal operation state of the vehicle. , It is not possible to clearly distinguish different operating states, such as different abnormal operating states, and users cannot intuitively and quickly learn the current operating state of the vehicle to obtain useful information.

Summary of the invention

The embodiments of the present invention provide an alarm control method and equipment for an automatic driving vehicle, and an automatic driving vehicle, which can indicate different operating states and alarm information of the automatic driving vehicle through different sound alarms, thereby improving the operation process of the automatic driving vehicle The safety performance.

In the first aspect, an embodiment of the present invention provides an alarm control method for an autonomous vehicle, including:

Obtain the current operating status of the autonomous vehicle;

Determine whether the autonomous vehicle is in an abnormal state according to the current operating state;

If the autonomous vehicle is in an abnormal state, determine the type of the abnormal state;

According to the type of the abnormal state, a preset alarm working mode corresponding to the type of the abnormal state is determined, wherein there are multiple preset alarm working modes, and each of the preset alarm working modes includes sound Alarm, and the sound alarms of different preset alarm working modes are different;

The sound alarm device controlling the automatic driving vehicle emits an alarm sound according to the preset alarm working mode to give an alarm.

In the second aspect, an embodiment of the present invention provides an alarm control device, including one or more processors, which work individually or together, and are used to perform the following operations:

Obtain the current operating status of the autonomous vehicle;

In a third aspect, an embodiment of the present invention provides an autonomous driving vehicle, including:

Car body

The power system installed on the car body to provide operating power;

The processor is configured to obtain the current operating state of the autonomous vehicle; determine whether the autonomous vehicle is in an abnormal state according to the current operating state; if the autonomous vehicle is in an abnormal state, determine the type of the abnormal state According to the type of the abnormal state, determine the preset alarm work mode corresponding to the type of the abnormal state, wherein the preset alarm work mode is multiple, each of the preset alarm work mode includes Sound alarms, and the sound alarms of different preset alarm working modes are different; the sound alarm device controlling the autonomous vehicle emits an alarm sound according to the preset alarm working mode to give an alarm.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium that stores a computer program that, when executed by a processor, implements the method described in the first aspect.

In the embodiment of the present invention, the alarm control device may obtain the current operating state of the autonomous vehicle and determine whether the autonomous vehicle is in an abnormal state according to the current operating state. If the autonomous vehicle is in an abnormal state, then The type of the abnormal state can be determined, and according to the type of the abnormal state, the preset alarm operation mode corresponding to the type of the abnormal state can be determined, so as to control the audio alarm device of the autonomous vehicle to follow the preset The alarm working mode emits an alarm sound to make an alarm. Through this embodiment, different sound alarms can be used to indicate different operating states and alarm information of the autonomous driving vehicle, thereby improving the safety performance of the autonomous driving vehicle during operation.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, without creative work, other drawings can be obtained from these drawings.

FIG. 1 is a schematic diagram of the software and hardware of an audio alarm device provided by an embodiment of the present invention;

FIG. 2 is a relational diagram of the operating state of an automatic driving vehicle provided by an embodiment of the present invention;

Figure 3 is a schematic structural diagram of an alarm control system provided by an embodiment of the present invention;

4 is a schematic flowchart of an alarm control method for an autonomous vehicle provided by an embodiment of the present invention;

FIG. 5 is a schematic flowchart of another alarm control method for an autonomous vehicle according to an embodiment of the present invention;

Figure 6 is a schematic structural diagram of an alarm control device provided by an embodiment of the present invention;

Fig. 7 is a schematic structural diagram of an interactive device provided by an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The alarm control method for an automatic driving vehicle provided in the embodiment of the present invention may be executed by an alarm control system, and the alarm control system may include an automatic driving vehicle and an alarm control device. In some embodiments, the alarm control device may be set on the autonomous driving vehicle; in some embodiments, the alarm control device may be set on an interactive device of the autonomous driving vehicle, wherein The interactive device may include a display interface through which the autonomous vehicle can be controlled; in some embodiments, the alarm control device may be independent of the autonomous vehicle. For example, the alarm control device may be set on a terminal such as a mobile phone, a tablet computer, or a smart watch that establishes a communication connection with the autonomous vehicle. In an embodiment, the alarm control device may also be set in a cloud processor. In other embodiments, the alarm control device may be applied to equipment such as unmanned vehicles, unmanned aerial vehicles, robots, and unmanned ships.

In the embodiment of the present invention, by acquiring the current operating state of the autonomous vehicle, and according to the current operating state, it is determined whether the autonomous vehicle is in an abnormal state. If the autonomous vehicle is in an abnormal state, the abnormality can be determined The type of the state, and according to the type of the abnormal state, a preset alarm working mode corresponding to the type of the abnormal state is determined, so as to control the audio alarm device of the autonomous vehicle to issue an alarm according to the preset alarm working mode Sound to alarm. In some embodiments, there are multiple preset alarm working modes, each of the preset alarm working modes includes an audible alarm, and different preset alarm working modes have different audible alarms.

The invention adopts a sound alarm device (such as a buzzer) with high vigilance, loud volume and obvious distinction, and controls when the automatic driving vehicle performs state switching, the automatic driving vehicle has any abnormality, or the automatic driving vehicle discovers any dangerous situation. The sound alarm device sends out different alarm sounds to alarm. This kind of alarm method is highly vigilant, the alarm function is obvious, the degree of discrimination is high, and the problem can be identified immediately, and the reliability is high.

In one embodiment, the sound alarm device used in the present invention can prompt the distance of the alarm through the difference in volume. In some embodiments, the present invention can distinguish different preset alarm operating modes through different tones. Different preset alarm working modes are distinguished by different volume or different high and low tones, with a high degree of discrimination, so that the driver or passenger can identify the abnormal problem in a short time and adopt corresponding solutions to solve the abnormality problem.

In some embodiments, when the alarm control device controls the audio alarm device of the self-driving vehicle to emit an alarm sound according to the preset alarm working mode to make an alarm, it may determine the relationship with the alarm according to the preset alarm working mode. The alarm priority corresponding to the preset alarm working mode is described, and according to the alarm priority, the audio alarm device of the autonomous vehicle is controlled to emit an alarm sound. The urgency of the abnormal problem is determined by the level of priority. The higher the priority, the more urgent the abnormal problem is. According to the level of priority, the driver or passenger can give priority to handling abnormal problems with higher urgency.

In some embodiments, the types of the abnormal state include failure to switch to automatic driving mode from manual driving mode, successful switching from manual driving mode to automatic driving mode, successful switching from automatic driving mode to manual driving mode, and successful switching from automatic driving mode to manual driving mode. Any one or more of the mode switching out to manual driving mode failure, warning message, error message, etc. In some embodiments, the warning information refers to information that does not immediately endanger the state of the autonomous vehicle; in some embodiments, the error information refers to information that has a significant impact on driving or when a danger is imminent. Information that appears, such as obstacles ahead.

In some embodiments, when the alarm control device determines the preset alarm operation mode corresponding to the type of abnormal state according to the type of the abnormal state of the autonomous vehicle, it may determine the alarm sound according to the type of the abnormal state. .

In some embodiments, when the current operating state of the automatic driving vehicle is normal automatic driving or normal manual driving, no alarm sound is issued.

For example, if the current operating state of the automatic driving vehicle is normal automatic driving or normal manual driving, the sound alarm device does not emit an alarm sound at this moment. If the current operating state of the automatic driving vehicle is in a state where the manual driving mode requests to switch to the automatic driving mode, the sound alarm device can be controlled to emit an alarm sound according to the corresponding alarm time. If the current operating state of the automatic driving vehicle is in a state where the request to switch to the automatic driving mode from the manual driving mode is successful, the sound alarm device can be controlled to emit an alarm sound according to the corresponding alarm time. If the current operating state of the automatic driving vehicle is in a successful state of switching from the automatic driving mode to the manual driving mode, the sound alarm device can be controlled to emit an alarm sound according to the corresponding alarm time. If the current operating state of the automatic driving vehicle is in a state of failing to switch from the automatic driving mode to the manual driving mode, the sound alarm device can be controlled to emit an alarm sound according to the corresponding alarm time. If the current operating state of the autonomous vehicle is in the presence of warning information or error information, the sound alarm device can be controlled to continuously emit alarm sounds for a corresponding time.

In some embodiments, the larger the alarm priority number is, the higher the alarm priority is, and the alarm working mode with high priority can preempt the alarm working mode with low priority. By adopting the high-priority alarm work mode to preempt the low-priority alarm work mode, the driver or passenger can give priority to the problems with higher alarm priority, so as to avoid the occurrence of higher priority and higher priority. When the problem is low, the problem of higher priority is not dealt with in time, which causes serious losses.

For another example, suppose that the priority of requesting to switch to automatic driving mode from manual driving mode is priority 1. The priority of requesting to switch to automatic driving mode from manual driving mode is priority 4. Switching out from automatic driving mode to manual The priority of driving mode success is priority 4, the priority of switching from automatic driving mode to manual driving mode failure is priority 4, the priority of warning messages is priority 2, the priority of error messages is priority 3. If the automatic assumption here is a warning message appears when the request from manual driving mode to switch to automatic driving mode fails, because the priority of the warning message is priority 2 is greater than the priority of request from manual driving mode to switch to automatic driving mode. Level 1, so in this case, the sound alarm device can be controlled to emit an alarm sound corresponding to the occurrence of warning information with higher priority, such as an alarm sound for 15s continuously.

In some embodiments, the automatic driving vehicle has corresponding alarm information when entering and exiting automatic driving. During the process of automatic and manual driving, the system's self-inspection should be performed in real time, and the current status of the autonomous vehicle should be determined through the self-inspection judgment. Operating status.

Specifically, it can be described with reference to Figure 1 and Figure 2 as an example. Figure 1 is a schematic diagram of the software and hardware of an audio alarm device provided by an embodiment of the present invention, and Figure 2 is the operating state of an autonomous vehicle provided by an embodiment of the present invention. Diagram.

As shown in FIG. 1, the alarm control device may obtain the driving mode of the autonomous driving vehicle through the state machine 101. In some embodiments, the driving mode includes an automatic driving mode or a manual driving mode. The alarm control device may detect whether an abnormal state such as warning information or error information occurs in the current operating state of the autonomous vehicle through the self-checking device 102. The control device 103 combines the driving mode acquired by the state machine 101 and the current operating state detected by the self-checking device 102 to determine that the current operating state of the autonomous vehicle is in an abnormal state. If it is in an abnormal state, it can pass The driving device 104 generates a sound alarm signal corresponding to the abnormal state, and sends the sound alarm signal to the sound alarm device 105 for alarm.

In one embodiment, the operating state of the autonomous vehicle can be specifically illustrated in FIG. 2 as an example. The autonomous vehicle includes two modes of manual driving mode 21 and automatic driving mode 22. In the driving mode 21, the self-check judgment can be performed in real time to judge whether the autonomous driving vehicle is in a normal, warning or error state. The self-driving vehicle can also perform a real-time self-check judgment in the automatic driving mode 22 to determine whether the self-driving vehicle is in a normal, warning, or error state. If it is determined that the automatic driving vehicle has an error in the automatic driving mode 22 State, the current automatic driving mode 22 of the automatic driving vehicle is forced to switch to the manual driving mode 21. The automatic driving vehicle can switch out of the automatic driving mode in the automatic driving mode 22 and enter the manual driving mode 21. In the manual driving mode 21, if the autonomous vehicle receives a switch-in automatic driving request, it can be judged whether the switch-in automatic driving request is successful, if the request is successful, it can switch to the automatic driving mode 22, if the request fails, it stays in Manual driving mode 21.

In one embodiment, the alarm tone of the sound alarm device can be realized by the voltage level. Generally, the higher the voltage value, the higher the tone. The sound alarm device can be alarmed directly by adjusting the duty cycle of the sound alarm signal. The level control of the tone and the duration of the duty cycle of the sound alarm signal can generate different representative alarm melodies, so that the driver can easily distinguish the information represented by the current tone. Specifically, it can be explained by a simple example of music timing (assuming time granularity is 0.1s):

NULL_TYPE: continuous duty:0

AUTO_EXIT_FAIL: duty 50%--duty 50%--duty 0—duty 50%--duty 50%—duty 0—duty 50%--duty 50%—duty 0...

AUTO_ENTER:duty 50%--duty 0-duty 50%--duty 0—duty 50%--duty 0—duty 50%--duty 0—duty 50%--duty 0—duty 50%...

AUTO_EXIT: duty 50%--duty 0--duty 0—duty 50%--duty 0—duty 0—duty 50%--duty 0—duty 0—duty 50%--duty 0—duty 0—duty 50% ...

Wherein, the NULL_TYPE is used to indicate that the autonomous vehicle is in a normal state, and the continuous duty: 0 indicates that there is no alarm music sequence; the AUTO_EXIT_FAIL is used to indicate that the request to switch to automatic driving failed in manual mode; the duty 50% is used to indicate Sound alarm 0.05s music sequence; the AUTO_ENTER is used to indicate that the automatic driving is successfully switched in; the AUTO_EXIT is used to indicate that the automatic driving is switched out.

In the embodiment of the present invention, different operating states of an autonomous vehicle are determined by adjusting the pitch, the volume, and the length of time, so as to determine the type of abnormal state according to the different operating state, so as to adopt the type corresponding to the abnormal state Measures to solve the abnormal problem in time to improve the safety performance of the autonomous vehicle during driving.

The following is a schematic description of an alarm control system composed of an automatic driving vehicle and an alarm control device with reference to FIG. 3.

Please refer to FIG. 3, which is a schematic structural diagram of an alarm control system provided by an embodiment of the present invention. The alarm control system shown in FIG. 3 includes an automatic driving vehicle 31 and an alarm control device 32. The automatic driving vehicle 31 An alarm control device 32 is provided thereon, and the self-driving vehicle 31 may include a power system 311, and the power system 311 is used to provide power for the self-driving vehicle 31 to operate.

In the embodiment of the present invention, the alarm control device 32 can obtain the current operating state of the autonomous driving vehicle 31, and determine whether the autonomous driving vehicle 31 is in an abnormal state according to the current operating state; if the autonomous driving vehicle 31 is in an abnormal state , The type of the abnormal state is determined. The alarm control device 32 may determine a preset alarm working mode corresponding to the type of abnormal state according to the type of the abnormal state, and perform an alarm according to the preset alarm working mode. In some embodiments, there are multiple preset alarm working modes, each of the preset alarm working modes includes an audible alarm, and different preset alarm working modes have different audible alarms.

The following is a schematic description of an alarm control method for an automatic driving vehicle provided by an embodiment of the present invention with reference to the accompanying drawings.

Please refer to FIG. 4 for details. FIG. 4 is a schematic flowchart of an alarm control method for an autonomous vehicle provided by an embodiment of the present invention. The method may be executed by an alarm control device. The explanation of the alarm control device is as described above. Narrated. Specifically, the method of the embodiment of the present invention includes the following steps.

S401: Acquire the current operating state of the autonomous driving vehicle.

In the embodiment of the present invention, the alarm control device can obtain the current operating state of the autonomous vehicle. In some embodiments, the current operating state includes at least one of the following: being in a normal manual driving mode, being in a normal automatic driving mode, requesting to switch to automatic driving mode from manual driving mode failed, and requesting to switch to automatic driving mode from manual driving mode successfully 、Successfully cut out from automatic driving mode to manual driving mode, fail to cut out from automatic driving mode to manual driving mode, a warning message appears, and an error message appears. In some embodiments, the current operating state of the autonomous driving vehicle may also be displayed on the display interface of the interactive device connected to the alarm control device in the autonomous driving vehicle for the user to view.

In some embodiments, the warning information includes, but is not limited to, information that does not immediately threaten the state of the autonomous driving vehicle, such as information such as speed measurement in front 500. In some embodiments, the error information includes, but is not limited to, information that has a significant impact on driving or an alarm when danger is about to occur, such as information such as obstacles ahead.

In one embodiment, the alarm control device may obtain the current driving mode of the automatic driving vehicle before acquiring the current operating state of the automatic driving vehicle, and determine the current driving mode according to the current driving mode of the automatic driving vehicle. Operating status. In some embodiments, the current driving mode includes an automatic driving mode or a manual driving mode.

For example, assuming that the alarm control device acquires that the current driving mode of the autonomous vehicle is the automatic driving mode, if the alarm control device detects that the autonomous vehicle is switched from the automatic driving mode to the manual driving mode, then The alarm control device may determine that the current operating state of the automatic driving vehicle is successfully switching from the automatic driving mode to the manual driving mode.

It can be seen that by acquiring the current driving mode of the autonomous driving vehicle, it is helpful to determine the current operating state of the autonomous driving vehicle, so as to facilitate subsequent determination of whether the autonomous driving vehicle is abnormal according to the current operating state.

S402: Determine whether the automatic driving vehicle is in an abnormal state according to the current operating state.

In the embodiment of the present invention, the alarm control device may determine whether the autonomous driving vehicle is in an abnormal state according to the current operating state.

In some embodiments, the type of the abnormal state includes, but is not limited to, at least one of the following: a request from manual driving mode to switch to automatic driving mode fails, a request from manual driving mode to switch to automatic driving mode succeeds, and a switch from automatic driving mode is successful. When the manual driving mode is successful, the switch from the automatic driving mode to the manual driving mode fails, a warning message appears, and an error message appears.

S403: If the autonomous vehicle is in an abnormal state, determine the type of the abnormal state.

In the embodiment of the present invention, if the autonomous driving vehicle is in an abnormal state, the alarm control device can determine the type of the abnormal state.

For example, suppose it is detected that the autonomous vehicle is in an abnormal state requesting to switch to the automatic driving mode from the manual driving mode, it can be further determined whether the type of the abnormal state is the successful request of the automatic driving vehicle to switch to the automatic driving mode from the manual driving mode, or The automatic driving vehicle fails to request to switch to the automatic driving mode from the manual driving mode.

For another example, assuming that the alarm control device detects an obstacle ahead, it can be determined that the type of the abnormal state is the type of error information.

In the embodiment of the present invention, the type of the abnormal state can be determined when the autonomous vehicle is in the abnormal state, so that the corresponding preset alarm working mode can be determined according to the type of the abnormal state.

S404: According to the type of the abnormal state, determine a preset alarm working mode corresponding to the type of the abnormal state.

In the embodiment of the present invention, the alarm control device may determine a preset alarm operation mode corresponding to the type of the abnormal state according to the type of the abnormal state. In some embodiments, the corresponding relationship between the type of abnormal state and the preset alarm working mode is preset in the alarm control device. In some embodiments, different types of abnormal states correspond to different preset alarm working modes. In some embodiments, the preset alarm working mode includes, but is not limited to, different alarm sounds, alarm tones, alarm volume, and alarm melody.

For example, suppose that the alarm control device is preset with a preset alarm working mode corresponding to the type of abnormal state that fails to switch from manual driving mode to automatic driving mode. The sound alarm device emits an alarm sound according to a certain alarm time. When the time is 10s, when it is detected that the current operating state of the automatic driving vehicle is that the request to switch to automatic driving from the manual mode has failed, the sound alarm device can be controlled to continuously emit an alarm sound for 10s.

It can be seen that the present invention can determine the preset alarm working mode corresponding to the type of abnormal state according to the type of the abnormal state of the automatic driving vehicle through this embodiment, so as to facilitate subsequent alarms according to the preset alarm working mode. In this way, the driver and/or passenger can determine the current abnormal state according to the preset alarm working mode, so as to solve the abnormal state in time.

S405: Control the sound alarm device of the self-driving vehicle to emit an alarm sound according to the preset alarm working mode to give an alarm.

In the embodiment of the present invention, the alarm control device may control the voice alarm device of the autonomous vehicle to emit an alarm sound according to the preset alarm working mode to give an alarm.

In one embodiment, when the alarm control device controls the sound alarm device of the autonomous vehicle to emit an alarm sound according to the preset alarm working mode to make an alarm, it may determine according to the preset alarm working mode According to the alarm priority corresponding to the preset alarm working mode, and according to the alarm priority, the audio alarm device of the autonomous vehicle is controlled to emit an alarm sound.

It can be seen that by setting the alarm priority in the present invention, the emergency and severity of the abnormal state can be judged according to the alarm priority, so that the driver can give priority to the higher alarm priority (that is, the emergency degree) according to the alarm working mode. (Higher) abnormal state processing, thereby improving the processing efficiency of abnormal state.

In some embodiments, the alarm sound corresponds to the type of the abnormal state, and different abnormal states may belong to the same priority, but do not necessarily have the same alarm sound. Taking Figure 2 as an example, suppose that the priority of AUTO_EXIT cut out of automatic driving is the same as the priority of AUTO_ENTER cut into automatic driving, and both are priority 4. If the music sequence of AUTO_EXIT and AUTO_ENTER is as follows:

If the music sequence of the AUTO_EXIT and AUTO_ENTER is not the same, it can be determined that although the AUTO_EXIT and AUTO_ENTER are at the same priority, the alarm sounds are different.

It can be seen that through this implementation of setting different alarm sounds for abnormal states with the same priority, so that when multiple abnormal states with the same priority are obtained, the driver or passenger can judge the current abnormality through the alarm sound The type of the state, so as to adopt corresponding countermeasures to solve the current abnormal state in time to improve the processing efficiency of the abnormal state.

In some embodiments, different types of abnormal states correspond to different alarm sounds, so that users can distinguish different abnormal states based on alarm sounds; of course, in other embodiments, different abnormal states The type may correspond to the same alarm sound. For example, different abnormal states of the same priority can emit the same alarm sound. This helps the user to quickly determine the priority of the abnormal state based on the alarm sound, and improves the processing efficiency, which is not specifically limited in the embodiment of the present invention.

In some embodiments, the alarm sound corresponds to the alarm priority. In some embodiments, different alarm priorities correspond to different alarm sounds.

In an embodiment, the alarm control device may determine the order in which the sound alarm device emits the alarm sound according to the alarm priority. In some embodiments, the alarm control device may determine the order in which the sound alarm device emits the alarm sound according to the order of the alarm priority from high to low. This helps users to know the alarm working mode with the highest alarm priority in time, so as to quickly deal with abnormal situations.

In some embodiments, when the alarm control device controls the audio alarm device of the self-driving vehicle to emit an alarm sound according to the alarm priority, if at least two alarm working modes are detected, the at least two alarm working modes may be acquired. The alarm priority of an alarm working mode is compared, and the alarm priority levels of the at least two alarm working modes are compared, and the sound alarm device is controlled according to the order of the alarm priority from high to low. The alarm sounds corresponding to the at least two alarm working modes are emitted.

For example, suppose that when the alarm control device controls the audio alarm device of the self-driving vehicle to emit an alarm sound according to the alarm priority, it detects that the self-driving vehicle has two alarm working modes: warning information and error information, if The alarm priority level of the obtained warning information is priority 2, and the alarm priority level of the obtained error information is priority 3. You can compare the alarm priority levels of the two alarm working modes and follow the According to the order of the alarm priority level from high to low, the sound alarm device is controlled to emit an alarm sound corresponding to the error message and an alarm sound corresponding to the warning message.

It can be seen that by controlling the sound alarm device to emit the alarm sounds corresponding to the at least two alarm working modes in the order of alarm priority from high to bottom, it is possible to implement the abnormal state according to the The order of the urgency level is to solve the corresponding abnormal state in turn, thereby improving the efficiency of solving the abnormal state, minimizing the occurrence of major abnormal accidents, and improving the safety performance of autonomous vehicles.

In some embodiments, when the alarm control device controls the audio alarm device of the autonomous vehicle to emit an alarm sound according to the alarm priority, it may determine the alarm sound according to the alarm priority of the alarm working mode. Prioritize the sound alarm signal corresponding to the priority, and send the sound alarm signal to the sound alarm device, so that the sound alarm device emits the alarm sound indicated by the sound alarm signal. In some embodiments, the alarm sound is adjusted according to the input electric wave signal of the sound alarm device.

In one embodiment, when the alarm control device determines the sound alarm signal corresponding to the alarm priority according to the alarm priority of the alarm operation mode, if at least two alarm operation modes are detected, it can obtain Comparing the alarm priorities of the at least two alarm working modes and comparing the alarm priorities of the at least two alarm working modes to determine the target alarm working mode with the highest alarm priority, thereby determining The audible alarm signal corresponding to the alarm priority of the alarm working mode.

For example, suppose that the alarm control device detects two types of alarms, a warning message and an error message, of an automatic driving vehicle when determining an audible alarm signal corresponding to the alarm priority according to the alarm priority of the alarm working mode. Working mode, if the alarm priority of the warning information is obtained as priority 2 and the alarm priority of the error information is obtained as priority 3, then the alarm priority levels of the two alarm working modes can be compared , And determine the target alarm operation mode of the error message with the higher alarm priority, so as to determine the sound alarm signal corresponding to the alarm priority 3 of the target alarm operation mode with the error message.

It can be seen that through this implementation of issuing an audible alarm signal corresponding to the target alarm task corresponding to a higher alarm priority, the abnormal state with the highest priority (ie, the most urgent) can be achieved under the emergency and brisk processing time. Timely treatment minimizes the adverse consequences caused by the abnormal state, and improves the safety of autonomous vehicles to a certain extent.

In some embodiments, the sound alarm signal includes at least one of the following: alarm time, alarm tone, alarm volume, and alarm melody.

In some embodiments, the sound alarm signal carries an alarm time; the sound alarm signal is used to instruct the sound alarm device to issue an alarm sound according to the alarm time. In some embodiments, the alarm time is positively correlated with the alarm priority of the preset alarm working mode, that is, the higher the alarm priority of the preset alarm working mode, the longer the alarm time. For example, assuming that the alarm time carried by the sound alarm signal is 20s, the sound alarm signal is used to instruct the sound alarm device to emit an alarm sound for 20s. It can be seen that through this implementation of issuing alarm sounds at different alarm times, the driver or passenger can judge the current abnormal state according to the length of the alarm time, so that the user can solve the current abnormal state as soon as possible.

In some embodiments, the sound alarm signal carries an alarm volume; the sound alarm signal is used to instruct the sound alarm device to emit an alarm sound according to the alarm volume. In some embodiments, the alarm volume is positively correlated with the alarm priority of the preset alarm working mode, that is, the higher the alarm priority of the preset alarm working mode, the greater the alarm volume. For example, assuming that the alarm volume carried by the sound alarm signal is 60 decibels, the sound alarm signal is used to instruct the sound alarm device to emit an alarm sound at an alarm volume of 60 decibels. In some embodiments, the alarm volume is determined according to the duty cycle of the input electric wave signal. It can be seen that the implementation of different alarm sounds based on the alarm volume can enable the driver or passenger to judge the current abnormal state according to the alarm volume, so that the user can solve the current abnormal state as soon as possible.

In some embodiments, the sound alarm signal carries an alarm tone; the sound alarm signal is used to instruct the sound alarm device to emit an alarm sound according to the alarm tone. In some embodiments, the alarm tone is positively related to the alarm priority of the preset alarm working mode, that is, the higher the alarm priority of the preset alarm working mode, the higher the alarm tone. For example, assuming that the height of the alarm tone carried by the sound alarm signal is n, the sound alarm signal is used to instruct the sound alarm device to emit an alarm sound according to the alarm tone with the tone height n carried by the sound alarm signal.

It can be seen that the implementation of different alarm sounds based on the level of the alarm tone can enable the driver or passenger to judge the current abnormal state according to the level of the alarm tone, so that the user can solve the current abnormal state as soon as possible.

In some embodiments, the alarm tone is determined according to the operating voltage value of the sound alarm device, and the higher the operating voltage value, the higher the alarm tone. In some embodiments, the alarm tone is determined based on the frequency of the input electric wave signal. It can be seen that by adjusting the level of the voltage value to adjust the level of the alarm tone, the operation can be simplified and the efficiency of adjusting the alarm tone can be improved.

In some embodiments, the sound alarm signal carries an alarm melody; the sound alarm signal is used to instruct the sound alarm device to emit a corresponding alarm sound according to the alarm melody. In some embodiments, the alarm melody is determined according to the duty cycle of the sound alarm signal and the duration of the duty cycle of the sound alarm signal. It can be seen that the implementation of emitting different alarm sounds through different alarm melody enables the driver or passenger to judge the current abnormal state according to the different alarm melody, so that the user can solve the current abnormal state as soon as possible.

Please refer to FIG. 5 for details. FIG. 5 is a schematic flowchart of another alarm control method for an autonomous vehicle according to an embodiment of the present invention. The method may be executed by an alarm control device, and the explanation of the alarm control device is as described above. . Specifically, the difference between the method of the embodiment of the present invention and the method described in FIG. 4 is that the embodiment of the present invention is a schematic description of the driving mode of an autonomous driving vehicle, and the method of the embodiment of the present invention includes the following steps .

S501: Obtain a request to enter the automatic driving mode.

In the embodiment of the present invention, the alarm control device may obtain a request to enter the automatic driving mode.

In some embodiments, when the automatic driving vehicle is in the manual driving mode, the alarm control device may obtain the request to perform the automatic driving mode. In other embodiments, when the automatic driving vehicle is in the automatic driving mode, the alarm control device may obtain the request to perform the manual driving mode.

S502: According to the request to enter the automatic driving mode, determine whether the automatic driving vehicle enters the automatic driving mode, if yes, execute step S503, and if not, execute step S504.

In the embodiment of the present invention, the alarm control device may determine whether the automatic driving vehicle enters the automatic driving mode according to the request to enter the automatic driving mode.

S503: Control the automatic driving vehicle to enter the automatic driving mode.

In the embodiment of the present invention, if it is determined that the automatic driving vehicle enters the automatic driving mode, the alarm control device may control the automatic driving vehicle to enter the automatic driving mode.

S504: Control the automatic driving vehicle to enter a manual driving mode.

In the embodiment of the present invention, if it is determined that the automatic driving vehicle has not entered the automatic driving mode, the alarm control device may control the automatic driving vehicle to enter the manual driving mode.

In the embodiment of the present invention, the alarm control device may obtain the request to enter the automatic driving mode, and according to the request to enter the automatic driving mode, determine whether the automatic driving vehicle enters the automatic driving mode, and if so, it may control the automatic driving mode. The vehicle is driven to enter the automatic driving mode. Through this embodiment, the automatic driving vehicle can be switched between the manual driving mode and the automatic driving mode, so that the alarm control device can determine the current operating state of the automatic driving vehicle according to the driving mode of the automatic driving vehicle. The current operating state determines whether the autonomous vehicle is in an abnormal state.

Refer to FIG. 6, which is a schematic structural diagram of an alarm control device provided by an embodiment of the present invention. The device includes a memory 601, one or more processors 602, and a data interface 603;

The memory 601 may include a volatile memory (volatile memory); the memory 601 may also include a non-volatile memory (non-volatile memory); the memory 601 may also include a combination of the foregoing types of memories. The processor 602 may be a central processing unit (CPU). The processor 602 may further include a hardware chip. The aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The foregoing PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

The processor 602 is configured to call the program instructions, and when the program instructions are executed, they can be used to execute the operation of the alarm control method for an autonomous vehicle provided in the foregoing embodiment.

An embodiment of the present invention also provides an interactive device. Please refer to FIG. 7. FIG. 7 is a schematic structural diagram of an interactive device provided by an embodiment of the present invention. The interactive device includes a touch display device 71 and the alarm control device 72 provided in the above embodiments. The touch display interface of the touch display device 71 includes at least one of the following: a mode display area 711, a mode switching area 712, a key Information display area 713, warning display area 714, automatic driving operation area 715, manual driving operation area 716. Wherein, the touch display device 71 and the alarm control device 72 establish a communication connection.

In one embodiment, the touch display device 71 may send the acquired information of each area to the alarm control device 72, and the alarm control device 72 may determine the information sent by the touch display device 71. The current operating state of the autonomous vehicle, and according to the current operating state, determine whether the autonomous vehicle is in an abnormal state, if the autonomous vehicle is in an abnormal state, the type of abnormal state can be determined, and according to The type of the abnormal state determines a preset alarm working mode corresponding to the type of the abnormal state, thereby controlling the audio alarm device of the autonomous vehicle to emit an alarm sound according to the preset alarm working mode to give an alarm.

In some embodiments, the mode display area 711 is used to display the current mode of the automatic driving vehicle, and the modes of the automatic driving vehicle include an automatic driving mode and a manual driving mode. In some embodiments, the mode switching area 712 includes a mode switching car control icon, and the mode switching car control icon includes but is not limited to a mode switching button for switching between an automatic driving mode and a manual driving mode.

In one embodiment, if the alarm control device 72 obtains the manual driving mode sent by the mode display area 711 of the touch display device 71, and obtains the manual driving mode switch from the manual driving mode to the automatic driving mode sent by the mode switching area 712 Switching information, the alarm control device 72 can determine that the request to switch to the automatic driving mode from the manual driving mode fails according to the manual driving mode and the switching information from the manual driving mode to the automatic driving mode.

In one embodiment, if the alarm control device 72 obtains the automatic driving mode sent by the mode display area 711 of the touch display device 71, and obtains the automatic driving mode from the manual driving mode to the automatic driving mode sent by the mode switching area 712 Switching information, the alarm control device 72 can determine that the request to switch to the automatic driving mode from the manual driving mode is successful according to the automatic driving mode and the switching information from the manual driving mode to the automatic driving mode.

In one embodiment, if the alarm control device 72 obtains the manual driving mode sent by the mode display area 711 in the touch display device 71, and obtains the manual driving mode from the automatic driving mode to the manual driving mode sent by the mode switching area 712 Switching information, the alarm control device 72 can determine that the switch from the automatic driving mode to the manual driving mode is successful according to the manual driving mode and the switching information from the automatic driving mode to the manual driving mode.

In one embodiment, if the alarm control device 72 obtains the automatic driving mode sent by the mode display area 711 of the touch display device 71, and obtains the automatic driving mode from the automatic driving mode to the manual driving mode sent by the mode switching area 712 Switching information, the alarm control device 72 can determine that the switch from the automatic driving mode to the manual driving mode has failed according to the automatic driving mode and the switching information from the automatic driving mode to the manual driving mode.

In some embodiments, the key information display area 713 is used to display speed information (such as expected speed, actual speed), mileage information (such as mileage driven, autonomous driving mileage), power information (such as remaining power ), fuel quantity information (such as remaining fuel quantity), driving time information (such as elapsed driving time, driving time), any one or more of driving information. The touch display device 71 can send the information displayed in the key information display area 713 to the alarm control device 72, so that the alarm control device 72 can determine the self-driving vehicle based on the information sent by the key information display area 713 Whether it is in an abnormal state. For example, when the remaining power is less than a preset power threshold, it is determined that the automatic automatic driving vehicle is in an abnormal state, and the sound alarm device is controlled to emit a corresponding alarm sound according to the type of the abnormal state.

In some embodiments, the alarm display area 714 is used to display any important error information and/or alarm information. In some embodiments, different mark information can be added to the error information and the alarm information to distinguish the error information and the alarm information. The mark information includes but is not limited to color information, such as error information marked in red and warning information marked It is yellow and cooperates with the alarm to alarm. As shown in Figure 1, the alarm display area 714 displays "Perception data is abnormal, please switch back to manual mode!!!", then the "sensing data is abnormal, please switch back to manual mode!!!" can be marked in red, and Combined with an alarm to remind the driver to cut out of automatic driving as soon as possible To improve the safety performance of autonomous vehicles during operation.

In one embodiment, if the alarm control device 72 receives the information sent by the alarm display area 714, the alarm control device 72 may control the sound alarm according to the mark information and/or information content of the acquired information The device emits an alarm sound corresponding to the marking information and/or information content.

In some embodiments, the autonomous driving operation area 715 includes a left lane change control car icon and a right lane change control car icon, and the left lane change control car icon is used to instruct the autonomous vehicle to change to the left in the automatic driving mode. Lane; The right lane change control car icon is used to instruct the autonomous vehicle to change lanes to the right in the automatic driving mode.

In one embodiment, if the automatic hypothesis operation area 715 sends the current road information and the left lane change instruction to the alarm control device 72, if the alarm control device 72 detects that the current road information is the leftmost road, and the left change instruction is acquired According to an instruction, the alarm control device 72 can control the sound alarm device to emit a corresponding alarm sound.

In some embodiments, the manual driving operation area 716 is used to display a virtual joystick control car icon, and the virtual joystick control car icon is used for a user to operate in a manual mode to control the movement of the autonomous vehicle. The virtual joystick car control icon includes any one or more of an acceleration control car icon, a deceleration control car icon, a left turn direction control car icon, and a right turn direction control car icon.

In one embodiment, if the acceleration information sent by the manual driving operation area 716 acquired by the alarm control device 72 exceeds the preset acceleration threshold, the deceleration information is less than the preset deceleration threshold, the left turn direction exceeds the preset angle, the right turn direction If any one or more of the preset angles is exceeded, the alarm control device 72 can control the sound alarm device to emit a corresponding alarm sound.

In the embodiment of the present invention, the alarm control device can determine the current operating state of the autonomous vehicle through the information of each area sent by the touch display device on the interactive device, and determine whether the autonomous vehicle is in operation according to the current operating state Abnormal state, if the automatic driving vehicle is in an abnormal state, according to the type of the abnormal state, a preset alarm operation mode corresponding to the type of the abnormal state can be determined, so as to control the audio alarm device of the automatic driving vehicle An alarm sound is emitted according to the preset alarm working mode to alarm. Through this embodiment, different sound alarms can be used to indicate different operating states and alarm information of the autonomous driving vehicle, thereby improving the safety performance of the autonomous driving vehicle during operation.

The embodiment of the present invention also provides an automatic driving vehicle, including: a vehicle body;

The power system installed on the car body to provide operating power;

The processor is configured to execute the operation of the alarm control method for an autonomous vehicle provided in the foregoing embodiment.

In the embodiment of the present invention, the self-driving vehicle report may obtain the current operating state of the self-driving vehicle, and according to the current operating state, determine whether the self-driving vehicle is in an abnormal state, and if the self-driving vehicle is in an abnormal state, Then, the type of the abnormal state can be determined, and according to the type of the abnormal state, the preset alarm working mode corresponding to the type of the abnormal state can be determined, so as to control the sound alarm device of the autonomous vehicle according to the predicted Set the alarm working mode to emit an alarm sound to alarm. Through this embodiment, different sound alarms can be used to indicate different operating states and alarm information of the autonomous driving vehicle, thereby improving the safety performance of the autonomous driving vehicle during operation.

The embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the embodiment of the present invention is implemented, and the present invention can also be implemented. The device in the corresponding embodiment of the invention will not be repeated here.

The computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or memory of the device. The computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a Smart Media Card (SMC), or a Secure Digital (SD) card , Flash Card, etc. Further, the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the terminal. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

It should be noted that certain words are used in the description and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. This specification and claims do not use differences in terms as a way to distinguish components, but use differences in functions of components as a criterion for distinguishing. If "include" or "include" mentioned in the entire specification and claims is an open term, it should be interpreted as "include but not limited to". The following description of the specification is a preferred embodiment for implementing the present invention, but the description is based on the general principles of the specification and is not intended to limit the scope of the present invention. The protection scope of the present invention shall be subject to those defined by the appended claims.

It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or a central component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to another component or there may be a centered component at the same time. When an element is considered to be "electrically connected" to another element, it can be a contact connection, for example, a wire connection or a non-contact connection, for example, a non-contact coupling, or some Interface, indirect coupling or communication connection of devices or units. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

In the several embodiments provided by the present invention, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or It can be integrated into another system, or some features can be ignored or not implemented.

The above-disclosed are only some embodiments of the present invention, which of course cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims

An alarm control method for an automatic driving vehicle is characterized in that it comprises:

Obtain the current operating status of the autonomous vehicle;

Determine whether the autonomous vehicle is in an abnormal state according to the current operating state;

If the autonomous vehicle is in an abnormal state, determine the type of the abnormal state;

According to the type of the abnormal state, a preset alarm working mode corresponding to the type of the abnormal state is determined, wherein there are multiple preset alarm working modes, and each of the preset alarm working modes includes sound Alarm, and the sound alarms of different preset alarm working modes are different;

The sound alarm device controlling the automatic driving vehicle emits an alarm sound according to the preset alarm working mode to give an alarm.
The method according to claim 1, wherein the sound alarm device for controlling the self-driving vehicle to emit an alarm sound according to the preset alarm working mode to give an alarm includes:

Determine the alarm priority corresponding to the preset alarm working mode according to the preset alarm working mode;

According to the alarm priority, the audio alarm device of the autonomous driving vehicle is controlled to emit the alarm sound.
The method according to claim 1, wherein the alarm sound corresponds to the type of the abnormal state.
The method according to claim 3, wherein different types of the abnormal state correspond to different alarm sounds.
The method according to claim 2, wherein the alarm sound corresponds to the alarm priority.
The method according to claim 5, wherein different alarm priorities correspond to different alarm sounds.
The method according to claim 2, further comprising:

According to the alarm priority, the order in which the sound alarm device emits the alarm sound is determined.
The method according to claim 7, wherein the controlling the audio alarm device of the self-driving vehicle to emit an alarm sound according to the alarm priority comprises:

If at least two alarm working modes are detected, acquiring the alarm priorities of the at least two alarm working modes;

The alarm priority levels of the at least two alarm working modes are compared, and the sound alarm device is controlled to send out the at least two alarm operations in the order of the alarm priority levels from high to low. The corresponding alarm sound of the mode.
The method according to claim 7, wherein the controlling the audio alarm device of the self-driving vehicle to emit an alarm sound according to the alarm priority comprises:

Determine the sound alarm signal corresponding to the alarm priority according to the alarm priority of the alarm working mode;

The sound alarm signal is sent to the sound alarm device, so that the sound alarm device emits an alarm sound indicated by the sound alarm signal.
The method according to claim 9, wherein the determining the sound alarm signal corresponding to the alarm priority according to the alarm priority of the alarm working mode comprises:

If at least two alarm working modes are detected, acquiring the alarm priorities of the at least two alarm working modes;

Comparing the alarm priorities of the at least two alarm working modes to determine the target alarm working mode with the highest alarm priority;

Determine the audible alarm signal corresponding to the alarm priority of the target alarm working mode.
The method according to claim 1, wherein:

The current operating state includes at least one of the following: being in the normal manual driving mode, in the normal automatic driving mode, requesting to switch to the automatic driving mode from the manual driving mode failed, requesting to switch to the automatic driving mode from the manual driving mode successfully, and switching from the automatic driving mode. Successfully exiting to manual driving mode, failing to exit from automatic driving mode to manual driving mode, a warning message appears, and an error message appears.
The method according to claim 1, wherein:

The type of the abnormal state includes at least one of the following: a request from manual driving mode to switch to automatic driving mode fails, a request from manual driving mode to switch to automatic driving mode is successful, switching from automatic driving mode to manual driving mode succeeds, and from automatic driving mode. Switching out to manual driving mode fails, a warning message appears, and an error message appears.
The method according to claim 10, wherein the sound alarm signal includes at least one of the following: alarm time, alarm tone, alarm volume, and alarm melody.
The method according to claim 13, wherein:

The sound alarm signal carries an alarm time; the sound alarm signal is used to instruct the sound alarm device to issue an alarm sound according to the alarm time.
The method according to claim 14, wherein the alarm time is positively correlated with the alarm priority of the preset alarm working mode.
The method according to claim 13, wherein:

The sound alarm signal carries an alarm volume; the sound alarm signal is used to instruct the sound alarm device to issue an alarm sound according to the alarm volume.
The method according to claim 16, wherein the alarm volume is positively correlated with the alarm priority of the preset alarm working mode.
The method according to claim 13, wherein:

The sound alarm signal carries an alarm tone; the sound alarm signal is used to instruct the sound alarm device to emit an alarm sound according to the alarm tone.
The method according to claim 18, wherein the alarm tone is positively correlated with the alarm priority of the preset alarm working mode.
The method according to claim 13, wherein:

The sound alarm signal carries an alarm melody; the sound alarm signal is used to instruct the sound alarm device to emit a corresponding alarm sound according to the alarm melody.
The method of claim 20, wherein:

The alarm melody is determined according to the duty ratio of the sound alarm signal and the duration of the duty ratio of the sound alarm signal.
The method according to claim 1, wherein:

The sound alarm device includes any one of a buzzer, a whistle, and a horn.
The method according to claim 13, wherein:

The alarm tone is determined according to the operating voltage value of the sound alarm device, and the higher the operating voltage value, the higher the alarm tone.
The method according to claim 2, wherein:

The alarm sound is adjusted according to the input electric wave signal of the sound alarm device.
The method of claim 24, wherein:

The alarm volume is determined according to the duty cycle of the input electric wave signal; and/or,

The alarm tone is determined according to the frequency of the input electric wave signal.
The method according to claim 1, further comprising:

Get the request to enter the autopilot mode;

Judging whether the automatic driving vehicle enters the automatic driving mode according to the request to enter the automatic driving mode;

If so, control the autonomous vehicle to enter the autonomous driving mode.
The method according to claim 26, further comprising:

When the automatic driving vehicle is in the manual driving mode, acquiring a request to enter the automatic driving mode;

Judging whether the automatic driving vehicle enters the automatic driving mode according to the request to enter the automatic driving mode;

If yes, control the automatic driving vehicle to enter the automatic driving mode from the manual driving mode.
The method according to claim 26, further comprising:

If it is determined that the automatic driving vehicle has not entered the automatic driving mode, the automatic driving vehicle is controlled to enter the manual driving mode.
The method according to claim 1, characterized in that, before acquiring the current operating state of the autonomous vehicle, the method further comprises:

Acquiring the current driving mode of the autonomous vehicle;

The current operating state is determined according to the current driving mode of the autonomous vehicle.
The method according to claim 29, wherein the current driving mode comprises: an automatic driving mode or a manual driving mode.
An alarm control device, which is characterized in that it includes one or more processors, working individually or together, for performing the following operations:

Obtain the current operating status of the autonomous vehicle;

Determine whether the autonomous vehicle is in an abnormal state according to the current operating state;

If the autonomous vehicle is in an abnormal state, determine the type of the abnormal state;

According to the type of the abnormal state, a preset alarm working mode corresponding to the type of the abnormal state is determined, wherein there are multiple preset alarm working modes, and each of the preset alarm working modes includes sound Alarm, and the sound alarms of different preset alarm working modes are different;

The sound alarm device controlling the automatic driving vehicle emits an alarm sound according to the preset alarm working mode to give an alarm.
The device according to claim 31, wherein the processor controls the sound alarm device of the self-driving vehicle to emit an alarm sound according to the preset alarm working mode to make an alarm, which is specifically used for:

Determine the alarm priority corresponding to the preset alarm working mode according to the preset alarm working mode;

According to the alarm priority, the sound alarm device of the autonomous vehicle is controlled to emit the alarm sound corresponding to the alarm priority.
The device according to claim 31, wherein the alarm sound corresponds to the type of the abnormal state.
The device according to claim 33, wherein different types of the abnormal state correspond to different alarm sounds.
The device according to claim 32, wherein the alarm sound corresponds to the alarm priority.
The device according to claim 35, wherein different alarm priorities correspond to different alarm sounds.
The device according to claim 32, wherein the processor is further configured to:

According to the alarm priority, the order in which the sound alarm device emits the alarm sound is determined.
The device according to claim 37, wherein when the processor controls the audio alarm device of the autonomous vehicle to emit an alarm sound according to the alarm priority, it is specifically configured to:

If at least two alarm working modes are detected, acquiring the alarm priorities of the at least two alarm working modes;

The alarm priority levels of the at least two alarm working modes are compared, and the sound alarm device is controlled to send out the at least two alarm operations in the order of the alarm priority levels from high to low. The corresponding alarm sound of the mode.
The device according to claim 37, wherein when the processor controls the audio alarm device of the autonomous vehicle to emit an alarm sound according to the alarm priority, it is specifically configured to:

Determine the sound alarm signal corresponding to the alarm priority according to the alarm priority of the alarm working mode;

The sound alarm signal is sent to the sound alarm device, so that the sound alarm device emits an alarm sound indicated by the sound alarm signal.
The device according to claim 39, wherein when the processor determines the sound alarm signal corresponding to the alarm priority according to the alarm priority of the alarm working mode, it is specifically configured to:

If at least two alarm working modes are detected, acquiring the alarm priorities of the at least two alarm working modes;

Comparing the alarm priorities of the at least two alarm working modes to determine the target alarm working mode with the highest alarm priority;

Determine the audible alarm signal corresponding to the alarm priority of the target alarm working mode.
The device according to claim 31, wherein:

The current operating state includes at least one of the following: in the normal manual driving mode, in the normal automatic driving mode, failing to switch from the manual driving mode to the automatic driving mode, requesting to switch to the automatic driving mode from the manual driving mode successfully, and switching from the automatic driving mode. Successfully exiting to manual driving mode, failing to exit from automatic driving mode to manual driving mode, a warning message appears, and an error message appears.
The device according to claim 31, wherein:

The type of the abnormal state includes at least one of the following: a request from manual driving mode to switch to automatic driving mode fails, a request from manual driving mode to switch to automatic driving mode is successful, switching from automatic driving mode to manual driving mode succeeds, and from automatic driving mode. Switching out to manual driving mode fails, a warning message appears, and an error message appears.
The device according to claim 40, wherein the sound alarm signal comprises at least one of the following: alarm time, alarm tone, alarm volume, and alarm melody.
The device according to claim 43, wherein:

The sound alarm signal carries an alarm time; the sound alarm signal is used to instruct the sound alarm device to issue an alarm sound according to the alarm time.
The device according to claim 44, wherein the alarm time is positively correlated with the alarm priority of the preset alarm working mode.
The device according to claim 43, wherein:

The sound alarm signal carries an alarm volume; the sound alarm signal is used to instruct the sound alarm device to issue an alarm sound according to the alarm volume.
The device according to claim 46, wherein the alarm volume is positively correlated with the alarm priority of the preset alarm working mode.
The device according to claim 43, wherein:

The sound alarm signal carries an alarm tone; the sound alarm signal is used to instruct the sound alarm device to emit an alarm sound according to the alarm tone.
The device according to claim 48, wherein the alarm tone is positively correlated with the alarm priority of the preset alarm working mode.
The device according to claim 43, wherein:

The sound alarm signal carries an alarm melody; the sound alarm signal is used to instruct the sound alarm device to emit a corresponding alarm sound according to the alarm melody.
The device according to claim 50, wherein:

The alarm melody is determined according to the duty ratio of the sound alarm signal and the duration of the duty ratio of the sound alarm signal.
The device according to claim 31, wherein:

The sound alarm device includes any one of a buzzer, a whistle, and a horn.
The device according to claim 43, wherein:

The alarm tone is determined according to the operating voltage value of the sound alarm device, and the higher the operating voltage value, the higher the alarm tone.
The device according to claim 32, wherein:

The alarm sound is adjusted according to the input electric wave signal of the sound alarm device.
The device according to claim 54, characterized in that:

The alarm volume is determined according to the duty cycle of the input electric wave signal; and/or,

The alarm tone is determined according to the frequency of the input electric wave signal.
The device according to claim 31, wherein the processor is further configured to:

Get the request to enter the autopilot mode;

Judging whether the automatic driving vehicle enters the automatic driving mode according to the request to enter the automatic driving mode;

If so, control the autonomous vehicle to enter the autonomous driving mode.
The device according to claim 56, wherein the processor is further configured to:

When the automatic driving vehicle is in the manual driving mode, acquiring a request to enter the automatic driving mode;

Judging whether the automatic driving vehicle enters the automatic driving mode according to the request to enter the automatic driving mode;

If yes, control the automatic driving vehicle to enter the automatic driving mode from the manual driving mode.
The device according to claim 56, wherein the processor is further configured to:

If it is determined that the automatic driving vehicle has not entered the automatic driving mode, the automatic driving vehicle is controlled to enter the manual driving mode.
The device according to claim 34, wherein the processor is further configured to: before acquiring the current operating state of the autonomous vehicle:

Acquiring the current driving mode of the autonomous vehicle;

The current operating state is determined according to the current driving mode of the autonomous vehicle.
The device according to claim 59, wherein the current driving mode comprises: an automatic driving mode or a manual driving mode.
An automatic driving vehicle, characterized in that it comprises:

Car body

The power system provided on the vehicle body is used to provide operating power;

The processor is configured to obtain the current operating state of the autonomous vehicle; determine whether the autonomous vehicle is in an abnormal state according to the current operating state; if the autonomous vehicle is in an abnormal state, determine the type of the abnormal state According to the type of the abnormal state, determine the preset alarm work mode corresponding to the type of the abnormal state, wherein the preset alarm work mode is multiple, each of the preset alarm work mode includes Sound alarms, and the sound alarms of different preset alarm working modes are different; the sound alarm device controlling the autonomous vehicle emits an alarm sound according to the preset alarm working mode to give an alarm.
The self-driving vehicle according to claim 61, wherein the processor controls the sound alarm device of the self-driving vehicle to emit an alarm sound according to the preset alarm working mode to make an alarm, which is specifically used for:

Determine the alarm priority corresponding to the preset alarm working mode according to the preset alarm working mode;

According to the alarm priority, the sound alarm device of the autonomous vehicle is controlled to emit an alarm sound corresponding to the alarm priority.
The self-driving vehicle according to claim 61, wherein the alarm sound corresponds to the type of the abnormal state.
The self-driving vehicle according to claim 63, wherein different types of the abnormal state correspond to different alarm sounds.
The self-driving vehicle according to claim 62, wherein the alarm sound corresponds to the alarm priority.
The self-driving vehicle according to claim 65, wherein different alarm priorities correspond to different alarm sounds.
The self-driving vehicle according to claim 62, wherein the processor is further configured to:

According to the alarm priority, the order in which the sound alarm device emits the alarm sound is determined.
The self-driving vehicle according to claim 67, wherein when the processor controls the audio alarm device of the self-driving vehicle to emit an alarm sound according to the alarm priority, it is specifically configured to:

If at least two alarm working modes are detected, acquiring the alarm priorities of the at least two alarm working modes;

The alarm priority levels of the at least two alarm working modes are compared, and the sound alarm device is controlled to send out the at least two alarm operations in the order of the alarm priority levels from high to low. The corresponding alarm sound of the mode.
The self-driving vehicle according to claim 67, wherein when the processor controls the audio alarm device of the self-driving vehicle to emit an alarm sound according to the alarm priority, it is specifically used for:

Determine the sound alarm signal corresponding to the alarm priority according to the alarm priority of the alarm working mode;

The sound alarm signal is sent to the sound alarm device, so that the sound alarm device emits an alarm sound indicated by the sound alarm signal.
The self-driving vehicle according to claim 69, wherein when the processor determines the sound alarm signal corresponding to the alarm priority according to the alarm priority of the alarm operation mode, it is specifically used for:

If at least two alarm working modes are detected, acquiring the alarm priorities of the at least two alarm working modes;

Comparing the alarm priorities of the at least two alarm working modes to determine the target alarm working mode with the highest alarm priority;

Determine the audible alarm signal corresponding to the alarm priority of the target alarm working mode.
The self-driving vehicle according to claim 61, wherein:

The current operating state includes at least one of the following: in the normal manual driving mode, in the normal automatic driving mode, failing to switch from the manual driving mode to the automatic driving mode, requesting to switch to the automatic driving mode from the manual driving mode successfully, and switching from the automatic driving mode. Successfully exiting to manual driving mode, failing to exit from automatic driving mode to manual driving mode, a warning message appears, and an error message appears.
The self-driving vehicle according to claim 61, wherein:

The type of the abnormal state includes at least one of the following: a request from manual driving mode to switch to automatic driving mode fails, a request from manual driving mode to switch to automatic driving mode is successful, switching from automatic driving mode to manual driving mode succeeds, and from automatic driving mode. Switching out to manual driving mode fails, a warning message appears, and an error message appears.
The self-driving vehicle according to claim 70, wherein the sound alarm signal includes at least one of the following: alarm time, alarm tone, alarm volume, and alarm melody.
The self-driving vehicle according to claim 73, wherein:

The sound alarm signal carries an alarm time; the sound alarm signal is used to instruct the sound alarm device to issue an alarm sound according to the alarm time.
The self-driving vehicle according to claim 74, wherein the alarm time is positively correlated with the alarm priority of the preset alarm working mode.
The self-driving vehicle according to claim 73, wherein:

The sound alarm signal carries an alarm volume; the sound alarm signal is used to instruct the sound alarm device to issue an alarm sound according to the alarm volume.
The self-driving vehicle according to claim 76, wherein the alarm volume is positively correlated with the alarm priority of the preset alarm working mode.
The self-driving vehicle according to claim 73, wherein:

The sound alarm signal carries an alarm tone; the sound alarm signal is used to instruct the sound alarm device to emit an alarm sound according to the alarm tone.
The self-driving vehicle according to claim 78, wherein the alarm tone is positively correlated with the alarm priority of the preset alarm working mode.
The self-driving vehicle according to claim 73, wherein:

The sound alarm signal carries an alarm melody; the sound alarm signal is used to instruct the sound alarm device to emit a corresponding alarm sound according to the alarm melody.
The self-driving vehicle according to claim 80, wherein:

The alarm melody is determined according to the duty ratio of the sound alarm signal and the duration of the duty ratio of the sound alarm signal.
The self-driving vehicle according to claim 61, wherein:

The sound alarm device includes any one of a buzzer, a whistle, and a horn.
The self-driving vehicle according to claim 73, wherein:

The alarm tone is determined according to the operating voltage value of the sound alarm device, and the higher the operating voltage value, the higher the alarm tone.
The self-driving vehicle according to claim 62, wherein:

The alarm sound is adjusted according to the input electric wave signal of the sound alarm device.
The self-driving vehicle according to claim 84, wherein:

The alarm volume is determined according to the duty cycle of the input electric wave signal; and/or,

The alarm tone is determined according to the frequency of the input electric wave signal.
The self-driving vehicle according to claim 61, wherein the processor is further configured to:

Get the request to enter the autopilot mode;

Judging whether the automatic driving vehicle enters the automatic driving mode according to the request to enter the automatic driving mode;

If so, control the autonomous vehicle to enter the autonomous driving mode.
The self-driving vehicle according to claim 86, wherein the processor is further configured to:

When the automatic driving vehicle is in the manual driving mode, acquiring a request to enter the automatic driving mode;

Judging whether the automatic driving vehicle enters the automatic driving mode according to the request to enter the automatic driving mode;

If yes, control the automatic driving vehicle to enter the automatic driving mode from the manual driving mode.
The self-driving vehicle according to claim 86, wherein the processor is further used for:

If it is determined that the automatic driving vehicle has not entered the automatic driving mode, the automatic driving vehicle is controlled to enter the manual driving mode.
The self-driving vehicle according to claim 61, wherein the processor is further configured to: before acquiring the current operating state of the self-driving vehicle:

Acquiring the current driving mode of the autonomous vehicle;

The current operating state is determined according to the current driving mode of the autonomous vehicle.
The self-driving vehicle according to claim 89, wherein the current driving mode comprises: an automatic driving mode or a manual driving mode.
A computer-readable storage medium storing a computer program, wherein the computer program implements the method according to any one of claims 1 to 30 when the computer program is executed by a processor.