阅读说明：本技术 一种自动驾驶汽车的自动驾驶级别检测方法 (Automatic driving level detection method for automatic driving automobile ) 是由 付硅千 夏登海 范子全 于 2021-08-25 设计创作，主要内容包括：本发明涉及一种自动驾驶汽车的自动驾驶级别检测方法,包括以下步骤：a1,确定并收集被检测对象相关资料；a2,判断被检对象及说明资料是否满足要求；a3,判断被检对象与说明资料是否一致,并标定所采用技术及支持设备；a4,实际驾驶被检对象并判断其驾驶过程所体现的自动驾驶级别；a5,综合判断检测对象在检测过程中的各项表现,评判其是否满足0级～5级驾驶自动化的要求。本发明能够使用尽可能简便和可操作的方式判断自动驾驶车辆是否达到其声明的自动化驾驶级别,并判断其能否满足该级别下的辅助/自动驾驶任务。当出现自动化驾驶车辆不能满足其声明的自动化驾驶级别时,能够给生产厂家提供充分的证据以告知其产品主要缺陷。(The invention relates to an automatic driving level detection method of an automatic driving automobile, which comprises the following steps: a1, determining and collecting the related data of the detected object; a2, determining whether the detected object and the description data satisfy the requirement; a3, judging whether the detected object is consistent with the description data, and calibrating the adopted technology and supporting equipment; a4, actually driving the detected object and judging the automatic driving level embodied by the driving process; a5, comprehensively judging each performance of the detection object in the detection process, and judging whether the performance meets the requirements of 0-5 level driving automation. The present invention is able to determine whether an autonomous vehicle has reached its declared automated driving level and whether it can meet an assistance/autonomous driving task at that level using as simple and operable a manner as possible. When an automated driving vehicle is found that cannot meet its declared automated driving level, sufficient evidence can be provided to the manufacturer to inform it of the major product defect.)

1. An automatic driving level detection method of an automatic driving automobile, characterized by comprising the steps of:

a1, determining and collecting the related data of the detected object: receiving basic information of an object to be detected submitted by a user, wherein the basic information comprises: the object to be detected and the matched description data;

a2, determining whether the detected object and the description data satisfy the requirement: searching an object to be detected submitted by a user and matched description data, and searching and calibrating an auxiliary/automatic driving technology and matched equipment adopted by the object to be detected;

a3, judging whether the detected object is consistent with the description data, and calibrating the adopted technology and supporting equipment: checking the object to be detected, comparing the object to be detected with the calibrated auxiliary/automatic driving technology and the calibrated auxiliary equipment, and determining that the auxiliary/automatic driving technology and the calibrated auxiliary equipment in the description data are installed and configured on the object to be detected;

a4, actually driving the detected object and judging the automatic driving level embodied by the driving process;

a5, comprehensively judging each performance of the detection object in the detection process, judging whether the performance meets the requirements of 0-5 level driving automation, and providing a detection conclusion according with the level.

2. The automatic driving level detection method of an automatic driving car according to claim 1, characterized in that: the step a2 is used for detecting 1-level driving automation, and the description data comprises the adopted auxiliary/automatic driving technology and the matched equipment which indicate that the transverse or longitudinal motion control of the detected object can be carried out in the preset driving environment; the step a2 is used for detecting the level 2 driving automation, and the description includes the adopted auxiliary/automatic driving technology and the supporting equipment which should indicate that the detection object can carry out the lateral and longitudinal motion control in the preset driving environment.

3. The automatic driving level detection method of an automatic driving car according to claim 1, characterized in that: the step a2 is used for detecting 3-level driving automation, and the description material comprises the following contents:

(1) the automatic driving system has definite operation boundary conditions and can be activated under definite conditions;

(2) after the automatic driving system is activated, all dynamic driving tasks can be executed under the expected running condition;

(3) when the automatic driving system identifies that the automatic driving system is about to not meet the expected operation condition, informing the driver of taking over the driving task in any mode;

(4) when the automatic driving system of the vehicle is in failure, informing the driver of taking over the driving task in what way;

(5) the method comprises the steps that an automatic driving system identifies and evaluates the driving capacity of a driver in what way, informs the driver in what way to take over the driving task when the driving capacity of the evaluated driver cannot meet the driving task, and waits for a long time before taking next measures after the automatic driving system provides a take-over request to the driver;

(6) after the automated driving system sends a notification to the driver to take over the driving task, when the driver does not respond to the take over request, which risk reduction strategies the driver will take.

4. The automatic driving level detection method of an automatic driving car according to claim 1, characterized in that: the step a2 is used for detecting 4-level driving automation, and the description material comprises the following contents:

(1) the automatic driving system has definite operation boundary conditions and can be activated under definite conditions;

(2) after the automatic driving system is activated, all dynamic driving tasks can be executed under the expected running condition;

(3) after the automatic driving system is activated, the automatic driving system can recognize that the automatic driving system is about to not meet the design operation condition and send out warning to drivers and passengers;

(4) after the automatic driving system is activated, the failure condition of the automatic driving system and the failure condition of other components of the vehicle can be identified, and a warning is given to a driver and passengers;

(5) its automated driving system can discern including: i.e. special situations that the design operating conditions are not met, the driving automation system fails or other components of the vehicle fail, the driver does not respond to the takeover request, the driver requires the minimum risk state to be achieved, and a minimum risk strategy is executed to enable the vehicle to reach the minimum risk state, which declares the basic measures for executing the minimum risk strategy and the triggering conditions of the measures;

(6) and the automatic driving system is definitely divided into: the system control right is not removed under the two conditions that the minimum risk state is achieved or the driver drives the vehicle;

(7) when the driver requires the automatic driving system to exit or release the vehicle control right, the automatic driving system releases the control right, and the safety risk exists in the situation that the system control right is released after the safety risk is released, so that the type of the safety risk, the handling measures of the safety risk and the state which the driver should reach before the control right is released are determined.

5. The automatic driving level detection method of an automatic driving car according to claim 1, characterized in that: the step a2 is used for detecting 5-level driving automation, and the description material comprises the following contents:

(1) after the automatic driving system is activated, the failure condition of the automatic driving system and the failure condition of other components of the vehicle can be identified, and a warning is given to a driver and passengers;

(2) its automated driving system can discern including: special cases including failure of the driving automation system or failure of other components of the vehicle, failure of the driver to respond to the takeover request, requirement of the driver to achieve the minimum risk state, and execution of the minimum risk strategy to bring the vehicle to the minimum risk state should be declared as the basic measures for executing the minimum risk strategy and the triggering conditions for these measures;

(3) and the automatic driving system is definitely divided into: the system control right is not removed under the two conditions that the minimum risk state is achieved or the driver drives the vehicle;

(4) when the driver requires the automatic driving system to exit or release the vehicle control right, the automatic driving system releases the control right, and the safety risk exists in the situation that the system control right is released after the safety risk is released, so that the type of the safety risk, the handling measures of the safety risk and the state which the driver should reach before the control right is released are determined.

6. The automatic driving level detection method of an automatic driving car according to claim 2, characterized in that: the step a4 for the automatic detection of the 0-2-level driving comprises the following steps:

(1) the auxiliary/automatic driving technology and the supporting equipment adopted for observing the detection object play a preset role according to an expected action mode, and have the target and event detection and response capabilities matched with the control action performed by the auxiliary/automatic driving technology and the supporting equipment in the control process, wherein the step a4 is used for detecting whether the supporting equipment can perform transverse or longitudinal motion control on the detection object or not in the level 1 driving automation, and the step a4 is used for detecting whether the supporting equipment can perform transverse and longitudinal motion control on the detection object or not in the level 2 driving automation;

(2) the step a4 is used for automatic detection of 0-2-level driving and further comprises the following steps: in the operation process of the automatic driving system, a driver requires to take over the driving authority according to a system preset/non-preset mode, whether the automatic driving system of the detection object can immediately remove the system control authority is observed, and the driver takes over the driving of the detection object.

7. The automatic driving level detection method of an automatic driving car according to claim 1, characterized in that: the step a4 for the automatic detection of 3-4-level driving comprises the following steps:

(1) starting the automatic driving system in the operation boundary of the automatic driving system, observing whether the automatic driving system can complete the expected dynamic driving task under the expected operation condition of the automatic driving system, and having the target and event detection and response capabilities matched with the driving task in the driving process;

(2) and detecting the object in actual driving, starting the automatic driving system outside the operation boundary of the automatic driving system, observing whether the automatic driving system is started, and informing the driver of the reason of incapability of starting the automatic driving system by giving a clear prompt.

8. The automatic driving level detection method of an automatic driving car according to claim 7, characterized in that: the step a4 for the automatic detection of 3-level driving further comprises the following steps:

(1) the method comprises the following steps that the operation boundary of the automatic driving system is exceeded in the operation process of the automatic driving system, whether the automatic driving system can identify that the operation of the automatic driving system exceeds an expected operation environment or is about to exceed the operation environment of the automatic driving system is observed, whether the automatic driving system provides a request for taking over a driving task to a driver according to the description of the automatic driving system is observed, and whether a risk reduction strategy and measures consistent with the description of the automatic driving system are adopted or not under the condition that the driver does not respond after waiting for the time consistent with the description of the automatic driving system after the request for taking over the driving task is provided;

(2) whether the automatic driving system can judge whether the driving capability of the driver can meet the requirement for taking over the driving task or not according to the explained rule is observed, when the system judges that the driver can not meet the requirement for taking over the driving task, whether the automatic driving system can send prompt information consistent with the explanation to request the driver to take over the driving task or not is judged, and under the condition that the driver does not respond after waiting for the time consistent with the explanation, a risk reduction strategy and measures consistent with the explanation are adopted;

(3) and the actual driving detection object is used for enabling the driver to take over the driving authority according to the system preset/non-preset mode in the process that the automatic driving system executes the dynamic driving task, observing the response of the automatic driving system, and whether the automatic driving system immediately releases the control authority of the driving task and gives the control authority to the driver.

9. The automatic driving level detection method of an automatic driving car according to claim 7, characterized in that: the step a4 for the automatic detection of 4-level driving further comprises the following steps:

(1) exceeding the operation boundary of the automatic driving system in the operation process of the automatic driving system, observing whether the automatic driving system can identify that the operation of the automatic driving system exceeds the expected operation environment or is about to exceed the operation environment of the automatic driving system, and sending out a warning to a driver and passengers according to a mode provided by the description data of the automatic driving system;

(2) the automatic driving system part assembly is disabled in the running process of the automatic driving system, whether the automatic driving system can identify the failure condition is observed, and a warning is given to a driver and passengers according to the mode provided by the description data;

(3) observing whether the automatic driving system can take corresponding risk handling measures according to the risk handling strategy stated by the description information when special conditions including that the automatic driving system is about to fail to meet the design operation condition, the driving automation system fails or other components of the vehicle fail, the driver does not respond to the takeover request and the driver requires to realize the minimum risk state occur, and enabling the vehicle to reach the minimum risk state stated by the vehicle;

(4) observing whether the automatic driving system releases the vehicle control right in the whole detection working process except the situation that the minimum risk state is achieved or the vehicle is driven by a driver;

(5) and observing whether the automatic driving system judges whether the driver has a condition for driving the vehicle and whether the current driving environment meets a risk condition for removing the vehicle control right under the condition that the driver requires the automatic driving system to remove the vehicle control right, and whether the automatic driving system gives a warning to a driver in a mode of providing description data when the conditions are not met, and requires the driver to prepare for taking over the vehicle and carry out risk treatment, and whether the automatic driving system removes the vehicle control right and hands over a dynamic driving task to the driver when the conditions are met.

10. The automatic driving level detection method of an automatic driving car according to claim 1, characterized in that: the step a4 is used for the automatic detection of the 5-level driving, and comprises the following steps:

(1) starting an automatic driving system, appointing a driving task, observing whether the automatic driving system can operate a vehicle to finish the appointed driving task, and treating various traffic conditions according to the principles (including minimum risk of the vehicle and drivers and minimum risk of surrounding environment) meeting road traffic laws and regulations and minimum risk in the driving task execution process;

(2) the automatic driving system part assembly is disabled in the running process of the automatic driving system, whether the automatic driving system can identify the failure condition is observed, and a warning is given to a driver and passengers according to the mode provided by the description data;

(3) the automatic driving system is used for detecting the failure condition of the automatic driving system and sending a warning to a driver and passengers according to the information provided by the description information;

(4) observing whether corresponding risk handling measures can be taken according to a risk handling strategy stated by the description data of the automatic driving system when special conditions including failure of the automatic driving system or failure of other components of the vehicle, unresponsiveness of a driver and an occupant, and requirement of the driver and the occupant for realizing the minimum risk state occur in the automatic driving system, and enabling the vehicle to reach the minimum risk state stated by the automatic driving system;

(5) observing whether the automatic driving system releases the vehicle control right in the whole detection working process except the situation that the minimum risk state is achieved or the vehicle is driven by a driver;

(6) and observing whether the automatic driving system judges whether the driver has the condition for driving the vehicle and whether the current driving environment meets the risk condition for removing the vehicle control right under the condition that the driver requires the automatic driving system to remove the vehicle control right, and whether the automatic driving system gives a warning to a driver in a mode of providing description data when the automatic driving system does not meet the condition, and requires the driver to prepare for taking over the vehicle and carry out risk treatment, and whether the automatic driving system removes the vehicle control right and hands over a dynamic driving task to the driver when the automatic driving system has the condition for removing the vehicle control right.

Technical Field

The invention relates to the technical field of automobiles, in particular to an automatic driving level detection method of an automatic driving automobile.

Background

With the deep integration of artificial intelligence technology and the traditional automotive industry, intelligent (automated) driver-assisted vehicles/fully-automated vehicles (hereinafter collectively referred to as autonomous vehicles) are beginning to move to the market in batches and begin to travel on the road in the existing road traffic environment in large areas. A series of standards for grading the automatic driving automobiles are provided in the United states, European Union and China according to the characteristics of the automatic driving automobiles in various aspects such as driving, control and the like.

According to the requirements of the automobile driving automation classification standard (approval draft) published in 2020 in China, the automatic driving automobile is classified into six grades of L0-L5 from low automation capacity to high automation capacity in China, namely emergency assistance, partial driving assistance, combined driving assistance, conditional automatic driving, high automatic driving and full automatic driving, and the standard clearly indicates which driving automation grade the automatic driving automobile can be classified into when meeting which conditions.

At present, a lot of automobiles which are sold in the market and are declared to have the intelligent/automatic driving function are provided, but the matching degree of the declared intelligent/automatic driving capacity and relevant standard specifications is disordered, and no definite detection method is provided in the industry for identifying the automatic driving capacity of an automobile of a certain model, and the automobile cannot be classified, so that the market main body is not convenient to manage, and the selection of consumers is not convenient. Therefore, in order to solve the above problems, an automatic driving level detection method of an automatic driving automobile is proposed.

Disclosure of Invention

The invention aims to provide an automatic driving level detection method of an automatic driving automobile, which aims to solve the problems in the background art.

In order to achieve the purpose, the invention provides the following technical scheme: an automatic driving level detection method of an automatic driving automobile comprises the following steps:

a1, determining and collecting the related data of the detected object: receiving basic information of an object to be detected submitted by a user, wherein the basic information comprises: the object to be detected and the matched description data;

a2, determining whether the detected object and the description data satisfy the requirement: searching an object to be detected submitted by a user and matched description data, and searching and calibrating an auxiliary/automatic driving technology and matched equipment adopted by the object to be detected;

a3, judging whether the detected object is consistent with the description data, and calibrating the adopted technology and supporting equipment: checking the object to be detected, comparing the object to be detected with the calibrated auxiliary/automatic driving technology and the calibrated auxiliary equipment, and determining that the auxiliary/automatic driving technology and the calibrated auxiliary equipment in the description data are installed and configured on the object to be detected;

a4, actually driving the detected object and judging the automatic driving level embodied by the driving process;

a5, comprehensively judging each performance of the detection object in the detection process, judging whether the performance meets the requirements of 0-5 level driving automation, and providing a detection conclusion according with the level.

Preferably, the step a2 is used for detecting the level 1 driving automation, and the description data comprises the adopted auxiliary/automatic driving technology and the supporting equipment which are used for indicating that the transverse or longitudinal motion control of the detected object can be carried out in the preset driving environment; the step a2 is used for detecting the level 2 driving automation, and the description includes the adopted auxiliary/automatic driving technology and the supporting equipment which should indicate that the detection object can carry out the lateral and longitudinal motion control in the preset driving environment.

Preferably, the step a2 is used for detecting 3-level driving automation, and the description material comprises the following contents:

(1) the automatic driving system has definite operation boundary conditions and can be activated under definite conditions;

(2) after the automatic driving system is activated, all dynamic driving tasks can be executed under the expected running condition;

(3) when the automatic driving system identifies that the automatic driving system is about to not meet the expected operation condition, informing the driver of taking over the driving task in any mode;

(4) when the automatic driving system of the vehicle is in failure, informing the driver of taking over the driving task in what way;

(5) the method comprises the steps that an automatic driving system identifies and evaluates the driving capacity of a driver in what way, informs the driver in what way to take over the driving task when the driving capacity of the evaluated driver cannot meet the driving task, and waits for a long time before taking next measures after the automatic driving system provides a take-over request to the driver;

(6) after the automated driving system sends a notification to the driver to take over the driving task, when the driver does not respond to the take over request, which risk reduction strategies the driver will take.

Preferably, the step a2 is used for detecting 4-level driving automation, and the description material comprises the following contents:

(1) the automatic driving system has definite operation boundary conditions and can be activated under definite conditions;

(2) after the automatic driving system is activated, all dynamic driving tasks can be executed under the expected running condition;

(3) after the automatic driving system is activated, the automatic driving system can recognize that the automatic driving system is about to not meet the design operation condition and send out warning to drivers and passengers;

(4) after the automatic driving system is activated, the failure condition of the automatic driving system and the failure condition of other components of the vehicle can be identified, and a warning is given to a driver and passengers;

(5) its automated driving system can discern including: i.e. special situations that the design operating conditions are not met, the driving automation system fails or other components of the vehicle fail, the driver does not respond to the takeover request, the driver requires the minimum risk state to be achieved, and a minimum risk strategy is executed to enable the vehicle to reach the minimum risk state, which declares the basic measures for executing the minimum risk strategy and the triggering conditions of the measures;

(6) and the automatic driving system is definitely divided into: the system control right is not removed under the two conditions that the minimum risk state is achieved or the driver drives the vehicle;

(7) when the driver requires the automatic driving system to exit or release the vehicle control right, the automatic driving system releases the control right, and the safety risk exists in the situation that the system control right is released after the safety risk is released, so that the type of the safety risk, the handling measures of the safety risk and the state which the driver should reach before the control right is released are determined.

Preferably, the step a2 is used for detecting 5-level driving automation, and the description material comprises the following contents:

(1) after the automatic driving system is activated, the failure condition of the automatic driving system and the failure condition of other components of the vehicle can be identified, and a warning is given to a driver and passengers;

(2) its automated driving system can discern including: special cases including failure of the driving automation system or failure of other components of the vehicle, failure of the driver to respond to the takeover request, requirement of the driver to achieve the minimum risk state, and execution of the minimum risk strategy to bring the vehicle to the minimum risk state should be declared as the basic measures for executing the minimum risk strategy and the triggering conditions for these measures;

(3) and the automatic driving system is definitely divided into: the system control right is not removed under the two conditions that the minimum risk state is achieved or the driver drives the vehicle;

(4) when the driver requires the automatic driving system to exit or release the vehicle control right, the automatic driving system releases the control right, and the safety risk exists in the situation that the system control right is released after the safety risk is released, so that the type of the safety risk, the handling measures of the safety risk and the state which the driver should reach before the control right is released are determined.

Preferably, the step a4 for the automatic detection of the 0-2 level driving comprises the following steps:

(1) the auxiliary/automatic driving technology and the supporting equipment adopted for observing the detection object play a preset role according to an expected action mode, and have the target and event detection and response capabilities matched with the control action performed by the auxiliary/automatic driving technology and the supporting equipment in the control process, wherein the step a4 is used for detecting whether the supporting equipment can perform transverse or longitudinal motion control on the detection object or not in the level 1 driving automation, and the step a4 is used for detecting whether the supporting equipment can perform transverse and longitudinal motion control on the detection object or not in the level 2 driving automation;

(2) the step a4 is used for automatic detection of 0-2-level driving and further comprises the following steps: in the operation process of the automatic driving system, a driver requires to take over the driving authority according to a system preset/non-preset mode, whether the automatic driving system of the detection object can immediately remove the system control authority is observed, and the driver takes over the driving of the detection object.

Preferably, the step a4 for the automatic detection of 3-4-level driving comprises the following steps:

(1) starting the automatic driving system in the operation boundary of the automatic driving system, observing whether the automatic driving system can complete the expected dynamic driving task under the expected operation condition of the automatic driving system, and having the target and event detection and response capabilities matched with the driving task in the driving process;

(2) and detecting the object in actual driving, starting the automatic driving system outside the operation boundary of the automatic driving system, observing whether the automatic driving system is started, and informing the driver of the reason of incapability of starting the automatic driving system by giving a clear prompt.

Preferably, the step a4 for the automatic detection of 3-level driving further comprises the following steps:

(1) the method comprises the following steps that the operation boundary of the automatic driving system is exceeded in the operation process of the automatic driving system, whether the automatic driving system can identify that the operation of the automatic driving system exceeds an expected operation environment or is about to exceed the operation environment of the automatic driving system is observed, whether the automatic driving system provides a request for taking over a driving task to a driver according to the description of the automatic driving system is observed, and whether a risk reduction strategy and measures consistent with the description of the automatic driving system are adopted or not under the condition that the driver does not respond after waiting for the time consistent with the description of the automatic driving system after the request for taking over the driving task is provided;

(2) whether the automatic driving system can judge whether the driving capability of the driver can meet the requirement for taking over the driving task or not according to the explained rule is observed, when the system judges that the driver can not meet the requirement for taking over the driving task, whether the automatic driving system can send prompt information consistent with the explanation to request the driver to take over the driving task or not is judged, and under the condition that the driver does not respond after waiting for the time consistent with the explanation, a risk reduction strategy and measures consistent with the explanation are adopted;

(3) and the actual driving detection object is used for enabling the driver to take over the driving authority according to the system preset/non-preset mode in the process that the automatic driving system executes the dynamic driving task, observing the response of the automatic driving system, and whether the automatic driving system immediately releases the control authority of the driving task and gives the control authority to the driver.

Preferably, the step a4 for the automatic detection of 4-level driving further comprises the following steps:

(1) exceeding the operation boundary of the automatic driving system in the operation process of the automatic driving system, observing whether the automatic driving system can identify that the operation of the automatic driving system exceeds the expected operation environment or is about to exceed the operation environment of the automatic driving system, and sending out a warning to a driver and passengers according to a mode provided by the description data of the automatic driving system;

(2) the automatic driving system part assembly is disabled in the running process of the automatic driving system, whether the automatic driving system can identify the failure condition is observed, and a warning is given to a driver and passengers according to the mode provided by the description data;

(3) observing whether the automatic driving system can take corresponding risk handling measures according to the risk handling strategy stated by the description information when special conditions including that the automatic driving system is about to fail to meet the design operation condition, the driving automation system fails or other components of the vehicle fail, the driver does not respond to the takeover request and the driver requires to realize the minimum risk state occur, and enabling the vehicle to reach the minimum risk state stated by the vehicle;

(4) observing whether the automatic driving system releases the vehicle control right in the whole detection working process except the situation that the minimum risk state is achieved or the vehicle is driven by a driver;

(5) and observing whether the automatic driving system judges whether the driver has a condition for driving the vehicle and whether the current driving environment meets a risk condition for removing the vehicle control right under the condition that the driver requires the automatic driving system to remove the vehicle control right, and whether the automatic driving system gives a warning to a driver in a mode of providing description data when the conditions are not met, and requires the driver to prepare for taking over the vehicle and carry out risk treatment, and whether the automatic driving system removes the vehicle control right and hands over a dynamic driving task to the driver when the conditions are met.

Preferably, the step a4 for the automatic detection of 5-level driving comprises the following steps:

(1) starting an automatic driving system, appointing a driving task, observing whether the automatic driving system can operate a vehicle to finish the appointed driving task, and treating various traffic conditions according to the principles (including minimum risk of the vehicle and drivers and minimum risk of surrounding environment) meeting road traffic laws and regulations and minimum risk in the driving task execution process;

(2) the automatic driving system part assembly is disabled in the running process of the automatic driving system, whether the automatic driving system can identify the failure condition is observed, and a warning is given to a driver and passengers according to the mode provided by the description data;

(3) the automatic driving system is used for detecting the failure condition of the automatic driving system and sending a warning to a driver and passengers according to the information provided by the description information;

(4) observing whether corresponding risk handling measures can be taken according to a risk handling strategy stated by the description data of the automatic driving system when special conditions including failure of the automatic driving system or failure of other components of the vehicle, unresponsiveness of a driver and an occupant, and requirement of the driver and the occupant for realizing the minimum risk state occur in the automatic driving system, and enabling the vehicle to reach the minimum risk state stated by the automatic driving system;

(5) observing whether the automatic driving system releases the vehicle control right in the whole detection working process except the situation that the minimum risk state is achieved or the vehicle is driven by a driver;

(6) and observing whether the automatic driving system judges whether the driver has the condition for driving the vehicle and whether the current driving environment meets the risk condition for removing the vehicle control right under the condition that the driver requires the automatic driving system to remove the vehicle control right, and whether the automatic driving system gives a warning to a driver in a mode of providing description data when the automatic driving system does not meet the condition, and requires the driver to prepare for taking over the vehicle and carry out risk treatment, and whether the automatic driving system removes the vehicle control right and hands over a dynamic driving task to the driver when the automatic driving system has the condition for removing the vehicle control right.

The invention has at least the following beneficial effects:

the invention determines the automatic driving capability and the corresponding grade of the vehicle by checking the description data of the automatic driving vehicle, calibrating and comparing the description data with the actual installation configuration condition of the detected object, and observing that the automatic driving technology adopted by the vehicle meets the statement of the description data and is matched with the grading standard in the static observation and actual driving processes. It is possible to determine whether an autonomous vehicle has reached its declared automated driving level and whether it can fulfill an assistance/autonomous driving task at that level, in a manner that is as simple and as operable as possible. When an automated driving vehicle is found that cannot meet its declared automated driving level, sufficient evidence can be provided to the manufacturer to inform it of major flaws in the automated driving to promote its improvement.

Drawings

FIG. 1 is a schematic view of the detection process of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

An automatic driving level detection method of an automatic driving automobile comprises the following steps:

a1, determining and collecting the related data of the detected object: receiving basic information of an object to be detected submitted by a user, wherein the basic information comprises: the detection object is an automatic driving automobile to be detected;

a2, determining whether the detected object and the description data satisfy the requirement: searching an object to be detected submitted by a user and matched description data, and searching and calibrating an auxiliary/automatic driving technology and matched equipment adopted by the object to be detected;

a3, judging whether the detected object is consistent with the description data, and calibrating the adopted technology and supporting equipment: checking the object to be detected, comparing the object to be detected with the calibrated auxiliary/automatic driving technology and the calibrated auxiliary equipment, and determining that the auxiliary/automatic driving technology and the calibrated auxiliary equipment in the description data are installed and configured on the object to be detected;

a4, actually driving the detected object and judging the automatic driving level embodied by the driving process;

a5, comprehensively judging each performance of the detection object in the detection process, judging whether the performance meets the requirements of 0-5 level driving automation, and providing a detection conclusion according with the level.

Example 1

The automatic driving level detection method of the L0-level (emergency assistance) driving automation is different from the above steps in that the following contents are included in the step a 4:

(1) actual driving of the detection object, observing that the auxiliary/automatic driving technology and the supporting equipment adopted by the detection object play a predetermined role according to the expected action mode;

(2) and the actual driving detection object is detected, and when the automatic driving system operates, the driver requests to take over the driving authority according to a system preset/non-preset mode, the automatic driving system for observing the detection object can immediately remove the system control authority and take over the driving of the detection object.

a5, comprehensively judging each item of performance of the detection object in the detection process, and judging whether the detection object meets the requirements of L0 level driving automation (emergency assistance).

Example 2

The automatic driving level detection method of the L1-level (partial driving assistance) driving automation is different from the above steps in that:

step a2, the auxiliary/automatic driving technique and the supporting equipment adopted in the description data should indicate that the detection object can be controlled to move transversely or longitudinally in the preset driving environment;

step a4 includes the following:

(1) the method comprises the following steps of actually driving a detection object, observing that an auxiliary/automatic driving technology and supporting equipment adopted by the detection object play a preset role according to an expected action mode, observing whether the detection object can be controlled to move transversely or longitudinally, and having the capabilities of target detection and event detection and response matched with control actions carried out by the detection object in the control process;

(2) and the actual driving detection object is detected, and when the automatic driving system operates, the driver requests to take over the driving authority according to a system preset/non-preset mode, the automatic driving system for observing the detection object can immediately remove the system control authority and take over the driving of the detection object.

a5, comprehensively judging each item of performance of the detection object in the detection process, and judging whether the performance meets the requirement of L1 level driving automation (partial driving assistance).

Example 3

The automatic driving level detection method of the L2-level (combined driving assistance) driving automation is different from the above steps in that:

step a2, the auxiliary/automatic driving technique and the supporting equipment adopted in the description data should indicate that the detection object can be controlled to move transversely and longitudinally in the preset driving environment;

step a4 includes the following:

(1) the method comprises the following steps of actually driving a detection object, observing that an auxiliary/automatic driving technology and supporting equipment adopted by the detection object play a preset role according to an expected action mode, observing whether the detection object can carry out transverse and longitudinal motion control on the detection object, and having the capabilities of target detection and event detection and response matched with control actions carried out by the detection object in the control process;

(2) and the actual driving detection object is detected, and when the automatic driving system operates, the driver requests to take over the driving authority according to a system preset/non-preset mode, the automatic driving system for observing the detection object can immediately remove the system control authority and take over the driving of the detection object.

a5, comprehensively judging each item of performance of the detection object in the detection process, and judging whether the performance meets the requirements of L2 level driving automation (combined driving assistance).

Example 4

The automatic driving level detection method of the L3-level (conditional automatic driving) driving automation is different from the above steps in that:

in step a2, the description data must include the following:

(1) the automatic driving system has definite operation boundary conditions and can be activated under definite conditions;

(2) after the automatic driving system is activated, all dynamic driving tasks can be executed under the expected running condition;

(3) when the automatic driving system identifies that the automatic driving system is about to not meet the expected operation condition, informing the driver of taking over the driving task in any mode;

(4) when the automatic driving system of the vehicle is in failure, informing the driver of taking over the driving task in what way;

(5) the method comprises the steps that an automatic driving system identifies and evaluates the driving capacity of a driver in what way, informs the driver in what way to take over the driving task when the driving capacity of the evaluated driver cannot meet the driving task, and waits for a long time before taking next measures after the automatic driving system provides a take-over request to the driver;

(6) after the automated driving system sends a notification to the driver to take over the driving task, when the driver does not respond to the take over request, which risk reduction strategies the driver will take.

Step a4 includes the following:

(1) the method comprises the steps that an actual driving detection object starts an automatic driving system in an operation boundary of the automatic driving system, whether the automatic driving system can complete an expected dynamic driving task under an expected operation condition is observed, and the automatic driving detection object has a target matched with the driving task, an event detection capability and a response capability in the driving process;

(2) and detecting the object in actual driving, starting the automatic driving system outside the operation boundary of the automatic driving system, observing whether the automatic driving system is started, and informing the driver of the reason of incapability of starting the automatic driving system by giving a clear prompt.

(3) The method comprises the following steps that an actual driving detection object exceeds an operation boundary of an automatic driving system in the operation process of the automatic driving system, whether the automatic driving system can identify that the operation of the automatic driving system exceeds an expected operation environment or is about to exceed the operation environment of the automatic driving system is observed, whether the automatic driving system provides a request for taking over a driving task to a driver according to a description mode of the automatic driving system is observed, and whether a risk reduction strategy and measures consistent with the description of the automatic driving detection object are adopted or not under the condition that the driver does not respond after waiting for time consistent with the description of the automatic driving system after the request for taking over the driving task is provided;

(4) the method comprises the following steps of actually driving a detection object, observing whether an automatic driving system can judge whether the driving capacity of a driver can meet the requirement for taking over a driving task according to the explained rule, when the system judges that the driver can not meet the requirement for taking over the driving task, judging whether the automatic driving system can send prompt information consistent with the explanation of the automatic driving system to request the driver to take over the driving task, and taking risk reduction strategies and measures consistent with the explanation of the automatic driving system under the condition that the driver does not respond after waiting for the time consistent with the explanation of the automatic driving system;

(5) and the actual driving detection object is used for enabling the driver to take over the driving authority according to the system preset/non-preset mode in the process that the automatic driving system executes the dynamic driving task, observing the response of the automatic driving system, and whether the automatic driving system immediately releases the control authority of the driving task and gives the control authority to the driver.

a5, comprehensively judging each item of performance of the detection object in the detection process, and judging whether the detection object meets the requirement of L3 level driving automation (conditional automatic driving).

Example 5

The automatic driving level detection method of the L4-level (highly automated driving) driving automation is different from the above steps in that:

step a2, the description data includes the following:

(1) the automatic driving system has definite operation boundary conditions and can be activated under definite conditions;

(2) after the automatic driving system is activated, all dynamic driving tasks can be executed under the expected running condition;

(3) after the automatic driving system is activated, the automatic driving system can recognize that the automatic driving system is about to not meet the design operation condition and send out warning to drivers and passengers;

(4) after the automatic driving system is activated, the failure condition of the automatic driving system and the failure condition of other components of the vehicle can be identified, and a warning is given to a driver and passengers;

(5) its automated driving system can discern including: i.e. special situations that the design operating conditions are not met, the driving automation system fails or other components of the vehicle fail, the driver does not respond to the takeover request, the driver requires the minimum risk state to be achieved, and a minimum risk strategy is executed to enable the vehicle to reach the minimum risk state, which declares the basic measures for executing the minimum risk strategy and the triggering conditions of the measures;

(6) and the automatic driving system is definitely divided into: the system control right is not removed under the two conditions that the minimum risk state is achieved or the driver drives the vehicle;

(7) when the driver requires the automatic driving system to exit or release the vehicle control right, the automatic driving system releases the control right, and the safety risk exists in the situation that the system control right is released after the safety risk is released, so that the type of the safety risk, the handling measures of the safety risk and the state which the driver should reach before the control right is released are determined.

Step a4 includes the following:

(1) the method comprises the steps that an actual driving detection object starts an automatic driving system in an operation boundary of the automatic driving system, whether the automatic driving system can complete an expected dynamic driving task under an expected operation condition is observed, and the automatic driving detection object has a target matched with the driving task, an event detection capability and a response capability in the driving process;

(2) and detecting the object in actual driving, starting the automatic driving system outside the operation boundary of the automatic driving system, observing whether the automatic driving system is started, and informing the driver of the reason of incapability of starting the automatic driving system by giving a clear prompt.

(3) The actual driving detection object exceeds the operation boundary of the automatic driving system in the operation process of the automatic driving system, observes whether the automatic driving system can identify that the operation of the automatic driving system exceeds the expected operation environment or is about to exceed the operation environment of the automatic driving system, and sends out a warning to a driver and passengers according to a mode provided by the description data of the automatic driving system;

(4) the actual driving detection object enables a part of the automatic driving system to fail in the running process of the automatic driving system, observes whether the automatic driving system can identify the failure condition and sends out a warning to a driver and passengers according to the mode provided by the description data;

(5) the method comprises the steps that an actual driving detection object observes whether an automatic driving system can take corresponding risk handling measures according to a risk handling strategy stated by description information of the automatic driving detection object when special conditions including that a design running condition is about to be not met, a driving automation system fails or other components of a vehicle fail, a driver does not respond to a take-over request, and the driver requires to realize a minimum risk state, and enables the vehicle to reach the minimum risk state stated by the automatic driving detection object;

(6) the method comprises the following steps of actually driving a detection object, and observing whether the automatic driving system relieves the vehicle control right or not in the whole detection working process except for the situation that the minimum risk state is achieved or a driver drives a vehicle;

(7) and an actual driving detection object, which is used for observing whether the automatic driving system judges whether the driver has the condition of driving the vehicle and whether the current driving environment meets the risk condition of releasing the vehicle control right under the condition that the driver requires the automatic driving system to release the vehicle control right, and whether the automatic driving system gives a warning to the driver in a mode of providing description information when the conditions are not met, and requires the driver to prepare for taking over the vehicle and carry out risk treatment, and whether the automatic driving system releases the vehicle control right and hands over the dynamic driving task to the driver when the conditions are met.

a5, comprehensively judging each item of performance of the detection object in the detection process, and judging whether the performance meets the requirement of L4 level driving automation (highly automatic driving).

Example 6

The automatic driving level detection method of the L5-level (full automatic driving) driving automation is different from the above steps in that:

step a2, the description data includes the following:

(1) after the automatic driving system is activated, the failure condition of the automatic driving system and the failure condition of other components of the vehicle can be identified, and a warning is given to a driver and passengers;

(2) its automated driving system can discern including: special cases including failure of the driving automation system or failure of other components of the vehicle, failure of the driver to respond to the takeover request, requirement of the driver to achieve the minimum risk state, and execution of the minimum risk strategy to bring the vehicle to the minimum risk state should be declared as the basic measures for executing the minimum risk strategy and the triggering conditions for these measures;

(3) and the automatic driving system is definitely divided into: the system control right is not removed under the two conditions that the minimum risk state is achieved or the driver drives the vehicle;

(4) when the driver requires the automatic driving system to exit or release the vehicle control right, the automatic driving system releases the control right, and the safety risk exists in the situation that the system control right is released after the safety risk is released, so that the type of the safety risk, the handling measures of the safety risk and the state which the driver should reach before the control right is released are determined.

Step a4 includes the following:

(1) the method comprises the steps of actually driving a detection object, starting an automatic driving system, appointing a driving task, observing whether the automatic driving system can operate a vehicle to complete the appointed driving task, and handling various traffic conditions according to the principles (including minimum risks of vehicles and drivers and passengers and minimum risks of surrounding environments) which accord with road traffic laws and regulations and minimum risks in the process of executing the driving task;

(2) the actual driving detection object enables a part of the automatic driving system to fail in the running process of the automatic driving system, observes whether the automatic driving system can identify the failure condition and sends out a warning to a driver and passengers according to the mode provided by the description data;

(3) the actual driving detection object enables partial components of the vehicle to fail in the running process of the automatic driving system, and observes whether the automatic driving system can identify the failure condition and sends out a warning to a driver and passengers according to the mode provided by the description data;

(4) the method comprises the steps of actually driving a detection object, observing whether an automatic driving system can take corresponding risk handling measures according to a risk handling strategy stated by description data of the automatic driving system when special conditions including failure of a driving automation system or failure of other components of a vehicle, unresponsiveness of a take-over request by a driver and an occupant and requirement of the driver and the occupant for realizing a minimum risk state occur, and enabling the vehicle to reach the minimum risk state stated by the automatic driving system;

(5) the method comprises the following steps of actually driving a detection object, and observing whether the automatic driving system relieves the vehicle control right or not in the whole detection working process except for the situation that the minimum risk state is achieved or a driver drives a vehicle;

(6) and the automatic driving system observes whether the automatic driving system judges whether the driver has the condition of driving the vehicle and whether the current driving environment meets the risk condition of removing the vehicle control right under the condition that the driver requires the automatic driving system to remove the vehicle control right, whether the automatic driving system gives a warning to the driver in a mode of providing description information when the automatic driving system does not meet the condition, and requires the driver to prepare for taking over the vehicle and carry out risk treatment, and whether the automatic driving system removes the vehicle control right and hands over the dynamic driving task to the driver when the automatic driving system has the condition of removing the vehicle control right.

a5, comprehensively judging each item of performance of the detection object in the detection process, and judging whether the performance meets the requirement of L5 level driving automation (full automatic driving).

The working principle is as follows:

the detection of the automatic driving level of the automatic driving automobile at the level of L0-L5 needs to integrate the detected object and the automatic driving level which can be achieved under the condition that the technical document associated with the detected object analyzes the continuous carrying work of the adopted automatic driving system software and the matched hardware equipment; the fusion condition of the automatic driving system and the vehicle, the control condition of the vehicle motion, the monitoring condition of the environment and the human-computer interaction condition of the driver and the passenger need to be comprehensively evaluated in the detection process so as to determine whether the automatic driving vehicle can complete the set dynamic driving task of the declared automatic driving level on the premise of ensuring the safety of the personnel and the vehicle.

While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.