3206 results about "Safe driving" patented technology

Provided are an adaptive drive supporting apparatus and method that provide a personalized telematics user interface capable of supporting safe driving and convenient use. The adaptive drive supporting apparatus includes: a statistics database unit which stores and manages information on an average degree of attention required when a driving operation, a state of a car, or an external environment changes, information on degrees of attention required for manipulations of interfaces of the car, and a similarity between the functions of the interfaces; a personal characteristic setting unit which sets an individual degree of attention for each driver based on the average degree of attention according to a change in at least one of the driving operation, the state of the car, and the external environment; and an interface providing unit which determines whether or not a sum of the individual degree of attention and the degree of attention required when each driver manipulates a requested interface is larger than a predetermined threshold degree of attention required for safe driving.

A driving information analysis apparatus which serves well to assist drivers' safe driving with the ease of checking analysis results is provided. Based on driving information read by a CF card reader, a vehicle mark is displayed on a map to indicate position information of a vehicle when an event occurs. Simultaneously with the vehicle mark, a surrounding image of the vehicle corresponding to the position information is displayed on a display section. Such displays favorably help analyze what situation occurs where.

Provided is a technology for helping safe driving and realizing automatic driving of vehicles, or for counting the number of passing vehicles on the road or monitoring those passing vehicles for their driving. Using a plurality of cameras mounted in a vehicle or provided above a road, even if the relationship between the road plane and the respective cameras constantly changes in relative position or posture due to camera vibration or a change in road tilt, any obstacles located on the road such as other vehicles ahead, parked vehicles, and pedestrians on the road are detected without confusing those with textures including white lines, road signs, paint, road stains, and shadows of roadside objects, all of which do not disturb vehicle driving. An obstacle detection device 10 is structured by an image input section 11 for receiving images from a plurality of image pick-up devices 101, a correspondence detection section 12 for finding a plurality of pairs of corresponding points from the received right and left images, the slope degree calculation section 13 for calculating a slope degree of a plane including the corresponding points, and a result determination section 14 for determining as there being an obstacle when the calculated slope degree is larger than a predetermined value.

Disclosed herein is a method and system for detecting, monitoring and / or controlling one or more of mobile services for a mobile communication device (also referred to herein as a Controllable Mobile Device or CMD), and in particular, when the device is being used and the vehicle, operated by the user of the device, is moving. In addition, one aspect of the invention generally relates to a method and system for modifying a user's driving behaviors, in particular to a system and method for modifying a user's unsafe driving behaviors, e.g., using one or more services of a controllable mobile device while driving, by providing a score to the user rating indicating that they are using a mobile device in a distracting way, or driving in a manner that indicates that they are distracted.

Provided is a technology for helping safe driving and realizing automatic driving of vehicles, or for counting the number of passing vehicles on the road or monitoring those passing vehicles for their driving. Using a plurality of cameras mounted in a vehicle or provided above a road, even if the relationship between the road plane and the respective cameras constantly changes in relative position or posture due to camera vibration or a change in road tilt, any obstacles located on the road such as other vehicles ahead, parked vehicles, and pedestrians on the road are detected without confusing those with textures including white lines, road signs, paint, road stains, and shadows of roadside objects, all of which do not disturb vehicle driving. An obstacle detection device 10 is structured by an image input section 11 for receiving images from a plurality of image pick-up devices 101, a correspondence detection section 12 for finding a plurality of pairs of corresponding points from the received right and left images, the slope degree calculation section 13 for calculating a slope degree of a plane including the corresponding points, and a result determination section 14 for determining as there being an obstacle when the calculated slope degree is larger than a predetermined value.

The auxiliary safety operation equipment based on omnibearing computer vision includes an omnibearing vision sensor for acquiring omnibearing video information outside and inside the vehicle, and an auxiliary safety operation controller for detecting fatigue operation and warning on fatigue operation. The omnibearing vision sensor installed in the right of the driver's seat and connected to the auxiliary safety operation controller detects the facial state, eye state and mouth state of the driver and the steering wheel state, monitors the vehicle direction, speed, etc, and warns the fatigue operation in case of detecting fatigue operation state. The present invention detects the characteristic parameter of fatigue operation state, and has high judgment precision and high measurement precision.

The invention discloses an active safety type assistant driving method based on stereoscopic vision. An active safety type assistant driving system comprehensively utilizes an OME information technology, consists of a stereoscopic vision subsystem, an image immediate processing subsystem and a safety assistant driving subsystem and comprises two sets of high resolution CCD (charge-coupled device) cameras, an ambient light sensor, a two-channel video collecting card, a synchronous controller, a data transmission circuit, a power supply circuit, an image immediate processing algorithms library, a voice reminding module, a screen display module and an active safety type driving control module. According to the active safety type assistant driving method, separation lines and parameters such as relative distance, relative speed, the relative acceleration and the like of dangerous objects such as front vehicles, front bicycles, front pedestrians and the like can be accurately identified in real time in sunny days, cloudy days, at nigh and under the severe weather conditions such as rain with snow, dense fog and the like, so that the system can prompt a driver to adopt countermeasure through voice and can realize automatic deceleration and emergency brake at emergency situation, thereby ensuring safe travel in a whole day.

The invention discloses a cell phone system for vehicle monitoring, which is based on a cell phone control module and a vehicle driving module. Information exchanging of the cell phone and a vehicle is obtained through a communication module. A my-vehicle unit is added in the cell phone, a subunit of vehicle driving is set, and subunits of driving plans, happy driving and / or safe driving are selectively arranged so as to conduct real-time monitoring and control on the vehicle. The cell phone monitoring system can conduct vehicle management conveniently and fast, are complete in functions, more human-friendly and intelligent, meets requirements of different users, improves driving safety of the vehicle, helps users to drive the vehicles better, and effectively finishes journey.

Systems and methods provide services relating to driving safety and insurance in connection with insuring selected segments of a population, such as young drivers or elderly drivers. A web-based system provides a web site having a home web page configured to provide links to web pages accessible by a user over the Internet, configured to provide program elements such as an interface to a GPS vehicle monitoring system connected to provide vehicle information to the user via one or more of the web pages and to receive instructions from the user to select features of the GPS system, a display of or link to educational information relating to safe driving, stored by the web-based system or provided by interface to a third party web site; or a display of or link to a tool providing an estimate of an insurance premium discount based on use of the program. A system for providing an insurance price estimate, a computer-implemented method of promoting the sale of vehicle insurance to a population segment, a computer system for providing an insurance premium discount, and a computer program product are also provided.

The invention discloses an intelligent vehicle-mounted safe driving assistance method and a system. The method comprises the steps of acquiring the driving state information of a driver, acquiring the state information around a vehicle, and sending the above acquired information to a local server to process the information. The system comprises a first camera shooting device, a second camera shooting device, a driver state monitoring system, a driving environment monitoring system and an HUD. The system of the present invention is provided with two camera shooting devices, so that the condition inside a vehicle and the condition outside the vehicle can be monitored at the same time. In combination with the state of the driver of the vehicle and the driving environment, the driver is prompted of paying attention to the driving safety. Based on the above method, a heads-up display (HUD), which does not affect the driving safety of the driver at all, is adopted as a server carrier. Therefore, the information is directly presented for the driver. The occurrence of traffic accidents is avoided maximally.

Smart Active Tyre Pressure Optimising System [TPOS]102 is a highly time sensitive design and technique that acts instantaneously in sensing and controlling the tire pressure particularly in imminent and inevitable critical driving situations to reduce emergency & high speed breaking distance, mitigate—loss of traction, hydroplaning, roll over, loss of stability, over & under steering, break failure, loss of control due to puncture by smartly sensing, perform context aware computing and directing the Tyre Pressure Control Units [TPCU]104 to instantaneously control the tyre pressure in right time with right pressure on right tyres thereby actively controlling the footprint and sidewall deformation rate to enhance traction & stability simultaneously sustaining drivability or steerability ultimately to avoid or reduce the impact of collusion and overcome or mitigate critical situations for protecting the vehicles, occupants, pedestrians and other objects around or on the way; also according to design, configurations and scenarios the system instantaneously optimises the tyre pressure on all tyres for further safe driving till next restoration else restores the pressure to optimum preset value utilising inbuilt reservoir or other external restoration systems immediately after the vehicle overcomes the critical situation to continue with safe and comfortable driving. In critical situations TPOS performs sensing, pre computing, current computing for controlling the tire pressure during critical situation, post computing to optimise tire pressure after overcoming accordingly. TPOS 102 utilise smart and adaptive closed loop processing algorithm with predetermined and tested lookup table to instantaneously check and compare the effects between predetermined and tested real world scenarios to the actual real world scenarios for actively sensing, computing and controlling the tire pressure accordingly to mitigate the critical situations. The controlling of tyre pressure is computed mainly based on parameters comprising of sensor system, vehicle safety and stability systems, nature of breaking & break force distribution, tires upper & lower cut-off pressure values, sensing reservoirs and tires internal & external pressure, temperature, moisture, humidity, wheel & tire specifications, vehicle & wheel speed, acceleration & deceleration, vehicle orientation & axial rotation, transverse motion & lateral acceleration, tires position or angle of attack, load & torque distribution, tire traction, steering position, cornering effects, change in Centre of gravity, over & under steering, hydroplaning, sensing road conditions, etc and to further enhance the efficiency, the system interoperates with vehicles existing safety and stability systems like ABS, EBD, ESC, TCS, Rollover mitigation systems, ECU, BA, Precrash systems, suspension & vertical dynamics, radar assisted auto breaking, cruise control system, aerodynamics & airbrakes etc. Other aspects of present invention are controlling the tire temperature according to environmental temperature, moisture and humidity thereby to enhance traction and vary tire pressure according to change in centre of gravity & load, driving modes—comfort, standard and sports modes.

A lumbar support for a car seat includes a support element formed of a plate spring having a high elasticity to be positioned between traverse fixing bars which are mounted at upper and lower parts in a seat back for supporting a lumbar portion of a driver, and having a plurality of support wings formed at both sides and folded outwardly for surrounding the lumbar portion of the driver and a curved protrusion optionally formed in the center for supporting the lumbar portion of the driver, coupling units for coupling the support plate with the traverse fixing bars, a supporting height control element for steplessly controlling a protruded height of the support plate which is selectively and curvedly protruded at a side of the support plate, and a pelvic supporting element formed at a lower part of the support plate and connected to the support plate to contact and support hips of the driver, wherein the contact between the seat and the driver may be improved by forming the pelvic supporting element at the lower part of the support plate for stably supporting the lumber region and the pelvic region of the driver seating in the seat, so that it is possible to promote the safety driving by preventing the driver from being tired easily even in case of the long time driving, and to prevent the bad pose of the driver by the stable supporting of the lumbar region and the pelvic region of the driver, thereby maintaining the safety and the health of the driver.

A control method for incoming messages includes steps of: controlling a mobile terminal to enter into a safe driving mode in response to a receiving of a command for controlling the mobile terminal to enter into the safe driving mode; obtaining a predetermined block condition and determining whether there is a need to automatically block an incoming message or not according to the obtained predetermined block condition when the incoming message is received by the mobile terminal; and rejecting and responding the incoming message with a predetermined message when it is determined that there is a need to automatically block the incoming message. A mobile terminal is also provided.

The invention relates to an AR (augmented reality)-based vehicle-mounted live-action safe navigation method which comprises the following steps of: acquiring a real-time image in front of a vehicle, carrying out characteristic object extracting treatment on the real-time image, and overlapping an object image attached with a recognition feature with the real-time image; extracting real-time navigation cartographic information from a satellite navigation map for overlapping to form a second image with the navigation information; and when one object attached with the recognition feature in the image triggers an alarm threshold value, promoting a driver to drive on an optimal safety route by an alarm image or sound. The method has the advantages that a novel navigation method which combines cartographic navigation software with the AR (augmented reality) technology can be realized, and a destination can be conveniently found; the destination can be combined with the live-action due to the live-action navigation provided by the invention, the destination is identified on the live-action, and the method is more convenient for users; and the distance between front and back vehicles can be displayed timely, and the deviation from a lane line can be prompted, thereby assisting in safe driving.

The invention relates to a method for detecting and recognizing various types of obstacles based on a convolution neural network, and belongs to the technical field of computer vision and target detection. The method converts a vehicle video into picture frames, extracts the ROI and the position information thereof in the original image from the picture frames by using an inter-class variance method and morphological operation, and puts the extracted ROI into an AlexNet network to be classified, at the same time, estimates the states according to the classified location information of the obstacles by using Kalman filtering so as to achieve real-time obstacle detection and recognition. The method extracts the image itself and the characteristics of the images, improves the accuracy of the obstacle detection and recognition, sets the information, such as the attribute, the movement tendency and the like of the obstacle, into the whole detection and recognition system, and has an important effect on safe driving for drivers or intelligent vehicles, and plays a vital role for full-intelligent driving systems in the future.

The invention discloses an on-vehicle traffic light assisting device in the technical field of intelligent transportation, which comprises a traffic light map module, a global positioning system (GPS) module, an image sensor, a traffic light detection and identification module, a lane identification module and a traffic light state display and prompting early warning module. The on-vehicle traffic light assisting device solves the problems of safe driving of groups with visual disturbance such as color weakness, color blindness and the like, can reduce the probability of traffic accidents caused by the running of the red light of a driver under exceptional conditions, and improves transportation efficiency at crossings.

The invention belongs to the field of intelligent safe driving, and particularly discloses a people-avoidance and collision-avoidance system and method for vehicles at a crossroad without signal lights. The system includes a crossroad terminal, a wireless communication module, a vehicle information acquisition module, a central processing module, a collision pre-warning module and a brake controlmodule; the crossroad terminal, the wireless communication module, the vehicle information acquisition module, and the collision pre-warning module are connected with the central processing module. The system is a system based on an LTE-V communication mode, a millimeter-wave radar and GPS positioning, through a vehicle-vehicle communication mode and a vehicle-road communication mode, the states of pedestrians at the dead zone of the crossroad and the motion states of surrounding vehicles are obtained, whether risks of collision exist or not is judged, alarming is conducted through a HIM interface so as to remind a driver of reducing the speed or changing lanes, and when necessary, the speed of a vehicle is controlled to be reduced so as to avoid collision.

The invention discloses a vehicle driving state evaluating method based on road-switching behavior detection, comprising the steps of: carrying out video acquisition and real-time processing on front road conditions by using a camera so as to achieve purposes of monitoring dangerous driving behaviors of road-switching, long-time line-pressing driving and the like of a vehicle and immediately warn, i.e. arranging a camera facing the front direction inside the vehicle to obtain front road condition information; detecting and tracking a lane line; judging the current position state of the vehicle, if the vehicle is in a line-pressing state, carrying out state tracking to judge whether the vehicle is subjected to lane-switching operation or not; if the vehicle is subjected to the lane-switching operation, judging the behavior danger level of the vehicle according to the lane-switching times within a recent period of time; and if the total time in the line-pressing state within the recent period of time is m percent, making an alarm of the long-time line-pressing driving. For the vehicle active safe driving, by adopting a computer monocular vision and image processing technology, the invention has characteristics of simple system configuration, low cost, good real-time and capability of being applied in various climatic environments in the daytime and at night.

The invention relates to a stereoscopic vision based emergency treatment device and method for running vehicles, wherein the device comprises a binocular-vision image pick-up unit, an on-board bus interface, a central processing unit, a vehicle braking control system and an acousto-optic alarm circuit. The binocular-vision image pick-up unit is used for capturing an image of a road in front of a vehicle; the DSP (digital signal processor) based central processing unit is adopted for carrying out real-time quick calculation on a visual image so as to obtain a three-dimensional road scene, and compares the obtained three-dimensional road scene with a safe driving road model set up by a system so as to judge whether obstacles or dangers exist in the traveling direction of the vehicle; when adanger is found, the vehicle braking control system is started so as to reduce the speed of the vehicle and send an acousto-optic alarm to a driver; meanwhile, the central processing unit is connected with a vehicle sensor by an inter-vehicle bus so as to detect the state of the vehicle, and when the vehicle has mechanical or circuit faults, a braking system is started so as to reduce the speed of the vehicle and send an acousto-optic alarm. The device disclosed by the invention can be arranged on ordinary motor vehicles so as to avoid the occurrence of accidents or reduce the accident loss, thereby improving the driving safety performance.

A driving assistant method for an electric vehicle is provided with the following steps. When the electric vehicle is started up, a battery energy safe driving region is calculated and displayed. The battery energy safe driving region is updated dynamically according to vehicle information. The vehicle information includes battery information of the electric vehicle.

The invention is applicable to the technical field of communication and provides a method and a system for achieving driving safety early warning. The method for achieving the driving safety early warning includes the following steps: after being collected by an intelligent mobile unit of each vehicle, first vehicle driving information is uploaded to a cloud server; the cloud server first grades driving behaviors of each driver in a preset time period according to the first vehicle driving information, so that driving grading data of the vehicle driven by each driver are obtained; then driving grading data of other vehicles in a current vehicle peripheral preset range in a previous preset time period are obtained according to received longitude and latitude data of the current vehicle location; finally, when the driving grading data are lower than a preset driving grading value, second vehicle driving information of a vehicle with unsafe driving behaviors is sent to the intelligent mobile unit of the current vehicle to warn the driver of the current vehicle to drive carefully. The method and the system for achieving the driving safety early warning are simple in implementation and capable of effectively reducing traffic accident risks.

An in-vehicle system for tracking events that occur at specific locations of a transportation route and alerting a driver of an impending significant event includes a location determination unit for determining an instantaneous location of the vehicle, and an event determination unit coupled to the location determination unit and responsive to the instantaneous location of the vehicle for communicating with an events database for obtaining an impending traffic sign that the vehicle is about to confront based on the vehicle's instantaneous location. A decision module coupled to the event determination unit is responsive to current parameters of the vehicle for determining whether the current parameters of the vehicle are conducive to safe driving based on the impending event, and a warning unit coupled to the decision module is responsive to at least one current parameter of the vehicle not being conducive to safe driving for alerting the driver of the impending event.

The invention provides a super highway auxiliary system, and belongs to the field of safe driving of automobiles. The super highway auxiliary system comprises a radar sensor, a camera sensor, a central controller and a vehicle-mounted ECU execution unit, wherein the radar sensor is used for detecting environmental information and vehicle information around a current vehicle; the camera sensor is used for collecting the environmental information around the current vehicle; the central controller is used for receiving the information transmitted from the radar sensor and the camera sensor, collecting the vehicle information of the current vehicle transmitted by an ECU, integrating the information for processing and judgment, and issuing an instruction to the relevant vehicle-mounted ECU execution unit; and the vehicle-mounted ECU execution unit is used for receiving the instruction and controlling the current vehicle to execute the instruction. Through the adoption of the super highway auxiliary system provided by the invention, the hands and feet of a driver are liberated to the greatest extent, so that driver fatigue due to a monotonous driving mode is avoided; the seamless connection between super highway assist and traffic jam assist is realized; and two cases that changing lanes is dangerous and changing lanes is safe are distinguished by the system, and different assists are provided for the driver, so that not only is the lane change security guaranteed, but also the convenience of lane change is provided, and the driving pleasure is improved.

The invention provides a positioning method and system based on a safe driving map and binocular recognition of traffic signs. Primary positioning of a running vehicle is carried out via the positioning system by means of a high-precision map. Meanwhile, images of the part in front of the vehicle are acquired, and traffic signs in the images are detected and identified. Coordinates of the traffic signs are recognized and obtained in the high-precision map, the distance between the vehicle and the signs are measured, and the position of the vehicle is calculated by comparing the coordinates of the traffic signs. In this way, the vehicle is positioned. By means of the invention, on the basis of traditional navigation data, acquisition of road traffic signs is added, roads signs are adopted to help positioning vehicles, the distance between vehicles and traffic signs is measured according to coordinates and sizes of signs which are recognized by left and right cameras, and vehicle positions are calculated according to spatial coordinates of traffic signs which are already stored in the high-precision map, so that submeter-level coordinate positioning is provided and a lane-based topology network is established.

The invention discloses a device and a method for real-time three-dimensionally sensing safe driving of a vehicle having mixed multi-visual information. A video image collecting device is provided with six cameras; a main processor comprises a DSP subsystem and an APM subsystem; an SDRAM storage unit is connected with the main processor and an FPGA controller; the FPGA controller controls the collection of images around the vehicle, pre-treats the images and then stores in the SDRAM storage unit; the DSP subsystem reads images from the SDRAM storage unit, matches a frame image and rebuilds a three-dimensional scene; and the DSP subsystem synthesizes a predicted back track data and a rebuilt three-dimensional image and sends to a liquid crystal display in order to display. When a driver drives or backs a car, the phenomenon that a common backing device always has a blind area is completely avoided.

The invention provides a method for automatically generating a vehicle safe driving guarantee scheme based on multi-data fusion. The method comprises the following steps: a roadside sensor collects dynamic information, feature information, road condition information and traffic state information of a driving vehicle within the detection range of the roadside sensor; the vehicle provided with a sensing and positioning vehicle-mounted unit dynamically collects dynamic information, surrounding road conditions and environment information of the vehicle in the driving process; the road side sensorand a vehicle-mounted unit perception sensor simultaneously acquire whether an abnormal event occurs on a road and an abnormal behavior target in real time in a static scanning and dynamic scanning data acquisition mode; and the system starts an anti-collision safety principle to judge whether collision occurs between targets in the future or not, and if any one of the situations occurs, the system issues corresponding early warning information, control information and prompt information to different types of vehicles about to pass through the abnormal area through different client special communication channels to change the motion states of the vehicles so as to guarantee the safety of the vehicles and pedestrians.

The invention discloses a vehicle forward collision pre-warning method based on deep learning. The vehicle forward collision pre-warning method comprises the steps that forward image information of avehicle is obtained in real time through a vehicle-mounted camera, and an image is pre-processed; the vehicle characteristics in the image are extracted through a multi-scale deep convolutional neuralnetwork, and a vehicle target is identified and positioned; according to the vehicle position in the image and based on the geometrical relationship projection and camera parameters, the distance between the current vehicle and a forward vehicle is calculated; the relative speed is calculated through the change of the real-time distance between the main vehicle and the forward vehicle; and the collision distance is calculated through the relative speed and the distance between the two vehicles, the danger level of the vehicles is judged according to the calculation result, and the corresponding collision pre-warning strategy is mobilized accordingly. According to the vehicle forward collision pre-warning method, the forward vehicle information can be obtained in real time, the distance between the current vehicle and the forward vehicle and the collision time of the current vehicle and the forward vehicle are estimated accurately, the proper pre-warning measure is made, safety drivingis guaranteed, and traffic accidents are reduced.

Disclosure is a method for detecting the safety driving state of a driver, the method comprises the following steps: (a) detecting the current sight direction of a driver in real time and acquiring a scene image signal in a front view field of the driver when a vehicle runs; (b) processing the acquired current road scene image signal according to a visual attention calculation model to obtain the expected attention distribution of the driver under the current road scene; and (c) performing fusion analysis on the real-time detected current sight direction of the driver in the step (a) and the calculated expected attention distribution of the driver in step (b), and judging whether the current driver is in a normal driving state and whether the driver can timely make a proper response to the sudden road traffic accident. The device is used for implementing the method and has the advantages of simple principle, easy realization, direct reflection of the real driving state of a driver, and improvement of the driving safety.

The invention discloses a driving safety monitoring system based on face orientation and visual focus, which comprises a vision sensor and an intelligent processor. The intelligent processor comprises an image acquisition module, a complexion area detection module, an edge extraction module, an eye detection module, a face orientation analysis module and a driver safety driving judgment module, wherein the complexion area detection module is used for converting an RGB color space into a YCrCb color space and detecting a complexion area; the edge extraction module is used for adopting a Canny operator to carry out edge extraction so as to acquire a head image outline; the eye detection module is used for carrying out Hough conversion for the marginalized face and positioning eyes; the face orientation analysis module is used for determining a mouth area, positioning the mouth, calculating left and right areas of the face respectively by using the eyes and the mouth as reference, and calculating the ratio of the left and right areas of the face; and the driver safety driving judgment module is used for judging an unsafe driving state if the calculated ratio of the left and right areas of the current face is out of a preset interval according to the preset interval of the ratio of the left and right areas of the face, and sending out an alarm command. The driving safety monitoring system has strong capacity of resisting disturbance and high accuracy.

A deciding method of an interactive autonomous safe driving system for switching a driving mode of a vehicle includes an environmental detecting step and a driving mode judging step. The environmental detecting step is for driving an environmental detecting device to sense environmental conditions of the vehicle so as to generate a plurality of environmental condition data. The driving mode judging step is for controlling the driving mode by a controlling device according to the environmental condition data. The interactive autonomous safe driving system includes an environmental detecting device, a switching device and a controlling device. The environmental detecting device includes a plurality of environmental sensors. The environmental sensors sense environmental conditions of the vehicle so as to generate a plurality of environmental condition data. The controlling device controls the driving mode according to the switching state and the environmental condition data.