# US 12,179,767 B2 · Intelligent driving method and intelligent driving system

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- Number: US 12,179,767 B2
- Document ID: US12179767B2
- Status: Granted
- Kind: B2
- Application number: 18/347,051
- Filed: 2023-07-05
- Published: 2024-01-04
- Granted: 2024-12-31
- Earliest claimed: 2019-07-15
- Assignees: Huawei Technologies Co., Ltd.
- Applicants: Huawei Technologies Co., Ltd.
- Inventors: Weilong Hu; Yabing Zhou; Huawei Liu
- Web page: https://patentgrep.com/patent/US12179767B2

## CPC

- B60W 40/04: Traffic conditions
- B60W 40/06: Road conditions
- B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention
- B60W 60/001: {Planning or execution of driving tasks}
- B60W 60/0061: {Aborting handover process}
- G06V 10/764: using classification, e.g. of video objects
- G06V 10/772: Determining representative reference patterns, e.g. averaging or distorting patterns; Generating dictionaries
- G06V 10/80: Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level (multimodal speaker identification or verification G10L17/10)
- G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle
- B60W 2050/146: {Display means}
- B60W 2552/00: Input parameters relating to infrastructure
- G06V 20/54: of traffic, e.g. cars on the road, trains or boats
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

An intelligent driving method comprising: obtaining feature parameters of a vehicle at a current moment and a road attribute of a driving scenario of the vehicle in a preset future time period; comparing the feature parameters at the current moment with feature parameters of a standard scenario in a scenario feature library; comparing the road attribute of the driving scenario of the vehicle in the preset future time period with a road attribute of the standard scenario in the scenario feature library; determining a total similarity of each scenario class to a driving scenario of the vehicle at the current moment based on comparing results; determining, as the driving scenario at the current moment, a first scenario class with a highest total similarity in N scenario classes; and controlling, based on the determining result, the vehicle to perform intelligent driving.

## Claims

### Claim 1

A system comprising:
a processor configured to:
obtain first feature parameters of a vehicle at a first time and a future road attribute of a future driving scenario of the vehicle in a preset future time period after the first time, wherein the first feature parameters comprise structured semantic information, a road attribute, and a traffic status spectrum; and
select a first driving scenario class in a scenario feature library based on the first feature parameters and the future road attribute;
a display device coupled to the processor and configured to:
display a first prompt prompting a driver that a first driving scenario of the vehicle at the first time is switched to the first driving scenario class; and
receive a first instruction corresponding to the first prompt, wherein the first instruction instructs switching from the first driving scenario to the first driving scenario class; and
a controller coupled to the processor and configured to control a driving status of the vehicle based on the first driving scenario class.

### Claim 2 (depends on 1)

The system of claim 1, wherein when selecting the first driving scenario class in the scenario feature library, the processor is further configured to:
perform a first comparison of the first feature parameters with standard feature parameters of a standard scenario in the scenario feature library;
perform a second comparison of the future road attribute with a standard road attribute of the standard scenario, wherein a total similarity of each driving scenario class in the scenario feature library to a current driving scenario of the vehicle at a current moment is based on the first comparison and the second comparison, wherein the scenario feature library comprises N driving scenario classes, wherein each of the driving scenario classes comprises M standard scenarios, wherein both N and M are positive integers, and wherein the first driving scenario class with a highest total similarity in the N driving scenario classes is as the first driving scenario at the first time.

### Claim 3 (depends on 1)

The system of claim 1, wherein the processor is further configured to select a second driving scenario class in the scenario feature library as a second driving scenario at a second time, wherein the display device is further configured to display a second prompt requesting to switch from the second driving scenario to the second driving scenario class, and wherein the controller is further configured to keep controlling, based on the first driving scenario class, the driving status when the system does not receive a second instruction is within a preset time, and wherein the second instruction corresponds to the second prompt and instructs to switch from a current driving scenario of the vehicle to the second driving scenario class.

### Claim 4 (depends on 3)

The system of claim 3, wherein a designed operation range of the vehicle at the second time does not match a designed operation range corresponding to the first driving scenario class when the system does not receive the second instruction within the preset time, and wherein the display device is further configured to send fault alert information.

### Claim 5 (depends on 4)

The system of claim 4, wherein the display device is further configured to:
send an operation instruction for indicating driving right release and send a release notification to the driver when the driver has taken over the vehicle; and
send an operation instruction for indicating safe pullover when the driver has not taken over the vehicle.

### Claim 6

An intelligent driving method, comprising:
obtaining current feature parameters of a vehicle at a current moment and a future road attribute of a future driving scenario of the vehicle in a preset future time period, wherein the current feature parameters comprise structured semantic information, a road attribute, and a traffic status spectrum;
performing a first comparison of the current feature parameters with standard feature parameters of standard scenarios in a scenario feature library; and
performing a second comparison of the future road attribute with standard road attributes of the standard scenarios, wherein a first similarity of a first standard scenario of each scenario class in the scenario feature library to a current driving scenario of the vehicle at the current moment and a second similarity of a second standard scenario of each scenario class in the scenario feature library to the current driving scenario is based on the first comparison and the second comparison, wherein the scenario feature library comprises N scenario classes, wherein each of the scenario classes comprises M standard scenarios, wherein each of the standard scenarios corresponds to the standard feature parameters, wherein both N and M are integers greater than or equal to 2, and wherein a scenario class corresponding to the current driving scenario is based on the first similarity and the second similarity of each of the N scenario classes.

### Claim 7 (depends on 6)

The intelligent driving method of claim 6, further comprising:
maintaining a current driving status when the scenario class is the same as a previous scenario class at a previous moment and when a current designed operation range of the vehicle matches a designed operation range corresponding to the scenario class; and
sending fault alert information when the current designed operation range does not match the designed operation range.

### Claim 8 (depends on 7)

The intelligent driving method of claim 7, further comprising: switching, when the scenario class is different from the previous scenario class and when the current designed operation range matches the designed operation range, the vehicle from a current driving status to a driving status corresponding to the scenario class.

### Claim 9 (depends on 7)

The intelligent driving method of claim 7, further comprising:
sending scenario class switching failure information and maintaining the current driving status when the current designed operation range matches a designed operation range corresponding to the previous scenario class; and
sending the fault alert information when the current designed operation range does not match the designed operation range.

### Claim 10 (depends on 9)

The intelligent driving method of claim 9, wherein after sending the fault alert information, the intelligent driving method further comprises:
sending a first operation instruction to a proactive vehicle execution processor of the vehicle and sending a release notification to a driver when the driver has taken over the vehicle, wherein the first operation instruction indicates a driving right release; and
sending a second operation instruction to a proactive vehicle execution processor when the driver has not taken over the vehicle, wherein the second operation instruction indicates a safe pullover.

### Claim 11

An intelligent driving system, comprising:
a perception fuser configured to obtain current feature parameters of a vehicle at a current moment and a future road attribute of a driving scenario of the vehicle in a preset future time period, wherein the current feature parameters comprise structured semantic information, a road attribute, and a traffic status spectrum; and
a scenario class recognizer configured to:
perform a first comparison of the current feature parameters with standard feature parameters of standard scenarios in a scenario feature library; and
perform a second comparison of the future road attribute with standard road attributes of the standard scenarios, wherein a first similarity of a first standard scenario of each scenario class in the scenario feature library to a current driving scenario of the vehicle at the current moment and a second similarity of a second standard scenario of each scenario class in the scenario feature library to the current driving scenario is based on the first comparison and the second comparison, wherein the scenario feature library comprises N scenario classes, wherein each of the scenario classes comprises M standard scenarios, wherein each of the standard scenarios corresponds to the standard feature parameters, and wherein both N and M are integers greater than or equal to 2, and wherein a scenario class corresponding to the current driving scenario is based on the first similarity and the second similarity of each of the N scenario classes.

### Claim 12 (depends on 11)

The intelligent driving system of claim 11, further comprising a scenario class switch configured to send fault alert information when the scenario class is the same as a previous scenario class at a previous moment and when a current designed operation range of the vehicle does not match a designed operation range corresponding to the scenario class.

### Claim 13 (depends on 11)

The intelligent driving system of claim 11, further comprising a scenario class switch configured to maintain a current driving status when the scenario class is the same as a previous scenario class at a previous moment and when a current designed operation range of the vehicle matches a designed operation range corresponding to the scenario class.

### Claim 14 (depends on 13)

The intelligent driving system of claim 13, wherein the scenario class switch is further configured to switch, when the scenario class is different from the previous scenario class and when the current designed operation range of the vehicle matches the designed operation range corresponding to the scenario class, the vehicle from a current driving status to a driving status corresponding to the scenario class.

### Claim 15 (depends on 13)

The intelligent driving system of claim 13, wherein the scenario class switch is further configured to send scenario class switching failure information and maintain a current driving status when the current designed operation range of the vehicle matches a second designed operation range corresponding to the scenario class at the previous moment.

### Claim 16 (depends on 13)

The intelligent driving system of claim 13, wherein the scenario class switching processor is further configured to send fault alert information when the current designed operation range of the vehicle does not match a second designed operation range corresponding to the scenario class at the previous moment.

### Claim 17 (depends on 16)

The intelligent driving system of claim 16, further comprising a proactive vehicle executer, wherein when a driver has taken over the vehicle after sending the fault alert information, the scenario class switch is further configured to:
send, to the proactive vehicle executer, an operation instruction for indicating driving right release; and
send a release notification to the driver.

### Claim 18 (depends on 16)

The intelligent driving system of claim 16, further comprising a proactive vehicle executer, wherein the scenario class switch is further configured to send, to the proactive vehicle execution processor, an operation instruction for indicating a safe pullover when a driver has not taken over the vehicle after sending the fault alert information.

### Claim 19 (depends on 11)

The intelligent driving system of claim 11, further comprising a scenario class switching processor configured to:
obtain an intelligent driving instruction instructing whether to terminate intelligent driving of the vehicle; and
control, when the intelligent driving instruction instructs the vehicle to perform the intelligent driving, the vehicle to perform intelligent driving.

### Claim 20 (depends on 11)

The intelligent driving system of claim 11, further comprising:
a scenario class switching processor configured to obtain an intelligent driving instruction instructing whether to terminate intelligent driving of the vehicle; and
a proactive vehicle executer configured to:
receive, when the intelligent driving instruction instructs the vehicle to terminate the intelligent driving, an operation instruction for indicating driving right release; and
send a release notification to a driver.