CN111845752A - Method and system for automatically switching manual driving mode and automatic driving mode of vehicle - Google Patents
Method and system for automatically switching manual driving mode and automatic driving mode of vehicle Download PDFInfo
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
- B60W2510/202—Steering torque
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
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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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention relates to a method for automatically switching between a manual driving mode and an automatic driving mode of a vehicle, which realizes the switching between the manual driving mode and the automatic driving mode by three types of manual and automatic switch signals, steering motor torque signals and brake signals, can completely automatically switch between the manual driving mode and the automatic driving mode, and can automatically switch at any time or switch between the driving modes by rotating a steering wheel or stepping on a brake according to the intention of a driver in the driving process, thereby greatly improving the safety of a system and the autonomy of a user and providing the riding experience of automatic driving equipment which is more suitable for the self requirement for the user; and under the automatic driving mode, the system has an accurate environment and vehicle body information collecting system and a vehicle steering correcting system, and the collected information is combined to carry out accurate real-time correction, so that the safety of the system is greatly improved.
Description
Technical Field
The invention relates to the technical field of automobile intelligent control, in particular to a method and a system for automatically switching manual and automatic driving modes of a vehicle.
Background
With the development of science and technology and the progress of society, the automatic driving technology becomes the development trend in the traffic field. How to enable the automatic driving device to judge various road conditions and make corresponding driving behaviors, and improving the intelligent degree of the automatic driving device becomes a hotspot.
In the existing automatic driving technology, automatic driving is realized by automatic driving equipment according to a preset automatic driving mode, that is, an automatic driving mode comprising a plurality of driving operation instructions is arranged in automatic driving vehicle equipment, and when the automatic driving equipment executes a driving task, a corresponding instruction can be selected from the driving operation instructions in the automatic driving mode according to the obtained current road condition and executed.
However, since the automatic driving mode is preset by the developer, it does not have the function of automatic and manual switching, i.e. the user cannot control the vehicle or automatically enter the automatic driving mode according to his own idea at any time, the present invention proposes a method for switching between the automatic and manual driving modes.
Disclosure of Invention
The invention aims to provide a method and a system for automatically switching between a manual driving mode and an automatic driving mode of a vehicle, which solve the problem that a current user cannot control the vehicle or automatically enter the automatic driving mode according to own idea at any time.
In order to achieve the purpose, the invention provides the following scheme:
a method of automatic switching between manual and autonomous driving modes of a vehicle, the method comprising:
acquiring manual and automatic switching signals; the manual and automatic switching signal comprises a manual and automatic switching switch signal, a steering motor torque signal or a brake signal;
when the manual and automatic switching signal is a manual and automatic switching switch signal, switching the current driving mode into another driving mode; the driving modes include an automatic driving mode and a manual driving mode;
when the manual and automatic switching signal is a steering column real-time torque signal and the vehicle is in an automatic driving mode, comparing the steering column real-time torque with a target torque, and when the steering column real-time torque is larger than the target torque, switching the vehicle from the automatic driving mode to a manual driving mode; the target torque is the torque applied to a steering column by a steering motor when the vehicle is steered in an automatic driving mode;
when the manual and automatic switching signal is a braking signal and the vehicle is in an automatic driving mode, the vehicle is switched from the automatic driving mode to a manual driving mode.
Optionally, when the manual and automatic switching signal is a steering column real-time torque signal, and the vehicle is in an automatic driving mode, comparing the steering column real-time torque with a target torque, and when the real-time torque of the steering motor is greater than the target torque, the vehicle is switched from the automatic driving mode to the manual driving mode, specifically including:
acquiring real-time torque of a steering column in real time, and comparing the real-time torque of the steering column with a target torque;
when the real-time torque of the steering column is larger than the target torque, judging that external force intervention exists in the real-time torque of the steering column, and switching the driving mode of the vehicle from an automatic driving mode to a manual driving mode;
and when the torque borne by the steering column is smaller than or equal to the target torque, judging that the real-time torque of the steering column has no external force intervention, and not switching the driving mode at the moment.
Optionally, when the vehicle is switched to the manual driving mode, in the process that the driver controls the vehicle to steer and the speed to change, the method further comprises the following steps;
control by the electronic control unit and turn to the motor and provide auxiliary power for the vehicle turns to, specifically includes:
collecting the rotation direction of a steering wheel and the magnitude of the torque, and converting the magnitude of the torque into a voltage signal;
collecting real-time vehicle speed;
calculating the torque required by steering according to the voltage signal, the rotating direction of the steering wheel and the real-time vehicle speed;
and controlling a steering motor to drive a steering column to rotate according to the torque required by steering.
Optionally, when the vehicle is switched to the automatic driving mode, the automatic driving control method specifically includes:
acquiring the position, the course information, the environment information and the vehicle state information of a vehicle in real time;
determining the current vehicle state according to the position, the course information, the environment information and the vehicle state information of the vehicle; the current vehicle state comprises a real-time vehicle speed and a real-time vehicle body angle;
determining a target vehicle state according to the position, the course information, the environment information, the vehicle state information and the current vehicle state of the vehicle; the target vehicle state comprises a target vehicle speed and a target vehicle body angle;
controlling a steering motor to drive a steering column to rotate, so that the steering column is subjected to the target torque;
correcting the steering speed according to the current vehicle speed;
the step of correcting the steering speed according to the vehicle speed specifically comprises the following steps:
adjusting the rotating speed of the steering motor according to a formula U-n-U; in the formula, U is the rotating speed of the steering motor, U is the maximum rotating speed of the steering motor, which is a fixed value, and n is the coefficient of the steering motor in different vehicle speed states;
detecting the vehicle speed and the vehicle body angle in the steering process in real time; and when the vehicle speed and the vehicle body angle in the steering process are different from the target vehicle speed and the target vehicle body angle, continuing steering until the vehicle speed and the vehicle body angle in the steering process are equal to the target vehicle speed and the target vehicle body angle.
Optionally, the environment information includes: the shape, direction, curvature, gradient and lane of the road, traffic signs, signal lights, position, size, heading and speed of other vehicles and pedestrians;
the vehicle state information includes: the forward speed, acceleration, steering angle, body position and attitude of the vehicle.
A system for automatic switching of manual and automatic driving modes of a vehicle, comprising: the system comprises an unmanned driving system, a whole vehicle control system and a steering power-assisted system; the unmanned system is bidirectionally connected with the whole vehicle control system through CAN1, and the whole vehicle control system is bidirectionally connected with the steering power-assisted system through CAN 2;
the whole vehicle control system comprises a manual and automatic change-over switch;
the whole vehicle control system is used for acquiring manual and automatic switching signals; the manual and automatic switching signal comprises a manual and automatic switching switch signal, a steering motor torque signal or a brake signal;
when the manual and automatic switching signal is a manual and automatic switching switch signal, switching the current driving mode into another driving mode; the driving modes include an automatic driving mode and a manual driving mode;
when the manual and automatic switching signal is a steering column real-time torque signal and the vehicle is in an automatic driving mode, comparing the steering column real-time torque with a target torque, and when the steering column real-time torque is larger than the target torque, switching the vehicle from the automatic driving mode to a manual driving mode; the target torque is the torque applied to a steering column by a steering motor when the vehicle is steered in an automatic driving mode;
when the manual and automatic switching signal is a braking signal and the vehicle is in an automatic driving mode, the vehicle is switched from the automatic driving mode to a manual driving mode.
Optionally, the vehicle control system further includes an ESP;
the ESP is used for comparing the real-time torque of the steering column with the target torque when the manual and automatic switching signal is a real-time torque signal of the steering column and the vehicle is in an automatic driving mode, and switching the vehicle from the automatic driving mode to a manual driving mode when the real-time torque of the steering column is greater than the target torque;
the method specifically comprises the following steps:
acquiring real-time torque of a steering column in real time, and comparing the real-time torque of the steering column with a target torque;
when the real-time torque of the steering column is larger than the target torque, judging that external force intervention exists in the real-time torque of the steering column, and switching the driving mode of the vehicle from an automatic driving mode to a manual driving mode;
and when the torque borne by the steering column is smaller than or equal to the target torque, judging that the real-time torque of the steering column has no external force intervention, and not switching the driving mode at the moment.
Optionally, the system for automatically switching between the manual driving mode and the automatic driving mode of the vehicle further comprises an electronic control unit;
the electronic control unit is used for controlling the steering motor to provide auxiliary power for the steering of the vehicle in the process that the driver controls the steering of the vehicle and the speed change when the vehicle is switched to the manual driving mode;
the method specifically comprises the following steps:
collecting the rotation direction of a steering wheel and the magnitude of the torque, and converting the magnitude of the torque into a voltage signal;
collecting real-time vehicle speed;
calculating the torque required by steering according to the voltage signal, the rotating direction of the steering wheel and the real-time vehicle speed;
and controlling a steering motor to drive a steering column to rotate according to the torque required by steering.
Optionally, the unmanned system includes a positioning module and an environment sensing module;
the positioning module is used for acquiring the position, the course information and the vehicle state information of the vehicle in real time; the environment perception module is used for acquiring environment information;
the unmanned system is further configured to: determining the current vehicle state according to the position, the course information, the environment information and the vehicle state information of the vehicle; the current vehicle state comprises a real-time vehicle speed and a real-time vehicle body angle;
determining a target vehicle state according to the position, the course information, the environment information, the vehicle state information and the current vehicle state of the vehicle; the target vehicle state comprises a target vehicle speed and a target vehicle body angle;
controlling a steering motor to drive a steering column to rotate, so that the steering column generates the target torque;
detecting the vehicle speed and the vehicle body angle in the steering process in real time; when the vehicle speed and the vehicle body angle in the steering process are different from the target vehicle speed and the target vehicle body angle, continuing steering until the vehicle speed and the vehicle body angle in the steering process are equal to the target vehicle speed and the target vehicle body angle;
the whole vehicle control system is also used for correcting the steering speed according to the current vehicle speed in the process of converting the current vehicle angle into the target vehicle angle;
the method specifically comprises the following steps:
adjusting the rotating speed of the steering motor according to a formula U-n-U; in the formula, U is the rotating speed of the steering motor, U is the maximum rotating speed of the steering motor, which is a fixed value, and n is the coefficient of the steering motor in different vehicle speed states.
The power steering system comprises a steering motor and a steering column and is used for controlling the steering of the vehicle.
Optionally, the positioning module includes a GPS, an inertial navigation system, a odometer, a camera, and a laser radar;
the GPS is used for acquiring the position of the vehicle, and the inertial navigation system, the odometer, the camera and the laser radar are used for acquiring course information;
the environment sensing module comprises a camera, a laser radar, a millimeter wave radar, an ultrasonic radar and a gyroscope and is used for sensing surrounding environment information and vehicle state information.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the method and the system for automatically switching manual and automatic control can completely and automatically switch manual and automatic driving modes, and can automatically switch at any time or switch the driving modes by rotating a steering wheel or stepping on a brake according to the intention of a driver in the driving process, so that the safety of the system and the autonomy of a user are greatly improved, and the riding experience of automatic driving equipment which is more suitable for the self requirement is provided for the user;
and under the automatic driving mode, the system has an accurate environment and vehicle body information collecting system and a vehicle steering correcting system, and the collected information is combined to carry out accurate real-time correction, so that the safety of the system is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of an automatic switching system for manual and automatic driving modes of a vehicle according to an embodiment of the present invention.
Fig. 2 is a control flowchart of a method for automatically switching between manual driving mode and automatic driving mode of a vehicle according to an embodiment of the present invention.
Fig. 3 is a flowchart of an automatic driving control method for automatically switching between a manual driving mode and an automatic driving mode of a vehicle according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a method and a system for automatically switching between a manual driving mode and an automatic driving mode of a vehicle, which solve the problem that a current user cannot control the vehicle or automatically enter the automatic driving mode according to own idea at any time.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The first embodiment is as follows:
as shown in fig. 1, a system for automatic switching between manual and automatic driving modes of a vehicle includes: the system comprises an unmanned driving system, a whole vehicle control system and a steering power-assisted system; the unmanned system is bidirectionally connected with the whole vehicle control system through CAN1, and the whole vehicle control system is bidirectionally connected with the steering power-assisted system through CAN 2;
the whole vehicle control system comprises a manual and automatic change-over switch;
the whole vehicle control system is used for acquiring manual and automatic switching signals; the manual and automatic switching signal comprises a manual and automatic switching switch signal, a steering motor torque signal or a brake signal;
when the manual and automatic switching signal is a manual and automatic switching switch signal, switching the current driving mode into another driving mode; the driving modes include an automatic driving mode and a manual driving mode;
when the manual and automatic switching signal is a steering column real-time torque signal and the vehicle is in an automatic driving mode, comparing the steering column real-time torque with a target torque, and when the steering column real-time torque is larger than the target torque, switching the vehicle from the automatic driving mode to a manual driving mode; the target torque is the torque applied to a steering column by a steering motor when the vehicle is steered in an automatic driving mode;
when the manual and automatic switching signal is a braking signal and the vehicle is in an automatic driving mode, the vehicle is switched from the automatic driving mode to a manual driving mode.
The whole vehicle control system also comprises an ESP;
the ESP is used for comparing the real-time torque of the steering column with the target torque when the manual and automatic switching signal is a real-time torque signal of the steering column and the vehicle is in an automatic driving mode, and the specific comparison method comprises the following steps:
acquiring real-time torque of a steering column in real time, and comparing the real-time torque of the steering column with a target torque;
when the real-time torque of the steering column is larger than the target torque, judging that external force intervention exists in the real-time torque of the steering column, and switching the driving mode of the vehicle from an automatic driving mode to a manual driving mode;
and when the torque borne by the steering column is smaller than or equal to the target torque, judging that the real-time torque of the steering column has no external force intervention, and not switching the driving mode at the moment.
The unmanned system comprises a positioning module and an environment perception module;
the positioning module comprises a GPS, an inertial navigation system, a milemeter, a camera and a laser radar;
the GPS is used for acquiring the position of the vehicle, and the inertial navigation system, the odometer, the camera and the laser radar are used for acquiring course information;
the environment sensing module comprises a camera, a laser radar, a millimeter wave radar, an ultrasonic radar and a gyroscope and is used for sensing surrounding environment information and vehicle state information.
The environment information includes: the shape, direction, curvature, gradient and lane of the road, traffic signs, signal lights, the position, size, heading direction and speed of other vehicles and pedestrians, etc.; the vehicle state information includes: the forward speed, acceleration, steering angle, body position, attitude, etc. of the vehicle; although various sensors can obtain rich and detailed environmental information, how to fuse and uniformly process the information of the various sensors is a big problem, for example, the size, position, advancing direction and speed information of the same vehicle sensed by a camera and a laser radar are fused, so that the consistency of time and space of the same vehicle in different sensors is ensured;
the unmanned system is further configured to: determining the current vehicle state according to the position, the course information, the environment information and the vehicle state information of the vehicle; the current vehicle state comprises a real-time vehicle speed and a real-time vehicle body angle;
determining a target vehicle state according to the position, the course information, the environment information, the vehicle state information and the current vehicle state of the vehicle; the target vehicle state comprises a target vehicle speed and a target vehicle body angle;
controlling a steering motor to drive a steering column to rotate, so that the steering column generates the target torque;
detecting the vehicle speed and the vehicle body angle in the steering process in real time; when the vehicle speed and the vehicle body angle in the steering process are different from the target vehicle speed and the target vehicle body angle, continuing steering until the vehicle speed and the vehicle body angle in the steering process are equal to the target vehicle speed and the target vehicle body angle;
the whole vehicle control system is also used for correcting the steering speed according to the current vehicle speed in the process of converting the current vehicle angle into the target vehicle angle; adjusting the rotating speed of the steering motor according to a formula U-n-U in the correction process; in the formula, U is the rotating speed of the steering motor, U is the maximum rotating speed of the steering motor, which is a fixed value, and n is the coefficient of the steering motor in different vehicle speed states.
The power steering system comprises a steering motor and a steering column and is used for controlling the steering of the vehicle.
As an alternative embodiment, the system for automatically switching between manual and automatic driving modes of a vehicle further comprises an electronic control unit;
the electronic control unit is used for controlling the steering motor to provide auxiliary power for the steering of the vehicle in the process that the driver controls the steering of the vehicle and the speed change when the vehicle is switched to the manual driving mode; the specific method for providing auxiliary power comprises the following steps:
collecting the rotation direction of a steering wheel and the magnitude of the torque, and converting the magnitude of the torque into a voltage signal;
collecting real-time vehicle speed;
calculating the torque required by steering according to the voltage signal, the rotating direction of the steering wheel and the real-time vehicle speed;
and controlling a steering motor to drive a steering column to rotate according to the torque required by steering.
As an optional implementation manner, the system for automatically switching between the manual driving mode and the automatic driving mode of the vehicle further comprises a steer-by-wire system, which mainly comprises a steering wheel, a steering column, a steering gear, a servo motor, a controller module and a torque angle sensor.
Through the combination and application of the unmanned system, the whole vehicle control system, the power steering system and related components thereof, the whole vehicle control system is utilized to carry out integral control, the unmanned system is responsible for control in an unmanned state, the power steering control system is responsible for power steering, the whole vehicle can change a driving mode at any time according to the intention of a driver, and in an automatic driving mode, the system has an accurate environment and vehicle body information collection system and a vehicle steering correction system, and carries out accurate real-time correction by combining collected information, so that the safety of the system is greatly improved, as shown in fig. 2, the specific method comprises the following processes:
acquiring manual and automatic switching signals; the manual and automatic switching signal comprises a manual and automatic switching switch signal, a steering motor torque signal or a brake signal; colloquially, one of them contains three cases;
a first condition of switching a current driving mode to another driving mode when the manual-automatic switching signal is a manual-automatic switching switch signal; the driving modes include an automatic driving mode and a manual driving mode; when a driver presses a manual and automatic switching switch, the whole vehicle control system can obtain a signal for switching a driving state, if the current driving mode is the automatic driving mode, the manual driving mode is replaced, and if the current driving mode is the manual driving mode, the automatic driving mode is replaced, so that the driving mode can be switched by one key, the automatic driving mode can be switched when feeling tired, and the automatic driving mode can be switched by one key when feeling that the automatic driving mode is not satisfactory, thereby enriching the use experience of users.
In the second situation, when the manual and automatic switching signal is a steering column real-time torque signal and the vehicle is in an automatic driving mode, comparing the steering column real-time torque with a target torque, and when the steering column real-time torque is larger than the target torque, switching the vehicle from the automatic driving mode to a manual driving mode; when the target torque is the torque applied to the steering column by the steering motor when the vehicle steers in the automatic driving mode, when a driver thinks that the automatic driving does not accord with the self intention or an emergency automatic driving system cannot make a correct judgment, the driver finishes the automatic driving mode by rotating the steering wheel, and the specific control method at the moment is as follows:
acquiring real-time torque of a steering column in real time, and comparing the real-time torque of the steering column with a target torque; the steering column is connected with the steering wheel, when the steering wheel is manually rotated, the steering column can have a real-time torque, the automatic driving system also controls the steering motor to output a target torque to turn the vehicle, and when the vehicle does not turn, the target torque is 0, so that whether a person intervenes as an external force to change the driving state or not can be judged by comparing the real-time torque manually applied to the steering column with the target torque applied to the steering motor;
when the real-time torque of the steering column is larger than the target torque, judging that external force intervention exists in the real-time torque of the steering column, and switching the driving mode of the vehicle from an automatic driving mode to a manual driving mode; when a driver wants to change the advancing direction of the vehicle or temporarily change the direction, the driver only needs to rotate the steering wheel by force, and when the real-time torque borne by the steering column from the steering wheel is larger than the target torque, the vehicle is immediately switched from the automatic driving mode to the manual driving mode;
however, during the running of the vehicle, it is likely that the steering wheel is subjected to a force and is rotated for various reasons, so that the steering column is subjected to the real-time torque, but at this time, the driver does not know or want to switch the driving mode, so the control method at this time is as follows: when the torque borne by the steering column is smaller than or equal to the target torque, judging that the real-time torque of the steering column has no external force intervention, and not switching the driving mode at the moment;
in the third situation, when the manual and automatic switching signal is a braking signal and the vehicle is in an automatic driving mode, the vehicle is switched from the automatic driving mode to a manual driving mode;
make the manual and automatic driving mode of switching that the user can be automatic completely through above three kinds of circumstances to can switch driving mode through the mode that rotates the steering wheel or steps on the brake at any time according to driver's wish in driving process, improve the security of system and user's autonomy greatly, provide the ride experience of the autopilot equipment of self demand of laminating more for the user.
When the vehicle is switched to a manual driving mode, in the process that a driver controls the steering and speed change of the vehicle, the invention also provides a steering power-assisted method which is used for controlling the steering motor to provide auxiliary power for the steering of the vehicle by an electronic control unit so as to help the driver to steer, and the method specifically comprises the following steps;
collecting the rotation direction of a steering wheel and the magnitude of the torque, and converting the magnitude of the torque into a voltage signal;
collecting real-time vehicle speed;
calculating the torque required by steering according to the voltage signal, the rotating direction of the steering wheel and the real-time vehicle speed;
and controlling a steering motor to drive a steering column to rotate according to the torque required by steering.
When the vehicle is switched to the automatic driving mode, as shown in fig. 3, the automatic driving control method specifically includes:
s1, acquiring the position, the course information, the environment information and the vehicle state information of the vehicle in real time; the environment information includes: the shape, direction, curvature, gradient and lane of the road, traffic signs, signal lights, position, size, heading and speed of other vehicles and pedestrians; the vehicle state information includes: the forward speed, acceleration, steering angle, body position and attitude of the vehicle;
s2, determining the current vehicle state according to the position, the heading information, the environment information and the vehicle state information of the vehicle; the current vehicle state comprises a real-time vehicle speed and a real-time vehicle body angle; and combining the information obtained by each sensor, and fusing the information to obtain the current vehicle state.
S3, determining the state of the target vehicle according to the collected position, heading information, environment information and vehicle state information of the vehicle and the current vehicle state; the target vehicle state comprises a target vehicle speed and a target vehicle body angle; that is, based on various information of the vehicle, it is determined how the vehicle is to be controlled next, for example, the current vehicle speed is 10km/s, and there is no obstacle around, and acceleration is possible.
S4, controlling a steering motor to drive a steering column to rotate, and enabling the steering column to be subjected to the target torque; at this time, in the automatic driving mode, the twisting applied to the steering column only comes from the steering motor, so that the torque provided to the steering column by the steering motor at this time is referred to as the target torque, which is one of the comparison objects when the external force intervention is determined.
S5, correcting the steering speed according to the current vehicle speed; the driver knows a problem that the vehicle speed is almost the cause of all traffic accidents, and the vehicle speed is a crucial factor in the automatic driving process, and the steering speed of the vehicle is adjusted at any time according to the difference of the vehicle speed, and the specific adjusting process is as follows:
adjusting the rotating speed of the steering motor according to a formula U-n-U; in the formula, U is the rotating speed of the steering motor, U is the maximum rotating speed of the steering motor, which is a fixed value, and n is the coefficient of the steering motor in different vehicle speed states;
s6, detecting the vehicle speed and the vehicle body angle in the steering process in real time; and when the vehicle speed and the vehicle body angle in the steering process are different from the target vehicle speed and the target vehicle body angle, continuing steering until the vehicle speed and the vehicle body angle in the steering process are equal to the target vehicle speed and the target vehicle body angle.
The method and the system for automatically switching between manual control and automatic control can completely and automatically switch between manual driving mode and automatic driving mode, and can automatically switch at any time or switch between driving modes by rotating a steering wheel or stepping on a brake according to the intention of a driver in the driving process, thereby greatly improving the safety of the system and the autonomy of a user and providing the riding experience of automatic driving equipment which is more suitable for the requirement of the user;
and under the automatic driving mode, the system has an accurate environment and vehicle body information collecting system and a vehicle steering correcting system, and the collected information is combined to carry out accurate real-time correction, so that the safety of the system is greatly improved.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A method for automatic switching between manual and automatic driving modes of a vehicle, the method comprising:
acquiring manual and automatic switching signals; the manual and automatic switching signal comprises a manual and automatic switching switch signal, a steering motor torque signal or a brake signal;
when the manual and automatic switching signal is a manual and automatic switching switch signal, switching the current driving mode into another driving mode; the driving modes include an automatic driving mode and a manual driving mode;
when the manual and automatic switching signal is a steering column real-time torque signal and the vehicle is in an automatic driving mode, comparing the steering column real-time torque with a target torque, and when the steering column real-time torque is larger than the target torque, switching the vehicle from the automatic driving mode to a manual driving mode; the target torque is the torque applied to a steering column by a steering motor when the vehicle is steered in an automatic driving mode;
when the manual and automatic switching signal is a braking signal and the vehicle is in an automatic driving mode, the vehicle is switched from the automatic driving mode to a manual driving mode.
2. The method according to claim 1, wherein when the manual-automatic switching signal is a real-time steering column torque signal and the vehicle is in the automatic driving mode, the real-time steering column torque is compared with the target torque, and when the real-time steering motor torque is greater than the target torque, the vehicle is switched from the automatic driving mode to the manual driving mode, specifically comprising:
acquiring real-time torque of a steering column in real time, and comparing the real-time torque of the steering column with a target torque;
when the real-time torque of the steering column is larger than the target torque, judging that external force intervention exists in the real-time torque of the steering column, and switching the driving mode of the vehicle from an automatic driving mode to a manual driving mode;
and when the torque borne by the steering column is smaller than or equal to the target torque, judging that the real-time torque of the steering column has no external force intervention, and not switching the driving mode at the moment.
3. The method of claim 1, wherein when the vehicle is switched to the manual driving mode, during the driver-controlled steering and speed change of the vehicle, further comprising;
control by the electronic control unit and turn to the motor and provide auxiliary power for the vehicle turns to, specifically includes:
collecting the rotation direction of a steering wheel and the magnitude of the torque, and converting the magnitude of the torque into a voltage signal;
collecting real-time vehicle speed;
calculating the torque required by steering according to the voltage signal, the rotating direction of the steering wheel and the real-time vehicle speed;
and controlling a steering motor to drive a steering column to rotate according to the torque required by steering.
4. The method of claim 1, wherein when the vehicle is switched to the automatic driving mode, the automatic driving control method specifically comprises:
acquiring the position, the course information, the environment information and the vehicle state information of a vehicle in real time;
determining the current vehicle state according to the position, the course information, the environment information and the vehicle state information of the vehicle; the current vehicle state comprises a real-time vehicle speed and a real-time vehicle body angle;
determining a target vehicle state according to the position, the course information, the environment information, the vehicle state information and the current vehicle state of the vehicle; the target vehicle state comprises a target vehicle speed and a target vehicle body angle;
controlling a steering motor to drive a steering column to rotate, so that the steering column is subjected to the target torque;
correcting the steering speed according to the current vehicle speed;
the step of correcting the steering speed according to the vehicle speed specifically comprises the following steps:
adjusting the rotating speed of the steering motor according to a formula U-n-U; in the formula, U is the rotating speed of the steering motor, U is the maximum rotating speed of the steering motor, which is a fixed value, and n is the coefficient of the steering motor in different vehicle speed states;
detecting the vehicle speed and the vehicle body angle in the steering process in real time; and when the vehicle speed and the vehicle body angle in the steering process are different from the target vehicle speed and the target vehicle body angle, continuing steering until the vehicle speed and the vehicle body angle in the steering process are equal to the target vehicle speed and the target vehicle body angle.
5. A method of automatic switching between manual and automatic driving modes of a vehicle according to claim 4,
the environment information includes: the shape, direction, curvature, gradient and lane of the road, traffic signs, signal lights, position, size, heading and speed of other vehicles and pedestrians;
the vehicle state information includes: the forward speed, acceleration, steering angle, body position and attitude of the vehicle.
6. A system for automatic switching between manual and automatic driving modes of a vehicle, comprising: the system comprises an unmanned driving system, a whole vehicle control system and a steering power-assisted system; the unmanned system is bidirectionally connected with the whole vehicle control system through CAN1, and the whole vehicle control system is bidirectionally connected with the steering power-assisted system through CAN 2;
the whole vehicle control system comprises a manual and automatic change-over switch;
the whole vehicle control system is used for acquiring manual and automatic switching signals; the manual and automatic switching signal comprises a manual and automatic switching switch signal, a steering motor torque signal or a brake signal;
when the manual and automatic switching signal is a manual and automatic switching switch signal, switching the current driving mode into another driving mode; the driving modes include an automatic driving mode and a manual driving mode;
when the manual and automatic switching signal is a steering column real-time torque signal and the vehicle is in an automatic driving mode, comparing the steering column real-time torque with a target torque, and when the steering column real-time torque is larger than the target torque, switching the vehicle from the automatic driving mode to a manual driving mode; the target torque is the torque applied to a steering column by a steering motor when the vehicle is steered in an automatic driving mode;
when the manual and automatic switching signal is a braking signal and the vehicle is in an automatic driving mode, the vehicle is switched from the automatic driving mode to a manual driving mode.
7. The system for automatic switching of manual and automatic driving modes of a vehicle according to claim 6, wherein said vehicle control system further comprises an ESP;
the ESP is used for comparing the real-time torque of the steering column with the target torque when the manual and automatic switching signal is a real-time torque signal of the steering column and the vehicle is in an automatic driving mode, and switching the vehicle from the automatic driving mode to a manual driving mode when the real-time torque of the steering column is greater than the target torque;
the method specifically comprises the following steps:
acquiring real-time torque of a steering column in real time, and comparing the real-time torque of the steering column with a target torque;
when the real-time torque of the steering column is larger than the target torque, judging that external force intervention exists in the real-time torque of the steering column, and switching the driving mode of the vehicle from an automatic driving mode to a manual driving mode;
and when the torque borne by the steering column is smaller than or equal to the target torque, judging that the real-time torque of the steering column has no external force intervention, and not switching the driving mode at the moment.
8. The system for automatic switching of manual and automatic driving modes of a vehicle according to claim 6, characterized in that it further comprises an electronic control unit;
the electronic control unit is used for controlling the steering motor to provide auxiliary power for the steering of the vehicle in the process that the driver controls the steering of the vehicle and the speed change when the vehicle is switched to the manual driving mode;
the method specifically comprises the following steps:
collecting the rotation direction of a steering wheel and the magnitude of the torque, and converting the magnitude of the torque into a voltage signal;
collecting real-time vehicle speed;
calculating the torque required by steering according to the voltage signal, the rotating direction of the steering wheel and the real-time vehicle speed;
and controlling a steering motor to drive a steering column to rotate according to the torque required by steering.
9. A system for automatic switching of manual and automatic driving modes of a vehicle according to claim 6,
the unmanned system comprises a positioning module and an environment perception module;
the positioning module is used for acquiring the position, the course information and the vehicle state information of the vehicle in real time; the environment perception module is used for acquiring environment information;
the unmanned system is further configured to: determining the current vehicle state according to the position, the course information, the environment information and the vehicle state information of the vehicle; the current vehicle state comprises a real-time vehicle speed and a real-time vehicle body angle;
determining a target vehicle state according to the position, the course information, the environment information, the vehicle state information and the current vehicle state of the vehicle; the target vehicle state comprises a target vehicle speed and a target vehicle body angle;
controlling a steering motor to drive a steering column to rotate, so that the steering column generates the target torque;
detecting the vehicle speed and the vehicle body angle in the steering process in real time; when the vehicle speed and the vehicle body angle in the steering process are different from the target vehicle speed and the target vehicle body angle, continuing steering until the vehicle speed and the vehicle body angle in the steering process are equal to the target vehicle speed and the target vehicle body angle;
the whole vehicle control system is also used for correcting the steering speed according to the current vehicle speed in the process of converting the current vehicle angle into the target vehicle angle;
the method specifically comprises the following steps:
adjusting the rotating speed of the steering motor according to a formula U-n-U; in the formula, U is the rotating speed of the steering motor, U is the maximum rotating speed of the steering motor, which is a fixed value, and n is the coefficient of the steering motor in different vehicle speed states.
The power steering system comprises a steering motor and a steering column and is used for controlling the steering of the vehicle.
10. A system for automatic switching of manual and automatic driving modes of a vehicle according to claim 9,
the positioning module comprises a GPS, an inertial navigation system, a milemeter, a camera and a laser radar;
the GPS is used for acquiring the position of the vehicle, and the inertial navigation system, the odometer, the camera and the laser radar are used for acquiring course information;
the environment sensing module comprises a camera, a laser radar, a millimeter wave radar, an ultrasonic radar and a gyroscope and is used for sensing surrounding environment information and vehicle state information.
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| CN202010787495.2A CN111845752A (en) | 2020-08-07 | 2020-08-07 | Method and system for automatically switching manual driving mode and automatic driving mode of vehicle |
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| CN202010787495.2A CN111845752A (en) | 2020-08-07 | 2020-08-07 | Method and system for automatically switching manual driving mode and automatic driving mode of vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113022577A (en) * | 2021-04-02 | 2021-06-25 | 中国第一汽车股份有限公司 | Driving mode switching method and device, vehicle and storage medium |
| CN113867360A (en) * | 2021-10-19 | 2021-12-31 | 北京三快在线科技有限公司 | Method and device for controlling unmanned equipment based on remote accelerator |
| CN115497317A (en) * | 2022-09-13 | 2022-12-20 | 阿波罗智联(北京)科技有限公司 | Target road section determination method, device, equipment, readable storage medium and product |
| CN115841746A (en) * | 2021-09-22 | 2023-03-24 | 海信集团控股股份有限公司 | Vehicle formation driving method and device based on vehicle-road cooperation |
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2020
- 2020-08-07 CN CN202010787495.2A patent/CN111845752A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113022577A (en) * | 2021-04-02 | 2021-06-25 | 中国第一汽车股份有限公司 | Driving mode switching method and device, vehicle and storage medium |
| CN113022577B (en) * | 2021-04-02 | 2023-02-21 | 中国第一汽车股份有限公司 | Driving mode switching method and device, vehicle and storage medium |
| CN115841746A (en) * | 2021-09-22 | 2023-03-24 | 海信集团控股股份有限公司 | Vehicle formation driving method and device based on vehicle-road cooperation |
| CN115841746B (en) * | 2021-09-22 | 2024-07-23 | 海信集团控股股份有限公司 | Vehicle formation driving method and device based on vehicle-road cooperation |
| CN113867360A (en) * | 2021-10-19 | 2021-12-31 | 北京三快在线科技有限公司 | Method and device for controlling unmanned equipment based on remote accelerator |
| CN115497317A (en) * | 2022-09-13 | 2022-12-20 | 阿波罗智联(北京)科技有限公司 | Target road section determination method, device, equipment, readable storage medium and product |
| CN115497317B (en) * | 2022-09-13 | 2024-04-12 | 阿波罗智联(北京)科技有限公司 | Target road section determining method, device, equipment, readable storage medium and product |
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Application publication date: 20201030 |