CN119142412A

CN119142412A - Vehicle control method, vehicle, equipment and product

Info

Publication number: CN119142412A
Application number: CN202411218376.XA
Authority: CN
Inventors: 汪洋
Original assignee: Jidu Technology Wuhan Co ltd
Current assignee: Jidu Technology Wuhan Co ltd
Priority date: 2024-08-30
Filing date: 2024-08-30
Publication date: 2024-12-17

Abstract

The present disclosure provides a vehicle control method, a vehicle, a device, and a product, wherein the method comprises: in the process of activating an intelligent driving system to drive the vehicle, executing a corresponding target steering torque according to the current assisted driving state of the vehicle; when switching from the assisted driving state to the driver takeover state, determining the attenuation rate of the motor torque input by the intelligent driving system according to the direction of the hand force torque when the driver takes over; and gradually adjusting the output target steering torque according to the attenuation rate of the motor torque until the target steering torque only includes the hand force torque input by the driver, which helps to avoid steering wheel jitter caused by sudden changes in the target motor torque and improves the safety and comfort of vehicle driving.

Description

Vehicle control method, vehicle, equipment and product

Technical Field

The disclosure relates to the technical field of intelligent driving, in particular to a vehicle control method, a vehicle, equipment and a product.

Background

Along with the development of the vehicle to the intelligent and automatic direction, the intelligent driving system of the vehicle can support the automatic driving of the driver under the condition of full or half hand-off, correspondingly, the vehicle can realize the vehicle control by superposing the hand force assistance of the driver on the basis of the execution torque of the intelligent driving system, and can also be completely controlled by the intelligent driving system.

When the vehicle is in a driving state, the driver takes over the steering wheel, the steering wheel is controlled by the driver, and the safety and the comfort of taking over the steering wheel are affected.

Disclosure of Invention

The embodiment of the disclosure at least provides a vehicle control method, a vehicle, equipment and a product.

The embodiment of the disclosure provides a vehicle control method, which comprises the following steps:

In the process of starting the intelligent driving system to drive the vehicle, executing corresponding target steering torque according to the current auxiliary driving state of the vehicle, wherein at least part of the target steering torque is from motor torque input by the intelligent driving system;

When the auxiliary driving state is switched to the driver taking over state, determining the decay speed of the motor torque input by the intelligent driving system according to the hand torque direction when the driver takes over;

and gradually adjusting the output target steering torque according to the attenuation speed of the motor torque until the target steering torque only comprises the hand torque input by the driver.

In the embodiment of the disclosure, the corresponding target steering torque can be executed according to the current auxiliary driving state of the vehicle, at least part of the target steering torque is from the motor torque input by the intelligent driving system, when the auxiliary driving state is switched to the driver take over state, the attenuation speed of the motor torque input by the intelligent driving system is controlled according to the hand torque direction when the driver takes over, the target steering torque is adjusted gradually according to the attenuation speed of the motor torque, and steering wheel shake caused by abrupt change of the target steering torque is avoided. In this way, considering that the auxiliary driving state comprises a man-machine co-driving state and a machine driving state, when the auxiliary driving state is switched from the machine driving state to the machine driving state, the taking-over feeling is clear because the hand torque input by the driver is not overlapped before taking over, the auxiliary driving state is helpful for the driver to obviously perceive the taking-over process and effectively improves the safety of vehicle driving, when the auxiliary driving state is switched from the man-machine co-driving state to the machine driving state, the auxiliary driving state can be smoothly taken over, and the driver is not required to be reminded of strong taking-over feeling because the driver is attentive to the vehicle at the moment, the comfort of vehicle driving is effectively improved through the smooth taking-over, and the hand force heavy feeling when the reverse taking-over (the hand torque direction when the driver takes over is opposite to the motor torque direction input by the intelligent driving system) is improved through the control of the attenuation speed of the motor torque, the driver taking-over difficulty is reduced, and the safety and the comfort of vehicle driving are improved.

In an alternative embodiment, the performing the corresponding target steering torque according to the current driving assisting state of the vehicle includes:

Under the condition that the auxiliary driving state is a man-machine co-driving state, determining that the target steering torque to be executed is motor torque obtained by superposing motor torque input by the intelligent driving system and hand torque of a driver operating a steering wheel;

and under the condition that the auxiliary driving state is the driving state, determining the executed target steering torque as the motor torque input by the intelligent driving system.

In the embodiment of the disclosure, under the man-machine co-driving state, the hand torque generated by the steering wheel operated by the driver is superimposed on the motor torque input by the intelligent driving system, so that the intelligent driving system and the driver can jointly control the vehicle, and under the machine driving state, only the motor torque input by the intelligent driving system is executed, so that the accurate control of the vehicles in different states is realized.

In an alternative embodiment, the determining the decay rate of the intelligent driving system input according to the hand torque direction when the driver takes over includes:

under the condition that the hand torque direction when the driver takes over is the same as the motor torque direction input by the intelligent driving system, determining the attenuation speed of the motor torque as a first attenuation speed;

Determining that the decay speed of the motor torque is a second decay speed under the condition that the hand torque direction when the driver takes over is opposite to the motor torque direction input by the intelligent driving system;

Wherein the first decay rate is less than the second decay rate.

In the embodiment of the disclosure, when the hand torque direction of the driver takes over is the same as the motor torque direction before taking over, the attenuation of the motor torque slow speed can be executed so as to better smooth the transition taking over process, and when the direction is opposite, the driver is harder to take over due to the fact that the required hand torque is larger, at the moment, the attenuation of the motor torque fast speed can be executed so as to reduce the taking over difficulty of the driver, and therefore the safety and the comfort of vehicle driving are improved.

In an alternative embodiment, the method further comprises:

When the auxiliary driving state is determined to be switched from the man-machine co-driving state to the machine driving state, determining the attenuation speed of the input hand torque of the driver;

And gradually adjusting the output target steering torque according to the attenuation speed of the hand torque until the target steering torque only comprises the motor torque input by the intelligent driving system.

In the embodiment of the disclosure, when switching from the man-machine co-driving state to the driving state, the attenuation of the hand torque input by the driver is required, and the output target steering torque is adjusted step by step according to the attenuation speed of the hand torque, so that smooth state switching is facilitated, and steering wheel shake caused by abrupt change of the target steering torque is avoided.

In an alternative embodiment, the method further comprises:

When the auxiliary driving state is determined to be switched from the driving state to the man-machine co-driving state, determining the increasing speed of the input hand torque of the driver;

And gradually adjusting the output target steering torque according to the increasing speed of the hand torque until the superimposed hand torque in the target steering torque increases to the actual hand torque of the steering wheel operated by the driver.

In the embodiment of the disclosure, when switching from the driving state to the man-machine co-driving state, the increase of the hand torque input by the driver is required, and the output target steering torque is adjusted step by step according to the increase speed of the hand torque, so that smooth state switching is facilitated, and steering wheel shake caused by abrupt change of the target steering torque is avoided.

In an alternative embodiment, the method further comprises:

Displaying takeover configuration information on a vehicle-computer interface, wherein the takeover configuration information indicates a plurality of gears of motor torque attenuation speeds respectively corresponding to different hand torque directions during takeover when the auxiliary driving state is switched to the driver takeover state;

And respectively determining target gears selected by a user from the plurality of gears according to different hand torque directions, and taking the damping speed corresponding to the target gears as the damping speed of the motor torque corresponding to the hand torque direction.

In the embodiment of the disclosure, a plurality of gears of motor torque attenuation speeds corresponding to different hand torque directions respectively can be calibrated in advance and displayed on a vehicle-machine interface, and a user can select a target gear automatically, so that the output target steering torque is adjusted gradually according to the attenuation speed corresponding to the target gear, individuation and diversification of vehicle control are facilitated, and user experience is improved.

In an alternative embodiment, the current driving assistance state is determined according to the following manner:

acquiring a target image acquired for a driver;

carrying out gesture recognition on the target image to obtain a gesture recognition result of a driver, wherein the gesture recognition result indicates the hand operation gesture and the sight direction of the driver;

and determining the current auxiliary driving state based on the gesture recognition result and the vehicle driving information.

In the embodiment of the disclosure, the current auxiliary driving state of the vehicle can be comprehensively determined according to the gesture recognition result and the vehicle driving information, and the accuracy of judging the auxiliary driving state is improved by combining the hand operation gesture and the sight direction of the driver.

The disclosed embodiments also provide a vehicle including a controller including:

a memory for storing machine readable instructions, and

A processor for invoking and executing said machine readable instructions stored in said memory to implement steps in any one of the possible implementations of the vehicle control method described above.

The disclosed embodiments also provide an electronic device comprising a processor, a memory storing machine-readable instructions executable by the processor, the processor in communication with the memory via the bus when the electronic device is in operation, and a bus, the machine-readable instructions when executed by the processor performing steps in any one of the possible implementations of the vehicle control method described above.

The disclosed embodiments also provide a computer program product having a computer program stored thereon, which, when executed by a processor, performs steps in any one of the possible implementations of the vehicle control method described above.

The description of the effects of the vehicle, the electronic device, and the computer program product is referred to the description of the vehicle control method, and is not repeated here.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the aspects of the disclosure.

The foregoing objects, features and advantages of the disclosure will be more readily apparent from the following detailed description of the preferred embodiments taken in conjunction with the accompanying drawings.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for the embodiments are briefly described below, which are incorporated in and constitute a part of the specification, these drawings showing embodiments consistent with the present disclosure and together with the description serve to illustrate the technical solutions of the present disclosure. It is to be understood that the following drawings illustrate only certain embodiments of the present disclosure and are therefore not to be considered limiting of its scope, for the person of ordinary skill in the art may admit to other equally relevant drawings without inventive effort.

FIG. 1 illustrates a flow chart of a vehicle control method provided by an embodiment of the present disclosure;

FIG. 2 illustrates a schematic diagram of a vehicle-to-machine interface provided by an embodiment of the present disclosure;

FIG. 3 illustrates a schematic process diagram of a vehicle control provided by an embodiment of the present disclosure;

FIG. 4 illustrates one of the schematic diagrams of a vehicle control apparatus provided by an embodiment of the present disclosure;

FIG. 5 illustrates a second schematic diagram of a vehicle control apparatus provided by an embodiment of the present disclosure;

fig. 6 shows a schematic structural diagram of an electronic device according to an embodiment of the disclosure.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. The components of the embodiments of the present disclosure, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure provided in the accompanying drawings is not intended to limit the scope of the disclosure, as claimed, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be made by those skilled in the art based on the embodiments of this disclosure without making any inventive effort, are intended to be within the scope of this disclosure.

It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

The term "and/or" is used herein to describe only one relationship, and means that three relationships may exist, for example, A and/or B, and that three cases exist, A alone, A and B together, and B alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, may mean including any one or more elements selected from the group consisting of A, B and C.

According to research, the intelligent driving system of the vehicle can support automatic driving under the condition that a driver is completely out of hand or semi-out of hand, namely, an auxiliary driving state, and correspondingly, under the auxiliary driving state, the vehicle can realize vehicle control by superposing driver hand force assistance on the basis of the execution torque of the intelligent driving system, and during the period, the vehicle needs to respond to a driver instruction and an intelligent driving system instruction at the same time, and can also be completely controlled by the intelligent driving system. In the driving process of the vehicle, when the driving assistance state controlled by at least the intelligent driving system is required to be switched to the driver taking over state controlled by the hand force of the driver, the torque after taking over by the driver changes greatly compared with the torque before taking over, which may affect the control of the steering wheel by the driver, for example, the steering wheel shake caused by abrupt torque change may affect the safety and the comfort of taking over by the driver.

Based on the above study, the disclosure provides a vehicle control method, which can execute corresponding target steering torque according to the current auxiliary driving state, at least part of the target steering torque is from motor torque input by an intelligent driving system, and control the attenuation speed of the motor torque input by the intelligent driving system when switching to the driver taking over state, so that when switching to the driver taking over state from the driving state, the taking over feeling is clear because the hand torque input by the driver is not overlapped before taking over, the driver can obviously perceive the taking over process, the safety of the vehicle driving is effectively improved, and when switching from the man-machine driving state to the driver taking over state, the driver can take over slowly, and the driver is not required to pay attention to the vehicle at the moment, so that the strong taking over feeling is not required to remind, the comfort of the vehicle driving is effectively improved through the smoothness, and the steering wheel shake caused by abrupt change of the target motor torque is avoided through the control of the attenuation speed, and meanwhile, the driver difficulty in reversing the taking over is reduced (the hand torque direction when the driver takes over the steering torque is opposite to the motor torque input by the intelligent driving system) is also helped, and the safety and the comfort of the vehicle driving is improved.

For the sake of understanding the present embodiment, a vehicle control method disclosed in the present embodiment will be described in detail, and the execution subject of the vehicle control method provided in the present embodiment is generally a vehicle, and the vehicle includes, but is not limited to, a car, a passenger car, a van, a tractor, and the like, which are not limited herein. The vehicle may include various types of controllers, for example, the controller may be a whole vehicle controller, a vehicle body domain controller, a cabin domain controller, an intelligent driving domain controller, and the like, without being particularly limited. The controller may include a processor and a memory, where the memory is configured to store machine-readable instructions, and the processor is configured to invoke and execute the machine-readable instructions stored in the memory, to enable implementation of the vehicle charging control method according to embodiments of the present disclosure.

In other embodiments, the execution subject may also be an in-vehicle device, where the in-vehicle device may be a device including a processor and a memory, and the vehicle detection method may be implemented by the processor calling computer readable instructions stored in the memory, which is not limited herein. In some embodiments, the method may also be applied to an implementation environment consisting of a vehicle and a server, and may also be applied to an implementation environment consisting of an in-vehicle device and a server. The server may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud storage, big data, artificial intelligent platforms and the like.

A vehicle control method provided by an embodiment of the present disclosure is described below with reference to the accompanying drawings.

Referring to fig. 1, a flowchart of a vehicle control method according to an embodiment of the present disclosure is shown in fig. 1, where the vehicle control method according to the embodiment of the present disclosure includes steps S101 to S104, where:

And S101, executing corresponding target steering torque according to the current auxiliary driving state of the vehicle in the process of starting the intelligent driving system to drive the vehicle, wherein at least part of the target steering torque is from the motor torque input by the intelligent driving system, and at least part of the target steering torque is from the motor torque input by the intelligent driving system.

Here, the intelligent driving system is activated when the vehicle needs to turn on the intelligent driving related function. For example, if the vehicle turns on the lane keeping assist (LANE KEEPING ASSIST, LKA) function, an intelligent driving system may be activated, which automatically detects lane lines during the driving of the vehicle and assists the driver in keeping the vehicle driving in the center of the road, and when the vehicle may deviate from the lane, the vehicle may alert or automatically make steering adjustments to alert or correct the driver's behavior to reduce the risk of accidents caused by the deviation from the lane. It will be appreciated that steering adjustments may be automatically made by the intelligent drive system as the vehicle deviates from the lane.

In the process of starting the intelligent driving system to drive the vehicle, the auxiliary driving state of the vehicle entering in real time can be judged according to the driving information of the vehicle aiming at different driving scenes.

Specifically, the current auxiliary driving state may be determined according to the following manner:

and determining the current auxiliary driving state according to the vehicle driving information.

Here, the vehicle driving information includes at least one of a level of intelligent driving, a vehicle traveling speed, and a hand force value of a driver operating the steering wheel.

Wherein the hand force value is the product of the hand force and the arm of force, typically in newton meters, where the arm of force is the vertical distance from the center of rotation of the steering wheel to the point of application.

In practical applications, the intelligent driving level generally includes a level L0-L5, where the level L0 can only support Driver control (DRIVER ASSISTANCE), the level L1 can support partial automatic driving (Partial automation), the level L3 can support conditional automatic driving (Conditional automation), the level L4 can support High automatic driving (High automatic), and the level L5 can support Full automatic driving (Full automatic).

In the embodiment of the disclosure, the auxiliary driving state includes a man-machine co-driving state and a machine driving state.

Specifically, the determining the current driving assisting state according to the driving information of the vehicle includes:

Determining that the current auxiliary driving state is a machine driving state under the condition that the intelligent driving level is higher than a target level or the intelligent driving level is equal to the target level, the vehicle running speed is higher than or equal to a speed threshold value and the hand force value is lower than or equal to a first hand force threshold value;

and determining that the current auxiliary driving state is a man-machine co-driving state under the condition that the intelligent driving level is equal to the target level and the vehicle running speed is smaller than the speed threshold or the hand force value meets a first condition, wherein the first condition is that the hand force value is larger than the first hand force threshold and smaller than a second hand force threshold.

The target level in the embodiments of the present disclosure may be the L2 level described above. It will be appreciated that when the intelligent driving level is higher than level L2, the vehicle may directly enter the driving state, and when the intelligent driving level is equal to level L2, if the vehicle running speed is higher than or equal to the speed threshold, it indicates that the vehicle is currently running at a high speed, and the vehicle is generally running on a relatively straight lane, such as a highway, and if the hand force value is lower than or equal to the first hand force threshold, it indicates that the driver is only operating the steering wheel with a smaller force, such as a virtual steering wheel, and the driver is not generally taking over the intention of the steering wheel, so that the current auxiliary driving state may be determined as the driving state.

When the intelligent driving level is equal to the L2 level, if the vehicle running speed is smaller than the speed threshold value, the current running speed of the vehicle is not fast, and the vehicle can be controlled by an intelligent driving system, but the vehicle also needs to be controlled by a driver for safety, so that the current auxiliary driving state is determined to be the man-machine co-driving state, wherein the second hand force threshold value is used for determining whether the vehicle enters a driver taking over mode, and when the intelligent driving level is equal to the L2 level, if the hand force value is larger than the first hand force threshold value and smaller than the second hand force threshold value, the driver is controlled by the steering wheel with a certain hand force value, but the hand force value is not so large as to be taken over by the driver completely, so that the current auxiliary driving state is determined to be the man-machine co-driving state.

The specific values of the speed threshold, the first manual threshold, and the second manual threshold may be set according to actual vehicle control requirements, and are not specifically limited herein.

Therefore, the method can distinguish whether the vehicle is in a driving state or a man-machine co-driving state currently according to the real-time intelligent driving level, the vehicle driving speed and the hand force value, ensure the accuracy of judging the auxiliary driving state, and is beneficial to the follow-up accurate control of the vehicles in different states by determining the real-time auxiliary driving state through scene distinction.

In other possible embodiments, the determining the current driving assistance state according to the vehicle driving information includes:

acquiring a target image acquired for a driver;

The hand operation gesture may indicate a control state of the driver with respect to the steering wheel, for example, may specifically include the driver holding the steering wheel with his or her hand, the driver not holding the steering wheel completely (i.e., holding the steering wheel with a virtual hand), and so on. The line of sight direction may indicate the driver's concentration, which may include, for example, the driver's concentration on the vehicle, the driver's line of sight being free, etc.

Here, in determining the current driving assistance state in combination with the vehicle driving information, the step of analyzing the vehicle driving information may refer to the foregoing embodiment, and will not be described herein.

For example, if the driver's hand does not fully hold the steering wheel and the line of sight is free, in combination with the vehicle driving information, it may be determined that the current driving assistance state is the driving assistance state.

Therefore, the current auxiliary driving state of the vehicle can be comprehensively determined according to the gesture recognition result and the vehicle driving information, and the accuracy of the auxiliary driving state judgment is improved by combining the hand operation gesture and the sight direction of the driver.

Optionally, after determining the driving assisting state, a prompt may be given to the driver, so that the driver knows the current state of the vehicle.

By way of example, the user can be reminded by controlling the lighting, flashing and the like of the instrument indicator lights, and the corresponding light colors, flashing frequencies and the like of different auxiliary driving states are different, so that the driver can distinguish the different auxiliary driving states.

In this step, the target steering torque is used for lateral steering control of the vehicle, for example, control of steering the vehicle to the left or right.

In practice, the vehicle may be steered by an electric power steering system (Electric Power Steering, EPS) by means of a motor providing torque.

Specifically, the executing the corresponding target steering torque according to the current driving assisting state of the vehicle includes:

And determining that the executed target steering torque is the motor torque input by the intelligent driving system when the auxiliary driving state is the man-machine co-driving state and the executed target steering torque is the motor torque obtained by superposing the motor torque input by the intelligent driving system and the hand torque of the driver operating the steering wheel.

In the man-machine co-driving state, the hand torque generated by the steering wheel operated by the driver is superimposed on the motor torque input by the intelligent driving system, so that the intelligent driving system and the driver can jointly control the vehicle, and in the machine driving state, only the motor torque input by the intelligent driving system is executed, so that the accurate control of the vehicles in different states is realized.

S102, when the auxiliary driving state is switched to the driver taking over state, determining the decay speed of the motor torque input by the intelligent driving system according to the hand torque direction when the driver takes over.

The hand torque direction when the driver takes over is used for indicating the control direction of the vehicle running after the driver takes over the vehicle control right.

In this step, when the driver takes over from the man-machine co-driving state or the machine driving state, the attenuation of the motor torque input by the intelligent driving system is involved, and the corresponding working conditions can be determined according to the hand torque direction when the driver takes over, so that the attenuation of different speeds can be executed under different working conditions.

In some possible embodiments, the switching from the assisted driving state to the driver take over state is determined according to the following manner:

In the event that the intelligent driving level is below the target level, or the hand force value is greater than or equal to the second hand force threshold, a current switch from the assisted driving state to the driver take over state is determined.

Here, when the intelligent driving level is lower than the target level, for example, the intelligent driving level is lower than the L2 level, the vehicle is not supported to receive the control of the intelligent driving system, and thus the vehicle can directly enter the driver take over state, and when the hand force value is greater than or equal to the second hand force threshold value, it is indicated that the driver controls the steering wheel with a larger hand force value, and thus it is determined that the auxiliary driving state is currently switched to the driver take over state.

Therefore, the vehicle can be timely determined to be switched from the auxiliary driving state to the driver taking over state according to the real-time intelligent driving level and the hand force value, the real-time performance and the effectiveness of the vehicle state determination can be guaranteed, and the vehicle control effect is improved.

According to the embodiment of the disclosure, the scene of switching from the auxiliary driving state to the driver taking over state is improved, and the experience of the driver in the taking over process is improved by controlling the attenuation speed of the motor torque input by the intelligent driving system.

The method comprises the steps of determining the attenuation speed of motor torque to be a first attenuation speed under the condition that the hand torque direction when a driver takes over is the same as the motor torque direction input by the intelligent driving system, and determining the attenuation speed of motor torque to be a second attenuation speed under the condition that the hand torque direction when the driver takes over is opposite to the motor torque direction input by the intelligent driving system, wherein the first attenuation speed is smaller than the second attenuation speed.

In an exemplary embodiment, when the motor torque direction input by the intelligent driving system is leftward, the first damping speed may be determined as the damping speed of the motor torque if the hand torque direction when the driver takes over is also leftward, and the second damping speed may be determined as the damping speed of the motor torque if the hand torque direction when the driver takes over is rightward.

The specific values of the first damping speed and the second damping speed may be set according to actual vehicle control requirements, and are not specifically limited herein.

When the direction is opposite, the driver is difficult to take over due to the fact that the required hand torque is larger, and at the moment, the rapid speed of the motor torque can be attenuated, so that the taking over difficulty of the driver is reduced, and therefore safety and comfort of vehicle driving are improved.

In some possible embodiments, the method further comprises:

In the above steps, the damping speeds of the plurality of motor torques under each condition may be calibrated in advance for the case where the hand torque direction when the driver takes over is the same as the motor torque direction input by the intelligent driving system, and the case where the hand torque direction when the driver takes over is opposite to the motor torque direction input by the intelligent driving system, and the gear corresponding to the calibrated damping speed of each motor torque may be determined.

When the auxiliary driving state is switched to the driver taking over state, a plurality of gears of the motor torque attenuation speed calibrated in advance under the corresponding condition are displayed through the vehicle-machine interface according to the fact that the hand torque taking over direction of the driver is the same as or opposite to the motor torque direction input by the intelligent driving system, so that a user can select from the gears, and the attenuation speed corresponding to the target gear selected by the user from the gears is determined to be the motor torque attenuation speed corresponding to the hand torque direction.

Here, when the hand torque direction of the driver takes over is preset, the attenuation speed in the case that the hand torque direction of the driver is opposite to the motor torque direction input by the intelligent driving system can be set to be greater than the attenuation speed in the case that the hand torque direction of the driver takes over is the same as the motor torque direction input by the intelligent driving system, so that when the hand torque direction of the driver takes over is the same as the motor torque direction input by the intelligent driving system, the attenuation of the motor torque slow speed can be executed so as to better smooth the transition taking over process, and when the hand torque is opposite, the driver is harder to take over due to the fact that the required hand force value is larger, and the attenuation of the motor torque fast speed is executed so as to reduce the difficulty of taking over of the driver, thereby improving the safety and the comfort of vehicle driving.

Therefore, a plurality of gears of motor torque attenuation speeds corresponding to different hand torque directions can be calibrated in advance and displayed on a vehicle-computer interface, and a user can select a target gear from the gears, so that the output target steering torque is adjusted gradually according to the attenuation speed corresponding to the target gear, individuation and diversification of vehicle control are facilitated, and user experience is improved.

For example, referring to fig. 2, fig. 2 is a schematic diagram of a vehicle-machine interface according to an embodiment of the disclosure. And as shown in fig. 2, takeover configuration information is displayed in the vehicle-machine interface, wherein the takeover configuration information indicates a plurality of gears of motor torque attenuation speeds corresponding to different takeover directions of different drivers when the auxiliary driving state is switched to the driver takeover state. Specifically, it can be seen that the gear 1-gear 4 is included under the condition that the hand torque direction when the driver takes over is the same as the motor torque direction input by the intelligent driving system, and the gear 5-gear 8 is included under the condition that the hand torque direction when the driver takes over is opposite to the motor torque direction input by the intelligent driving system.

The present example illustrates a case where the hand torque direction when the driver takes over is the same as the motor torque direction input by the intelligent driving system, and at this time, in the vehicle-machine interface, gear 5-gear 8 is in a forbidden state, gear 1-gear 4 is in an optional state, and in response to the user selecting gear 1, the attenuation speed corresponding to gear 1 is taken as the attenuation speed of the motor torque corresponding to the driver taking over direction.

And S103, gradually adjusting the output target steering torque according to the attenuation speed of the motor torque until the target steering torque only comprises the hand torque input by the driver.

In this step, since the vehicle is switched from the assisted driving state to the driver takeover state, in the assisted driving state, the target steering torque necessarily includes the motor torque input by the intelligent driving system, and at this time, the motor torque in the target steering torque may be gradually reduced according to the decay speed of the motor torque until the target motor torque includes only the hand torque input by the driver.

Optionally, when switching between the two states of the auxiliary driving state, the adjustment of the hand torque is involved, and the embodiment of the disclosure improves the scene of switching between the two states of the auxiliary driving state, and helps to improve the experience of the driver in the process of switching between the two states of the auxiliary driving state by controlling the adjustment speed of the hand torque.

In some possible embodiments, the method further comprises:

In the above-described steps, the adjustment according to the decay rate of the hand torque is actually performed by controlling the magnitude of the assist force corresponding to the hand torque signal.

Specifically, when the steering wheel is turned to apply a hand torque, the sensor detects the magnitude and direction of the hand torque. Then, the intelligent driving system can convert the hand torque signal into corresponding power assistance according to a preset algorithm and the running state of the vehicle.

In this way, when switching from the man-machine co-driving state to the driving state, the attenuation of the hand torque input by the driver is required, and the output target steering torque is adjusted gradually according to the attenuation speed of the hand torque, so that smooth state switching is facilitated, and steering wheel shake caused by abrupt change of the target steering torque is avoided.

Optionally, take-over configuration information can be displayed on the vehicle-machine interface, a plurality of gears corresponding to the attenuation speed of the hand torque when the man-machine co-driving state is switched to the driving state are indicated in the take-over configuration information, a target gear selected by a user from the gears is determined, and the attenuation speed corresponding to the target gear is used as the attenuation speed of the hand torque.

Specifically, for the situation that the auxiliary driving state is switched from the man-machine co-driving state to the driving state, the attenuation speeds of a plurality of hand torque can be calibrated in advance, and a gear corresponding to the calibrated attenuation speed of each hand torque can be determined. When the man-machine driving state is switched to the machine driving state, a plurality of gears of the pre-calibrated hand torque attenuation speed can be displayed through the car-machine interface, so that a user can select from the gears, and the attenuation speed corresponding to the target gear selected by the user from the gears is determined to be the attenuation speed of the hand torque.

In some possible embodiments, the method further comprises:

Determining the increasing speed of the input driver hand torque when the auxiliary driving state is determined to be switched from the driving state to the man-machine co-driving state;

In the above-described steps, the adjustment according to the increasing speed of the hand torque is actually performed by controlling the magnitude of the assist force corresponding to the hand torque signal.

In this way, when switching from the driving state to the man-machine co-driving state, the increase of the hand torque input by the driver is required, and the output target steering torque is adjusted gradually according to the increase speed of the hand torque, so that smooth state switching is facilitated, and steering wheel shake caused by abrupt change of the target steering torque is avoided.

Optionally, take-over configuration information can be displayed on the machine interface, a plurality of gears corresponding to the increase speed of the hand torque when the take-over configuration information indicates to switch from the machine driving state to the man-machine co-driving state, a target gear selected by a user from the plurality of gears is determined, and the increase speed corresponding to the target gear is used as the increase speed of the hand torque.

Specifically, for the situation that the driving assisting state is switched from the driving state to the man-machine co-driving state, the increasing speeds of a plurality of hand torque can be calibrated in advance, and the gear corresponding to the calibrated increasing speed of each hand torque is determined. When the driving state is switched to the man-machine co-driving state, a plurality of gears of the pre-calibrated hand torque increasing speed can be displayed through the car-machine interface, so that a user can select from the gears, and the increasing speed corresponding to the target gear selected by the user from the gears is determined to be the increasing speed of the hand torque.

For clarity of illustration of the process of vehicle control, reference may be made herein to fig. 3, where fig. 3 is a schematic diagram of a process of vehicle control provided by an embodiment of the disclosure. As shown in fig. 3, during running of the vehicle, in response to the driver controlling the steering wheel, a hand force value of the driver for operating the steering wheel may be obtained, and the basic assistance module may calculate a hand force torque corresponding to the hand force value.

Under the condition that the current auxiliary driving state is the man-machine co-driving state, selecting a channel 1 through a channel selection module, and taking the calculated hand torque as the hand torque input by a driver; and when the current driving assisting state is the driving state, selecting a channel 2 by the channel selecting module, and taking 0 as the hand torque input by the driver.

And responding to a target request sent by the intelligent driving system, determining a request angle carried by the target request, and calculating a torque angle corresponding to the request angle through a safety limiting module, so as to determine the motor torque corresponding to the torque angle as the motor torque input by the intelligent driving system.

And when the auxiliary driving state is the machine driving state, determining that the executed target steering torque is the motor torque input by the intelligent driving system as the target steering torque because the hand torque input by the driver is 0.

When the auxiliary driving state is switched to the driver taking over state, determining the attenuation speed of the motor torque input by the intelligent driving system according to the hand torque direction when the driver takes over, and gradually reducing the motor torque in the target steering torque to 0 according to the attenuation speed of the motor torque, wherein the target steering torque only comprises the hand torque input by the driver. The specific steps are described in the foregoing embodiments, and are not repeated herein.

According to the vehicle control method provided by the embodiment of the disclosure, corresponding target steering torque can be executed according to the current auxiliary driving state of the vehicle, at least part of the target steering torque is from motor torque input by the intelligent driving system, when the auxiliary driving state is switched to the driver taking over state, the attenuation speed of the motor torque input by the intelligent driving system is controlled according to the hand torque direction when the driver takes over, the target steering torque is adjusted gradually according to the attenuation speed of the motor torque, and steering wheel shake caused by abrupt change of the target steering torque is avoided. In this way, considering that the auxiliary driving state comprises a man-machine co-driving state and a machine driving state, when the auxiliary driving state is switched from the machine driving state to the machine driving state, the taking-over feeling is clear because the hand torque input by the driver is not overlapped before taking over, the auxiliary driving state is helpful for the driver to obviously perceive the taking-over process and effectively improves the safety of vehicle driving, when the auxiliary driving state is switched from the man-machine co-driving state to the machine driving state, the auxiliary driving state can be smoothly taken over, and the driver is not required to be reminded of strong taking-over feeling because the driver is attentive to the vehicle at the moment, the comfort of vehicle driving is effectively improved through the smooth taking-over, and the hand force heavy feeling when the reverse taking-over (the hand torque direction when the driver takes over is opposite to the motor torque direction input by the intelligent driving system) is improved through the control of the attenuation speed of the motor torque, the driver taking-over difficulty is reduced, and the safety and the comfort of vehicle driving are improved.

It will be appreciated by those skilled in the art that in the above-described method of the specific embodiments, the written order of steps is not meant to imply a strict order of execution but rather should be construed according to the function and possibly inherent logic of the steps.

Based on the same inventive concept, the embodiments of the present disclosure further provide a vehicle control device corresponding to the vehicle control method, and since the principle of solving the problem of the vehicle control device in the embodiments of the present disclosure is similar to that of the vehicle control method in the embodiments of the present disclosure, the implementation of the device may refer to the implementation of the method, and the repetition is omitted.

Referring to fig. 4 and 5, fig. 4 is a schematic diagram of a vehicle control device according to an embodiment of the disclosure, and fig. 5 is a schematic diagram of a second vehicle control device according to an embodiment of the disclosure. As shown in fig. 4, a vehicle control apparatus 400 provided by an embodiment of the present disclosure includes:

The torque execution module 410 is used for executing corresponding target steering torque according to the current auxiliary driving state of the vehicle in the process of starting the intelligent driving system to drive the vehicle, wherein at least part of the target steering torque is from motor torque input by the intelligent driving system;

A speed determining module 420, configured to determine a decay speed of the motor torque input by the intelligent driving system according to a hand torque direction when the driver takes over when switching from the auxiliary driving state to the driver take over state;

the first torque adjustment module 430 is configured to gradually adjust the output target steering torque according to the decay speed of the motor torque until the target steering torque only includes the hand torque input by the driver.

In an alternative embodiment, the torque execution module 410 is specifically configured to, when configured to execute the corresponding target steering torque according to the current driving assisting state of the vehicle:

Under the condition that the auxiliary driving state is a man-machine co-driving state, determining that the target steering torque is the torque obtained by superposing the motor torque input by the intelligent driving system and the hand torque of a driver operating a steering wheel;

In an alternative embodiment, the speed determining module 420 is specifically configured to, when used for determining the decay speed of the motor torque input by the intelligent driving system according to the hand torque direction when the driver takes over:

Wherein the first decay rate is less than the second decay rate.

In an alternative embodiment, as shown in fig. 5, the vehicle control apparatus 400 further includes a second torque adjustment module 440, the second torque adjustment module 440 being configured to:

Determining the attenuation speed of the hand torque of the driver when the auxiliary driving state is determined to be switched from the man-machine co-driving state to the machine driving state;

In an alternative embodiment, as shown in fig. 5, the vehicle control apparatus 400 further includes a third torque adjustment module 450, the third torque adjustment module 450 being configured to:

In an alternative embodiment, the speed determination module 420 is further configured to:

In an alternative embodiment, the torque execution module 410 is configured to determine the current driving assistance state according to the following manner:

acquiring a target image acquired for a driver;

The process flow of each module in the apparatus and the interaction flow between the modules may be described with reference to the related descriptions in the above method embodiments, which are not described in detail herein.

According to the vehicle control device provided by the embodiment of the disclosure, corresponding target steering torque can be executed according to the current auxiliary driving state of the vehicle, at least part of the target steering torque is from motor torque input by the intelligent driving system, when the auxiliary driving state is switched to the driver taking over state, the attenuation speed of the motor torque input by the intelligent driving system is controlled according to the hand torque direction when the driver takes over, the target steering torque is adjusted gradually according to the attenuation speed of the motor torque, and steering wheel shake caused by abrupt change of the target steering torque is avoided. In this way, considering that the auxiliary driving state comprises a man-machine co-driving state and a machine driving state, when the auxiliary driving state is switched from the machine driving state to the machine driving state, the taking-over feeling is clear because the hand torque input by the driver is not overlapped before taking over, the auxiliary driving state is helpful for the driver to obviously perceive the taking-over process and effectively improves the safety of vehicle driving, when the auxiliary driving state is switched from the man-machine co-driving state to the machine driving state, the auxiliary driving state can be smoothly taken over, and the driver is not required to be reminded of strong taking-over feeling because the driver is attentive to the vehicle at the moment, the comfort of vehicle driving is effectively improved through the smooth taking-over, and the hand force heavy feeling when the reverse taking-over (the hand torque direction when the driver takes over is opposite to the motor torque direction input by the intelligent driving system) is improved through the control of the attenuation speed of the motor torque, the driver taking-over difficulty is reduced, and the safety and the comfort of vehicle driving are improved.

The disclosed embodiments also provide a vehicle comprising a controller comprising a memory for storing machine-readable instructions and a processor for invoking and executing the machine-readable instructions stored in the memory to implement the steps of the vehicle control method as described in the method embodiments above. Wherein, the vehicle can be the vehicle that is provided with intelligent driving system.

Corresponding to the vehicle control method in fig. 1, the embodiment of the disclosure further provides an electronic device 600, as shown in fig. 6, which is a schematic structural diagram of the electronic device 600 provided in the embodiment of the disclosure, including:

A processor 610, a memory 620, and a bus 630. The memory 620 is used for storing execution instructions, and includes a memory 621 and an external memory 622, where the memory 621 is also called an internal memory, and is used for temporarily storing operation data in the processor 610 and data exchanged with the external memory 622 such as a hard disk, and the processor 610 exchanges data with the external memory 622 through the memory 621.

In an embodiment of the present application, the memory 620 is specifically configured to store application program codes for executing the solution of the present application, and the processor 610 controls the execution. That is, when the electronic device 600 is operating, communication between the processor 610 and the memory 620 is via the bus 630, causing the processor 1010 to execute application code stored in the memory 620, thereby performing the steps of the vehicle control method described in any of the foregoing embodiments.

The Memory 620 may be, but is not limited to, random access Memory (Random Access Memory, RAM), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.

The processor 610 may be an integrated circuit chip having signal processing capabilities. The Processor may be a general-purpose Processor including a central processing unit (Central Processing Unit, CPU), a network Processor (Network Processor, NP), etc., or may be a digital signal Processor (DIGITAL SIGNAL Processor, DSP), application Specific Integrated Circuit (ASIC), field programmable gate array (Field Programmable GATE ARRAY, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It should be understood that the illustrated structure of the embodiment of the present application does not constitute a specific limitation on the electronic device 600. In other embodiments of the application, electronic device 600 may include more or fewer components than shown, or certain components may be combined, or certain components may be split, or different arrangements of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

The disclosed embodiments also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the vehicle control method described in the above method embodiments. Wherein the storage medium may be a volatile or nonvolatile computer readable storage medium.

In addition, the embodiments of the present disclosure further provide a computer program product, where a computer program is stored, and the computer program when executed by a processor performs the steps of the vehicle control method provided in any of the foregoing embodiments of the present disclosure, and specifically, reference may be made to the foregoing method embodiments, which are not described herein.

Wherein the above-mentioned computer program product may be realized in particular by means of hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, which may be a volatile or nonvolatile computer readable storage medium. In another alternative embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), or the like.

It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the apparatus and device described above may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again. In several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus, device, and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present disclosure may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on such understanding, the technical solution of the present disclosure may be embodied in essence or a part contributing to the prior art or a part of the technical solution, or in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present disclosure. The storage medium includes a U disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.

It should be noted that the foregoing embodiments are merely specific implementations of the disclosure, and are not intended to limit the scope of the disclosure, and although the disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that any modification, variation or substitution of some of the technical features described in the foregoing embodiments may be made or equivalents may be substituted for those within the scope of the disclosure without departing from the spirit and scope of the technical aspects of the embodiments of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that the method comprises:

During the process of driving the vehicle with the intelligent driving system enabled, a corresponding target steering torque is executed according to the current assisted driving state of the vehicle; at least part of the target steering torque comes from the motor torque input by the intelligent driving system;

When switching from the assisted driving state to the driver taking over state, determining the attenuation speed of the motor torque input by the intelligent driving system according to the hand force torque direction of the driver when taking over;

According to the attenuation speed of the motor torque, the output target steering torque is gradually adjusted until the target steering torque only includes the hand force torque input by the driver.

2. The method according to claim 1, characterized in that the step of executing the corresponding target steering torque according to the current assisted driving state of the vehicle comprises:

When the assisted driving state is a human-machine co-driving state, determining the target steering torque to be executed is a torque obtained by superimposing the motor torque input by the intelligent driving system and the hand torque of the driver operating the steering wheel;

When the assisted driving state is the machine driving state, the target steering torque to be executed is determined to be the motor torque input by the intelligent driving system.

3. The method according to claim 1, characterized in that the step of determining the attenuation speed of the motor torque input by the intelligent driving system according to the hand force torque direction when the driver takes over comprises:

When the direction of the hand force torque of the driver when taking over is the same as the direction of the motor torque input by the intelligent driving system, determining the attenuation speed of the motor torque to be a first attenuation speed;

When the direction of the hand force torque of the driver when taking over is opposite to the direction of the motor torque input by the intelligent driving system, determining the attenuation speed of the motor torque to be a second attenuation speed;

Wherein, the first decay rate is smaller than the second decay rate.

4. The method according to claim 1, characterized in that the method further comprises:

When it is determined that the assisted driving state is switched from the human-machine co-driving state to the machine-driving state, determining a decay rate of the input driver hand force torque;

According to the attenuation rate of the hand force torque, the output target steering torque is gradually adjusted until the target steering torque only includes the motor torque input by the intelligent driving system.

5. The method according to claim 1, characterized in that the method further comprises:

When it is determined that the assisted driving state is switched from the machine-driving state to the human-machine co-driving state, determining a growth rate of the input driver hand force torque;

According to the growth rate of the hand force torque, the output target steering torque is gradually adjusted until the hand force torque superimposed on the target steering torque grows to the actual hand force torque of the driver operating the steering wheel.

6. The method according to claim 1, characterized in that the method further comprises:

Displaying the takeover configuration information on the vehicle interface; the takeover configuration information indicates multiple gears of the motor torque attenuation speed corresponding to different hand force torque directions during takeover when switching from the assisted driving state to the driver takeover state;

For different hand force torque directions, the target gear selected by the user from the multiple gears is determined respectively, and the decay speed corresponding to the target gear is used as the decay speed of the motor torque corresponding to the hand force torque direction.

7. The method according to claim 1, characterized in that the current assisted driving state is determined according to the following method:

Acquire a target image collected for the driver;

Performing posture recognition on the target image to obtain a posture recognition result of the driver, wherein the posture recognition result indicates the hand operation posture and sight direction of the driver;

Based on the posture recognition result and vehicle driving information, the current assisted driving state is determined.

8. A vehicle, characterized by comprising a controller, wherein the controller comprises:

a memory for storing machine-readable instructions; and

A processor, configured to call and execute the machine-readable instructions stored in the memory to implement the steps of the vehicle control method as claimed in any one of claims 1 to 7.

9. An electronic device, characterized in that it comprises: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the vehicle control method as described in any one of claims 1 to 7 are performed.

10. A computer program product, characterized in that a computer program is stored on the computer program product, and when the computer program is executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 7 are executed.