CN111923930B - Man-machine common driving mode switching method, device, storage medium and system - Google Patents
Man-machine common driving mode switching method, device, storage medium and system Download PDFInfo
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- CN111923930B CN111923930B CN202010802761.4A CN202010802761A CN111923930B CN 111923930 B CN111923930 B CN 111923930B CN 202010802761 A CN202010802761 A CN 202010802761A CN 111923930 B CN111923930 B CN 111923930B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
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Abstract
The invention discloses a man-machine common driving mode switching method, a man-machine common driving mode switching device, a storage medium and a man-machine common driving mode switching system. The method comprises the following steps: acquiring torque between an electric steering engine and a steering wheel of a vehicle and a rotation angle of the steering wheel; and controlling the vehicle to carry out man-machine common driving mode switching according to the torque and the steering angle. By the technical scheme, whether the steering wheel of the man-machine co-driving vehicle is taken over by a driver can be accurately judged according to the torque between the electric steering machine and the steering wheel of the vehicle and the rotating angle of the steering wheel, so that the man-machine co-driving mode can be accurately switched, and the driving safety of the vehicle is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle control, in particular to a man-machine driving mode switching method, a man-machine driving mode switching device, a man-machine driving mode switching storage medium and a man-machine driving mode switching system.
Background
At present, intelligent driving is still in an L3-level man-machine common driving stage, and in some scenes, a driver can host a vehicle to an automatic driving system; however, in some situations, the driver is required to take over the vehicle again to ensure safety. Taking over the vehicle via the steering wheel is a common way, and when the driver operates the steering wheel, the autopilot system is required to exit, and thus the autopilot system is required to be able to automatically recognize whether the driver is taking over the vehicle.
In the related art, it is generally determined whether a driver takes over a steering wheel by a steering wheel torque value exceeding a certain threshold value, so as to switch a man-machine driving mode, but the reason for the change of the steering wheel torque value is that an automatic driving system controls steering, reverse excitation of a bumpy road surface, and the like besides the driver operates the steering wheel. Therefore, how to accurately identify whether the driver takes over the steering wheel, and therefore, the man-machine driving mode switching becomes important.
Disclosure of Invention
The invention provides a man-machine driving-sharing mode switching method, a man-machine driving-sharing mode switching device, a storage medium and a man-machine driving-sharing mode switching system, which can accurately and quickly determine whether a driver takes over a steering wheel, so that the man-machine driving-sharing mode switching is accurately carried out, and the driving safety of a vehicle is improved.
In a first aspect, an embodiment of the present invention provides a method for switching a man-machine co-driving mode, including:
acquiring torque between an electric steering engine and a steering wheel of a vehicle and a rotation angle of the steering wheel;
and controlling the vehicle to carry out man-machine common driving mode switching according to the torque and the steering angle.
Optionally, controlling the vehicle to perform man-machine driving mode switching according to the torque and the steering angle, including:
when the absolute value of the torque is larger than a preset torque threshold value, judging whether the directions of the torque and the steering angle are the same;
and when the directions of the torque and the steering angle are the same, switching the man-machine common driving mode of the vehicle from an automatic driving mode to a driver take-over mode.
Optionally, the method further includes:
and when the directions of the torque and the steering angle are different, or when the absolute value of the torque is smaller than a preset torque threshold value, maintaining the man-machine co-driving mode of the vehicle unchanged.
Optionally, when the absolute value of the torque is greater than a preset torque threshold, determining whether the directions of the torque and the steering angle are the same includes:
low pass filtering the torque;
judging whether the absolute value of the torque after the low-pass filtering is larger than a preset torque threshold value;
and when the absolute value of the torque after the low-pass filtering is larger than a preset torque threshold value, judging whether the torque and the direction of the turning angle are the same.
In a second aspect, an embodiment of the present invention further provides a device for switching a man-machine driving mode, including:
the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the torque between an electric steering engine and a steering wheel of a vehicle and the rotation angle of the steering wheel;
and the control module is used for controlling the vehicle to carry out man-machine common driving mode switching according to the torque and the turning angle.
Optionally, the control module includes:
the judging unit is used for judging whether the directions of the torque and the steering angle are the same or not when the absolute value of the torque is larger than a preset torque threshold value;
a switching unit for switching the vehicle from an automatic driving mode to a driver-takeover mode when the directions of the torque and the steering angle are the same.
Optionally, the apparatus further comprises:
and the determining module is used for maintaining the man-machine co-driving mode of the vehicle unchanged when the directions of the torque and the steering angle are different or the absolute value of the torque is smaller than a preset torque threshold value.
Optionally, the determining unit is configured to:
low pass filtering the torque;
judging whether the absolute value of the torque after the low-pass filtering is larger than a preset torque threshold value;
and when the absolute value of the torque after the low-pass filtering is larger than a preset torque threshold value, judging whether the torque and the direction of the turning angle are the same.
In a third aspect, an embodiment of the present invention further provides a computer storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for switching between the man-machine co-driving mode provided in any embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention provides a system for switching a human-computer co-driving mode, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the method for switching the human-computer co-driving mode provided in the embodiment of the present invention.
The invention provides a man-machine driving-sharing mode switching scheme, which comprises the following steps: acquiring torque between an electric steering engine and a steering wheel of a vehicle and a rotation angle of the steering wheel; and controlling the vehicle to carry out man-machine common driving mode switching according to the torque and the steering angle. According to the technical scheme provided by the embodiment of the invention, whether the steering wheel of the man-machine co-driving vehicle is taken over by a driver can be accurately judged according to the torque between the electric steering engine and the steering wheel of the vehicle and the turning angle of the steering wheel, so that the man-machine co-driving mode can be accurately switched, and the driving safety of the vehicle is improved.
Drawings
Fig. 1 is a schematic flow chart of a method for switching a driving mode of a human-machine co-operation according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an EPS system of a vehicle according to an embodiment of the invention;
fig. 3 is a schematic flow chart illustrating another method for switching a man-machine driving mode according to an embodiment of the present invention;
fig. 4 is a block diagram of a human-machine co-driving mode switching device according to an embodiment of the present invention;
fig. 5 is a block diagram of a structure of a system for switching a driving mode of a motor-generator in common according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart illustrating a method for switching between a man-machine driving mode and a driving mode according to an embodiment of the present invention, where the method may be implemented by a man-machine driving mode switching device, where the man-machine driving mode switching device may be implemented by software and/or hardware, and may be generally integrated into a man-machine driving mode switching system, and the man-machine driving mode switching system may be generally configured in a man-machine driving vehicle. As shown in fig. 1, the method includes:
In an embodiment of the present invention, the vehicle is a man-machine co-driving autonomous vehicle, which may be referred to as a man-machine co-driving vehicle for short, wherein an ELECTRIC Power Steering (EPS) system is installed in the man-machine co-driving vehicle, fig. 2 is a schematic structural diagram of the EPS system of the vehicle according to the embodiment of the present invention, and as shown in fig. 2, the EPS system includes wheels 106, a Steering rod 105, an ELECTRIC Steering engine 104, a Steering column 102, a Steering wheel 101, and a torque and rotation angle sensor 103 installed between the ELECTRIC Steering engine and the Steering wheel. The torque and rotation angle sensor 103 can measure the magnitude and direction of the torque T between the electric power steering and the steering wheel, and can also measure the magnitude and direction of the rotation angle θ of the steering wheel. That is, the torque between the electric power steering and the steering wheel of the vehicle and the rotation angle of the steering wheel are acquired by the torque and steering sensors. It will be understood that the torque between the electric power steering and the steering wheel and the angle of rotation of the steering wheel are vectors, i.e. T and θ are signed values, wherein it can be assumed that the torque and the direction of the angle of rotation of the steering wheel are: clockwise is positive and counter-clockwise is negative.
Optionally, when a human-computer co-driving mode switching instruction is detected, the torque between the electric steering gear and the steering wheel of the vehicle and the rotation angle of the steering wheel are obtained, and in the process that the vehicle is in the automatic driving mode, the torque between the electric steering gear and the steering wheel of the vehicle and the rotation angle of the steering wheel are detected in real time, so that whether the driver takes over the steering wheel is conveniently judged, and the vehicle is switched from the automatic driving mode to the driver taking over mode.
And step 120, controlling the vehicle to carry out man-machine common driving mode switching according to the torque and the steering angle.
In the embodiment of the invention, the vehicle can be controlled to switch the man-machine driving mode according to the torque between the electric steering gear and the steering wheel and the rotation angle of the steering wheel. For example, when the vehicle is currently in the automatic driving mode, if the absolute value of the torque between the electric power steering and the steering wheel is greater than the preset torque threshold value, and the torque between the electric power steering and the steering wheel is the same as the rotation angle of the steering wheel, it may be determined that the driver is controlling the steering wheel of the vehicle, that is, the driver takes over the steering wheel, and at this time, the vehicle may be controlled to switch from the automatic driving mode to the driver taking over mode. Further illustratively, when the vehicle is currently in the autonomous driving mode, if the absolute value of the torque between the electric power steering and the steering wheel is greater than a preset torque threshold, and the torque between the electric power steering and the steering wheel is opposite to the turning angle of the steering wheel, it may be determined that the driver is not controlling the steering wheel of the vehicle, and at this time, the vehicle may be controlled to remain in the autonomous driving mode. Optionally, when the vehicle is currently in the automatic driving mode or the driver take-over mode, if the absolute value of the torque between the electric steering and the steering wheel is smaller than the preset torque threshold, the torque may be considered as noise interference, and the vehicle is controlled to be kept in the current driving mode.
Optionally, controlling the vehicle to perform man-machine driving mode switching according to the torque and the steering angle, including: when the absolute value of the torque is larger than a preset torque threshold value, judging whether the directions of the torque and the steering angle are the same; and when the directions of the torque and the steering angle are the same, switching the man-machine common driving mode of the vehicle from an automatic driving mode to a driver take-over mode. This has the advantage that the vehicle can be quickly controlled to switch from the autonomous driving mode to the driver-take-over mode depending on the torque and the steering angle. Illustratively, an absolute value of the torque between the electric power steering and the steering wheel is taken, and it is determined whether the absolute value of the torque is greater than a preset torque threshold. The value range of the preset torque threshold value can be 0.5-3 Nm, and the preset torque threshold value can be determined by calibrating different vehicles. I.e., different vehicles, the corresponding preset torque thresholds may be different. When the absolute value of the torque is larger than a preset torque threshold value, further judging whether the directions of the torque and the rotation angle are consistent or not, if T & lttheta & gt is calculated, and when T & lttheta & gt is smaller than or equal to 0, indicating that the directions of the torque and the rotation angle are inconsistent (opposite); when T θ is greater than 0, it indicates that the torque and the rotational angle direction coincide. When the absolute value of the torque is larger than a preset torque threshold value and the directions of the torque and the turning angle are consistent, the fact that a driver takes over a steering wheel is indicated, and if the vehicle is in an automatic driving mode at the moment, the vehicle is controlled to be switched from the automatic driving mode to the driver taking over mode; if the vehicle is already in the driver takeover mode at this time, the vehicle is controlled to remain in the driver takeover mode. And when the absolute value of the torque is larger than the preset torque threshold value and the directions of the torque and the turning angle are not consistent, indicating that the vehicle is in the current original driving mode.
Optionally, when the directions of the torque and the steering angle are different, or the absolute value of the torque is smaller than a preset torque threshold, the man-machine co-driving mode of the vehicle is maintained unchanged. It can be understood that when the absolute value of the torque is smaller than the preset torque threshold, the judgment on whether the directions of the torque and the steering angle are the same or not can be continued, that is, the judgment on the man-machine co-driving mode switching operation is not performed, and the vehicle is directly controlled to be kept in the current driving mode, that is, the man-machine co-driving mode of the vehicle is maintained unchanged. And when the absolute value of the torque is larger than the preset torque threshold value and the directions of the torque and the turning angle are different, the man-machine driving mode of the vehicle is maintained unchanged.
Optionally, when the absolute value of the torque is greater than a preset torque threshold, determining whether the directions of the torque and the steering angle are the same includes: low pass filtering the torque; judging whether the absolute value of the torque after the low-pass filtering is larger than a preset torque threshold value; and when the absolute value of the torque after the low-pass filtering is larger than a preset torque threshold value, judging whether the torque and the direction of the turning angle are the same. Illustratively, low pass filtering the torque read from the torque and rotation angle sensors may limit the frequency to a calibrated value, which may be set to a value in the range of 0-100 Hz. And then further judging whether the absolute value of the torque after the low-pass filtering is larger than a preset torque threshold value, and if so, further judging whether the directions of the torque and the turning angle are the same. The method has the advantages that noise interference is eliminated through low-pass filtering of the torque, and the frequent switching of the man-machine common driving mode of the vehicle and the occurrence of wrong switching of the man-machine common driving mode caused by the white noise with small amplitude and high frequency when the vehicle runs on a straight road are avoided.
The invention provides a man-machine driving-sharing mode switching method, which comprises the following steps: acquiring torque between an electric steering engine and a steering wheel of a vehicle and a rotation angle of the steering wheel; and controlling the vehicle to carry out man-machine common driving mode switching according to the torque and the steering angle. According to the technical scheme provided by the embodiment of the invention, whether the steering wheel of the man-machine co-driving vehicle is taken over by a driver can be accurately judged according to the torque between the electric steering engine and the steering wheel of the vehicle and the turning angle of the steering wheel, so that the man-machine co-driving mode can be accurately switched, and the driving safety of the vehicle is improved.
Fig. 3 is a schematic flow chart of another man-machine co-driving mode switching method according to an embodiment of the present invention, as shown in fig. 3, the method includes the following steps:
And 330, judging whether the absolute value of the low-pass filtered torque is larger than a preset torque threshold value, if so, executing a step 340, and otherwise, executing a step 360.
And 340, judging whether the directions of the torque and the steering angle are the same, if so, executing a step 350, and otherwise, executing a step 360.
And 350, switching the man-machine common driving mode of the vehicle from the automatic driving mode to a driver taking over mode.
And step 360, maintaining the man-machine common driving mode of the vehicle unchanged.
The man-machine co-driving mode switching method provided by the embodiment of the invention can accurately judge whether the driver takes over the steering wheel of the man-machine co-driving vehicle according to the torque between the electric steering engine and the steering wheel of the vehicle and the turning angle of the steering wheel, thereby accurately switching the man-machine co-driving mode and improving the driving safety of the vehicle. And noise interference is eliminated through low-pass filtering of the torque, so that the frequent switching of a man-machine common driving mode of the vehicle and the occurrence of wrong switching of the man-machine common driving mode caused by white noise with small amplitude and high frequency when the vehicle runs on a straight road are avoided.
Fig. 4 is a block diagram of a human-machine co-driving mode switching device according to an embodiment of the present invention, where the device may be implemented by software and/or hardware, and is generally integrated in a human-machine co-driving mode switching system, and may control a slice of a human-machine co-driving mode of a vehicle by executing a human-machine co-driving mode switching method. As shown in fig. 4, the apparatus includes:
an obtaining module 410 for obtaining a torque between an electric steering of a vehicle and a steering wheel and a rotation angle of the steering wheel;
and the control module 420 is used for controlling the vehicle to carry out man-machine driving mode switching according to the torque and the steering angle.
The man-machine driving-sharing mode switching device provided by the invention is used for acquiring the torque between an electric steering engine and a steering wheel of a vehicle and the rotation angle of the steering wheel; and controlling the vehicle to carry out man-machine common driving mode switching according to the torque and the steering angle. According to the technical scheme provided by the embodiment of the invention, whether the steering wheel of the man-machine co-driving vehicle is taken over by a driver can be accurately judged according to the torque between the electric steering engine and the steering wheel of the vehicle and the turning angle of the steering wheel, so that the man-machine co-driving mode can be accurately switched, and the driving safety of the vehicle is improved.
Optionally, the control module includes:
the judging unit is used for judging whether the directions of the torque and the steering angle are the same or not when the absolute value of the torque is larger than a preset torque threshold value;
and the switching unit is used for switching the man-machine driving mode of the vehicle from an automatic driving mode to a driver taking-over mode when the directions of the torque and the steering angle are the same.
Optionally, the apparatus further comprises:
and the determining module is used for maintaining the man-machine co-driving mode of the vehicle unchanged when the directions of the torque and the steering angle are different or when the absolute value of the torque is smaller than a preset torque threshold value.
Optionally, the determining unit is configured to:
low pass filtering the torque;
judging whether the absolute value of the torque after the low-pass filtering is larger than a preset torque threshold value;
and when the absolute value of the torque after the low-pass filtering is larger than a preset torque threshold value, judging whether the torque and the direction of the turning angle are the same.
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are executed by a computer processor to perform a method for switching a co-driving mode of a human-machine, and the method includes:
acquiring torque between an electric steering engine and a steering wheel of a vehicle and a rotation angle of the steering wheel;
and controlling the vehicle to carry out man-machine common driving mode switching according to the torque and the steering angle.
Storage medium-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDRRAM, SRAM, EDORAM, Lanbas (Rambus) RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in a first computer system in which the program is executed, or may be located in a different second computer system connected to the first computer system through a network (such as the internet). The second computer system may provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems that are connected by a network. The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors.
Of course, the storage medium containing the computer-executable instructions provided in the embodiments of the present invention is not limited to the above-mentioned operation for switching the man-machine co-driving mode, and may also perform related operations in the method for switching the man-machine co-driving mode provided in any embodiment of the present invention.
The embodiment of the invention provides a man-machine common driving mode switching system, wherein a man-machine common driving mode switching device provided by the embodiment of the invention can be integrated in the man-machine common driving mode switching system. Fig. 5 is a block diagram of a human-machine co-driving mode switching system according to an embodiment of the present invention. The man-machine co-driving mode switching system 500 may include: the driving mode switching system comprises a memory 510, a processor 520 and a computer program stored on the memory 510 and executable by the processor, wherein the processor 520 executes the computer program to implement the man-machine co-driving mode switching method according to an embodiment of the invention. The man-machine common driving mode switching system provided by the embodiment of the invention obtains the torque between an electric steering engine and a steering wheel of a vehicle and the rotation angle of the steering wheel; and controlling the vehicle to carry out man-machine common driving mode switching according to the torque and the steering angle. According to the technical scheme provided by the embodiment of the invention, whether the steering wheel of the man-machine co-driving vehicle is taken over by a driver can be accurately judged according to the torque between the electric steering engine and the steering wheel of the vehicle and the turning angle of the steering wheel, so that the man-machine co-driving mode can be accurately switched, and the driving safety of the vehicle is improved.
The human-machine common driving mode switching device, the storage medium and the system which are provided in the embodiments can execute the human-machine common driving mode switching method provided by any embodiment of the invention, and have corresponding functional modules and beneficial effects for executing the method. For technical details that are not described in detail in the above embodiments, reference may be made to a man-machine co-driving mode switching method provided in any embodiment of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (6)
1. A man-machine driving-sharing mode switching method is characterized by comprising the following steps:
acquiring torque between an electric steering engine and a steering wheel of a vehicle and a rotation angle of the steering wheel;
when the absolute value of the torque is larger than a preset torque threshold value, judging whether the directions of the torque and the steering angle are the same;
when the directions of the torque and the steering angle are the same, switching the man-machine common driving mode of the vehicle from an automatic driving mode to a driver take-over mode;
when the absolute value of the torque is greater than a preset torque threshold value, judging whether the directions of the torque and the steering angle are the same or not, including:
low pass filtering the torque;
judging whether the absolute value of the torque after the low-pass filtering is larger than a preset torque threshold value;
and when the absolute value of the torque after the low-pass filtering is larger than a preset torque threshold value, judging whether the torque and the direction of the turning angle are the same.
2. The method of claim 1, further comprising:
and when the directions of the torque and the steering angle are different, or the absolute value of the torque is smaller than a preset torque threshold value, maintaining the man-machine co-driving mode of the vehicle unchanged.
3. A man-machine driving-together mode switching device is characterized by comprising:
the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the torque between an electric steering engine and a steering wheel of a vehicle and the rotation angle of the steering wheel;
a control module, comprising:
the judging unit is used for judging whether the directions of the torque and the steering angle are the same or not when the absolute value of the torque is larger than a preset torque threshold value;
the switching unit is used for switching the man-machine common driving mode of the vehicle from an automatic driving mode to a driver take-over mode when the directions of the torque and the steering angle are the same;
the judging unit is used for:
low pass filtering the torque;
judging whether the absolute value of the torque after the low-pass filtering is larger than a preset torque threshold value;
and when the absolute value of the torque after the low-pass filtering is larger than a preset torque threshold value, judging whether the torque and the direction of the turning angle are the same.
4. The apparatus of claim 3, further comprising:
and the determining module is used for maintaining the man-machine co-driving mode of the vehicle unchanged when the directions of the torque and the steering angle are different or the absolute value of the torque is smaller than a preset torque threshold value.
5. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the man-machine co-driving mode switching method according to any one of claims 1-2.
6. A man-machine co-driving mode switching system, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the man-machine co-driving mode switching method according to any one of claims 1-2.
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| CN115027550B (en) * | 2022-06-14 | 2024-04-12 | 中国第一汽车股份有限公司 | Steering wheel, control method thereof and vehicle |
| CN115009355B (en) * | 2022-07-08 | 2024-01-12 | 北京汽车研究总院有限公司 | Vehicle control method, device, vehicle and storage medium |
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| EP2885187B1 (en) * | 2012-08-16 | 2019-07-10 | Jaguar Land Rover Limited | System and method for controlling the speed of a vehicle using vehicle configuration |
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| CN109318906A (en) * | 2018-10-30 | 2019-02-12 | 奇瑞汽车股份有限公司 | Adapter tube detection method, device and the storage medium of intelligent automobile |
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