CN105955248A - Vehicle, vehicle control method and apparatus - Google Patents
Vehicle, vehicle control method and apparatus Download PDFInfo
- Publication number
- CN105955248A CN105955248A CN201610267038.4A CN201610267038A CN105955248A CN 105955248 A CN105955248 A CN 105955248A CN 201610267038 A CN201610267038 A CN 201610267038A CN 105955248 A CN105955248 A CN 105955248A
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- Prior art keywords
- vehicle
- predetermined registration
- registration operation
- sensor
- driving mode
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
- G05D1/0061—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements for transition from automatic pilot to manual pilot and vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
- B60K26/021—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements with means for providing feel, e.g. by changing pedal force characteristics
Abstract
The present invention discloses a vehicle, a vehicle control method, and an apparatus. One specific embodiment of the vehicle includes a sensor provided on an accelerator pedal of the vehicle for detecting a preset operation of an object on the accelerator pedal when the vehicle is in an automatic driving mode, a decision device for generating a control signal for letting the vehicle out of the automatic driving mode based on the detected preset operation, and a control device for transforming the vehicle from the automatic driving mode to a manual driving mode in accordance with the control signal. According to the embodiments of the invention, smooth switching between different driving modes can be realized.
Description
Technical field
The application relates to technical field of vehicle, is specifically related to intelligent automobile technical field, especially relates to
And vehicle, control method for vehicle and device.
Background technology
Vehicular automatic driving technology is the most ripe at present, but also needs under some scene make automatically to drive
The system of sailing exits wagon control, and by human driver's adapter vehicle.Now it is accomplished by a kind of fast
Speed method reliably carries out the switching of vehicle driving model.
But, existing automatic Pilot escape mechanism is required for changing the transport condition ability of vehicle
Realization is exited, it is impossible to accomplish convenient smooth exiting.Vehicle is triggered certainly therefore, it is necessary to improve
The flatness of travel condition of vehicle during dynamic driving escape mechanism.
Summary of the invention
The purpose of the application is to propose the vehicle of a kind of improvement, control method for vehicle and device,
Solve the technical problem that background section above is mentioned.
First aspect, this application provides a kind of vehicle, and described vehicle includes: sensor, if
It is placed in the gas pedal of described vehicle, for when vehicle is in automatic driving mode, detects
Object is for the predetermined registration operation of described gas pedal；Decision-making device, for pre-based on detect
If operation, generate the control signal for described vehicle being exited automatic driving mode；Controller
Part, for switching to manually drive from automatic driving mode by described vehicle according to described control signal
Sail pattern.
In certain embodiments, described sensor is touch sensor, and described predetermined registration operation is thing
Body is to the operating of contacts in described gas pedal.
In certain embodiments, described sensor is pressure transducer, and described predetermined registration operation is thing
Body is more than the pressure operation of preset pressure threshold value to described gas pedal force value.
In certain embodiments, described sensor is range sensor, and described predetermined registration operation is thing
Body enters the operation of pre-set space, and described pre-set space is that the distance with described gas pedal is less than
The space of predeterminable range threshold value.
In certain embodiments, described decision-making device is further used for: when described presetting being detected
When the continuous operating period of operation and described predetermined registration operation is more than preset duration threshold value, generation is used for
Described vehicle is exited the control signal of automatic driving mode.
In certain embodiments, described decision-making device is further used for: when described presetting being detected
When operation and described predetermined registration operation number of operations in preset duration reach preset times, generate
For described vehicle being exited the control signal of automatic driving mode.
Second aspect, this application provides a kind of control method for vehicle, and the throttle of described vehicle is stepped on
Being provided with sensor on plate, described method includes: when vehicle is in automatic driving mode, make
By the described sensor detectable substance body acupuncture predetermined registration operation to described gas pedal；Based on detect
Predetermined registration operation, generates the control signal for described vehicle exits automatic driving mode；According to
Described vehicle is switched to pilot steering pattern from automatic driving mode by described control signal.
In certain embodiments, described sensor is touch sensor, and described predetermined registration operation is thing
Body is to the operating of contacts in described gas pedal.
In certain embodiments, described sensor is pressure transducer, and described predetermined registration operation is thing
Body is more than the pressure operation of preset pressure threshold value to described gas pedal force value.
In certain embodiments, described sensor is range sensor, and described predetermined registration operation is thing
Body enters the operation of pre-set space, and described pre-set space is that the distance with described gas pedal is less than
The space of predeterminable range threshold value.
In certain embodiments, described based on the predetermined registration operation detected, generate for by described
Vehicle exits the control signal of automatic driving mode, including: when detect described predetermined registration operation and
When the continuous operating period of described predetermined registration operation is more than preset duration threshold value, generate for by described
Vehicle exits the control signal of automatic driving mode.
In certain embodiments, described based on the predetermined registration operation detected, generate for by described
Vehicle exits the control signal of automatic driving mode, including: when detect described predetermined registration operation and
When described predetermined registration operation number of operations in preset duration reaches preset times, generation is used for will
Described vehicle exits the control signal of automatic driving mode.
The third aspect, this application provides a kind of controller of vehicle, and the throttle of described vehicle is stepped on
Being provided with sensor on plate, described device includes: detector unit, for being in automatically at vehicle
During driving model, use the described sensor detectable substance body acupuncture predetermined registration operation to described gas pedal；
Signal generating unit, for based on the predetermined registration operation detected, generates for being exited by described vehicle certainly
The control signal of dynamic driving model；Switch unit, is used for described car according to described control signal
Switch to pilot steering pattern from automatic driving mode.
Vehicle, control method for vehicle and the device that the application provides, can be by being arranged on vehicle
Gas pedal on sensor senses user act on gas pedal and surrounding space
Operate, and this sensor can detect other users behaviour in addition to the operation stepping on the throttle pedal
Make, therefore can rely on act in gas pedal when user does not step on the throttle pedal
Other do not affect other operations of state of motion of vehicle, trigger the switching of vehicle driving model, real
Show taking over seamlessly of vehicle driving model.
Accompanying drawing explanation
By reading retouching in detail with reference to made non-limiting example is made of the following drawings
Stating, other features, purpose and advantage will become more apparent upon:
Fig. 1 is that the application can apply to exemplary system architecture figure therein；
Fig. 2 is the structure chart of an embodiment of the vehicle according to the application；
Fig. 3 is according to spatial relationship between sensor and gas pedal in Fig. 2 correspondence embodiment
Figure；
Fig. 4 is the flow chart of an embodiment of the control method for vehicle according to the application；
Fig. 5 is the flow chart of another embodiment of the control method for vehicle according to the application；
Fig. 6 is the structural representation of an embodiment of the controller of vehicle according to the application.
Detailed description of the invention
With embodiment, the application is described in further detail below in conjunction with the accompanying drawings.It is appreciated that
, specific embodiment described herein is used only for explaining related invention, rather than to this
Bright restriction.It also should be noted that, for the ease of describe, accompanying drawing illustrate only with
About the part that invention is relevant.
It should be noted that in the case of not conflicting, the embodiment in the application and embodiment
In feature can be mutually combined.Describe this below with reference to the accompanying drawings and in conjunction with the embodiments in detail
Application.
Fig. 1 shows the exemplary vehicle system framework 100 that can apply the embodiment of the present application.
As it is shown in figure 1, Vehicular system framework 100 includes vehicle 101 and cloud center 102.Car
Can be interconnected by wireless network between Liang101Yu Yun center 102.
This vehicle 101 can be driven under the control of automated driving system, it is also possible to is driving
Drive under the control of the person of sailing.When meeting specified conditions, two kinds of driving models can be mutual
Switching.When vehicle is in automatic driving mode, vehicle 101 can be by network and cloud center
102 exchange data, to realize the automatic Pilot of vehicle 101.It is at vehicle 101 and manually drives
When sailing pattern, vehicle 101 can also carry out data exchange with cloud center 102.
It should be noted that the control method for vehicle that the embodiment of the present application is provided can be by vehicle
All parts in 101 has coordinated, accordingly, and the vehicle control that the embodiment of the present application is provided
The unit of device processed can also be arranged in all parts of vehicle 101.
Refer to Fig. 2, Fig. 2 and show that the structure of the vehicle 200 according to the embodiment of the present application is shown
It is intended to.
As in figure 2 it is shown, vehicle 200 can include gas pedal 201, sensor 202, decision-making
Device 203 and control device 204.Wherein, sensor 202 may be mounted at gas pedal 201
Upper, sensor 202 can communicate with decision-making device 203, and decision-making device 203 is permissible
Communicate with controlling device 204.
The gas pedal 201 mounting means on sensor 202 is referred to Fig. 3.Such as Fig. 3
Shown in, sensor 302 may be mounted on the surface of gas pedal 301.Sensor 302 can
With when vehicle 200 is in automatic driving mode, detectable substance body acupuncture is pre-to gas pedal 201
If operation.Thus so that energy when gas pedal is made operation set in advance by the foot of user
Enough detected by sensor 302.The object that this sensor 302 is detected is for gas pedal
The predetermined registration operation of 201 can be by effect gas pedal, vehicle running state cannot to be produced shadow
The operation rung, so makes user the kinestate of vehicle 200 can not produced interference
Send under premise some can by sensor action detected by 302.
Network intercommunication between sensor 202 and decision-making device 203, with receiving and transmitting signal.?
When sensor 202 detects predetermined registration operation, signalisation decision-making device of can giving notice, certainly
Plan device 203 can generate for being exited by vehicle 200 based on the above-mentioned notification signal received
The control signal of automatic driving mode.
Control device 204 and can receive the above-mentioned control signal that decision-making device 203 generates, and root
According to above-mentioned control signal, vehicle 200 is switched to pilot steering pattern from automatic driving mode.
In practice, user can use foot to send in advance on or around gas pedal 201
Operation, sensor 202 can detect this operation, and decision-making device 203 can detect this
Generating the control signal exiting automatic driving mode during operation, controlling device can be according to this control
Vehicle 200 is switched to pilot steering pattern from automatic driving mode by signal.
In some optional implementations of the present embodiment, the sensor can be sensing contact
Device, accordingly, predetermined registration operation is that object is to the operating of contacts in gas pedal.In this realization side
In formula, it is possible to use touch sensor detection object (foot of such as user) is to gas pedal
Operating of contacts.In this fashion, user only need to touch gas pedal with foot, so that it may
To complete to exit automatic driving mode.Optionally, above-mentioned touch sensor can be touch-switch,
Such as mechanical switch.Lower switch can be pressed when user touches gas pedal simultaneously, can make
Internal hard contact connection, so that vehicle is by the operating of contacts of this switch detection user,
And generate corresponding control signal.Optionally, above-mentioned touch sensor can also be capacitive touch
Touch sensor, electromagnetic type touch sensor, resistive touch sensor, it is also possible to be unlisted
Other kinds of touch sensor.Make in this way, both can guarantee that the smooth of driving model
Switching, also can effectively prevent false triggering from switching, have higher reliability.
In some optional implementations of the present embodiment, the sensor 202 can be pressure
Sensor, accordingly, above-mentioned predetermined registration operation can be that object is big to gas pedal 201 force value
Pressure operation in preset pressure threshold value.In this implementation, this pressure transducer can be
It is only able to detect the pressure transducer of pressure more than above-mentioned pressure threshold, meets phase detecting
During the pressure answered, i.e. can notify that miscellaneous part detects corresponding operation.This pressure transducer
The force value of the pressure being applied to it can also be detected, based on this force value, vehicle can
To judge whether this force value is more than preset pressure threshold value by other devices, thus judge whether
This predetermined registration operation detected.Generally, above-mentioned preset pressure threshold value can be set to less value,
To improve the sensitivity that pressure operation is detected.Make in this way, both can guarantee that and driven
Sail taking over seamlessly of pattern, also can effectively prevent false triggering from switching, there is higher reliability.
In the optional implementation of the present embodiment, the sensor 202 is range sensor,
Accordingly, above-mentioned predetermined registration operation is the operation that object enters pre-set space, and above-mentioned pre-set space is
Distance with gas pedal 201 is less than the space of predeterminable range threshold value.Above-mentioned range sensor,
Can be used for the action detecting user close to gas pedal.Wherein, range sensor can be
The distance of object and gas pedal is less than producing signal, such as proximity switch during predeterminable range threshold value；
The distance value of object and gas pedal can also be detected in real time, based on this force value, vehicle can
To judge whether this force value is more than preset pressure threshold value by miscellaneous part controller, thus sentence
Break and this predetermined registration operation whether detected.This implementation can will contact gas pedal at foot
Can start to switch pilot steering, it is possible to use smoothness is experienced at family before, system can be reduced simultaneously
System response time.
In some optional implementations of the present embodiment, above-mentioned decision-making device 203 can have
Body is used for performing following steps: when continuous operating period predetermined registration operation and predetermined registration operation being detected
During more than preset duration threshold value, generate the control for vehicle 200 being exited automatic driving mode
Signal.
In some optional implementations of the present embodiment, above-mentioned decision-making device 203 can be concrete
For performing following steps: when predetermined registration operation and the predetermined registration operation behaviour in preset duration being detected
When number of times reaches preset times, generate the control for vehicle 200 being exited automatic driving mode
Signal processed.
It should be understood that the sensor in Fig. 1 can arrange multiple, decision-making device 203 and control
Device 204 processed can be one or more hardware device, it is also possible to be software system.
The vehicle that above-described embodiment of the application provides, can step on by being arranged on the throttle of vehicle
Sensor senses user on plate acts on gas pedal and the operation of surrounding space, and
This sensor can detect other user operations in addition to the operation stepping on the throttle pedal, therefore
Other the not shadows acted in gas pedal can be relied on when user does not step on the throttle pedal
Other operations ringing state of motion of vehicle can trigger the switching of vehicle driving model, it is to avoid car
Need not accelerate time simply because driving model switching and must step on the throttle, it is achieved that vehicle
Taking over seamlessly of driving model.Meanwhile, this mode has only in the existing gas pedal of vehicle
On be configured, do not introduce extra parts, and need user to pass through foot simply to grasp
, meet user operation habits.
With continued reference to Fig. 4, it is shown that according to an embodiment of the control method for vehicle of the application
Flow process 400.The vehicle that the method is acted on includes gas pedal, and this gas pedal can be
It is under the jurisdiction of parts of the brakes of vehicle.In the gas pedal of automobile, biography is installed
Sensor.This sensor can be used for detecting various object sends be associated with gas pedal dynamic
Make.Described control method for vehicle, comprises the following steps:
Step 401, when vehicle is in automatic driving mode, uses sensor detectable substance body acupuncture
Predetermined registration operation to gas pedal.
In the present embodiment, vehicle can be various to have gas pedal and can be by automatically driving
Sail the vehicle that system travels, include but not limited to pilotless automobile.Use sensor detectable substance
Body acupuncture is to perform when vehicle is in automatic driving mode the predetermined registration operation of gas pedal.In reality
In trampling, the detection operation of sensor can be to be performed both by under vehicle is in various pattern, it is possible to
Being only to activate when vehicle is in automatic driving mode.The operation that sensor is detected can
Being that various user acts in gas pedal or the operation of gas pedal surrounding space.Generally,
The above-mentioned predetermined registration operation detected by this sensor can be cannot be by effect gas pedal pair
Vehicle running state produces the operation of impact.
In practice, user can send pre-when vehicle is in automatic driving mode by foot
If operation, thus be detected by a sensor, make corresponding control method for vehicle start to perform.
Step 402, based on the predetermined registration operation detected, generates and is used for exiting vehicle automatically driving
Sail the control signal of pattern.
In the present embodiment, the above-mentioned default behaviour detected during detection based on step 401
Making, vehicle can be by decision-making device generation for exiting by vehicle from the control of automatic driving mode
Signal.This control signal can be to generate after above-mentioned predetermined registration operation being detected, it is also possible in inspection
Measure above-mentioned predetermined registration operation and this operation also meets some requirements lower generation.
Step 403, switches to pilot steering by vehicle from automatic driving mode according to control signal
Pattern.
In the present embodiment, the control signal generated based on step 402, vehicle can be by control
Device processed performs this control signal, to realize being switched to manually drive from automatic driving mode by vehicle
Sail pattern.
In some optional implementations of the present embodiment, the sensor can be sensing contact
Device, accordingly, predetermined registration operation is the object operating of contacts to gas pedal.This implementation
Concrete process is referred in Fig. 4 correspondence embodiment corresponding implementation.
In some optional implementations of the present embodiment, the sensor can be pressure sensing
Device, accordingly, above-mentioned predetermined registration operation can be that gas pedal force value is pressed by object more than presetting
The pressure operation of power threshold value.
In the optional implementation of the present embodiment, the sensor is range sensor, accordingly
, above-mentioned predetermined registration operation is the operation that object enters pre-set space, and above-mentioned pre-set space is and oil
The distance of door pedal is less than the space of predeterminable range threshold value.
In some optional implementations of this embodiment, above-mentioned steps 402 can be specifically for:
When detecting that predetermined registration operation and the predetermined registration operation number of operations in preset duration reaches preset times
Time, generate the control signal for vehicle being exited automatic driving mode.In this implementation,
The number of times of the above-mentioned predetermined registration operation that unit interval inner sensor can also persistently be detected by vehicle enters
Row statistics, when number of times exceedes preset times, by the corresponding control signal of decision-making device generation.
This mode advantageously reduces maloperation.The concrete process of this implementation is referred to Fig. 2 pair
Answer corresponding implementation in embodiment.
The method that above-described embodiment of the application provides, can not step on the throttle pedal user
Time other that act in gas pedal can be relied on not affect other operations of state of motion of vehicle,
Trigger the switching of vehicle driving model, it is achieved that taking over seamlessly of vehicle driving model.This realization
The concrete process of mode is referred in Fig. 4 correspondence embodiment corresponding implementation.
With further reference to Fig. 5, it illustrates the flow process of another embodiment of control method for vehicle
500.The flow process 500 of this control method for vehicle, comprises the following steps:
Step 501, when vehicle is in automatic driving mode, uses sensor detectable substance body acupuncture
Predetermined registration operation to gas pedal.
In the present embodiment, the concrete process of step 501 is referred to Fig. 4 correspondence embodiment
Step 401, repeats no more here.
Step 502, when detecting that the continuous operating period of predetermined registration operation and predetermined registration operation is more than pre-
If during duration threshold value, generate the control signal for vehicle being exited automatic driving mode.
In the present embodiment, vehicle, after above-mentioned predetermined registration operation being detected, records this operation simultaneously
Continuous operating period.When this continuous operating period is more than preset duration threshold value, triggers and control
The generation operation of signal.
Step 503, switches to pilot steering by vehicle from automatic driving mode according to control signal
Pattern.
In the present embodiment, the concrete process of step 503 is referred to Fig. 4 correspondence embodiment
Step 403, repeats no more here.
From figure 5 it can be seen that the car compared with the embodiment that Fig. 4 is corresponding, in the present embodiment
The flow process 500 of control method reaches preset duration threshold value at the continuous operating period of predetermined registration operation
Time, just trigger the switching of driving model, be conducive to avoiding reducing the driving that user misoperation causes
Pattern switches.
With further reference to Fig. 6, as to the realization of method shown in above-mentioned each figure, the application provides
One embodiment of a kind of controller of vehicle, this device embodiment and the method shown in Fig. 4
Embodiment is corresponding, and this device specifically can apply in various electronic equipment.
As shown in Figure 6, the controller of vehicle 600 described in the present embodiment includes: detector unit
601, signal generating unit 602, switch unit 603.Wherein, detector unit 601 is at vehicle
When being in automatic driving mode, use the sensor detectable substance body acupuncture predetermined registration operation to gas pedal；
Signal generating unit 602, for based on the predetermined registration operation detected, generates for being exited automatically by vehicle
The control signal of driving model；Switch unit 603 for according to control signal by vehicle from automatically
Driving model switches to pilot steering pattern.
In the present embodiment, the reception unit 601 of controller of vehicle 600, signal generating unit 602,
Switch unit 603 concrete process can respectively with reference to Fig. 4 correspondence embodiment step 401,
Step 402 and step 403, repeat no more here.
In some optional implementations of the present embodiment, the sensor is touch sensor,
Predetermined registration operation is that object is to the operating of contacts in gas pedal.Concrete process is referred to Fig. 2 pair
Answer corresponding implementation in embodiment.
In some optional implementations of the present embodiment, the sensor is pressure transducer,
Above-mentioned predetermined registration operation is that gas pedal force value is grasped by object more than the pressure of preset pressure threshold value
Make.
In some optional implementations of the present embodiment, the sensor is range sensor,
Predetermined registration operation is the operation that object enters pre-set space, and pre-set space is the distance with gas pedal
Space less than predeterminable range threshold value
In some optional implementations of the present embodiment, above-mentioned signal generating unit 602 is used further
In: when detecting that the continuous operating period of predetermined registration operation and predetermined registration operation is more than preset duration threshold value
Time, generate the control signal for vehicle being exited automatic driving mode.
In some optional implementations of the present embodiment, above-mentioned signal generating unit 602 is used further
In: when detecting that predetermined registration operation and the predetermined registration operation number of operations in preset duration reaches default
During number of times, generate the control signal for vehicle being exited automatic driving mode.
It should be noted that the flow chart in accompanying drawing and block diagram, it is illustrated that various according to the application
The system of embodiment, the architectural framework in the cards of method and computer program product, function
And operation.In this, each square frame in flow chart or block diagram can represent a module,
Program segment or a part for code, a part for described module, program segment or code comprises
The executable instruction of one or more logic functions for realizing regulation.It should also be noted that
Some is as in the realization replaced, and the function marked in square frame can also be to be different from accompanying drawing
The order marked occurs.Such as, two square frames succeedingly represented can essentially the most also
Performing, they can also perform sometimes in the opposite order capablely, and this is according to involved function
Fixed.It is also noted that each square frame in block diagram and/or flow chart and block diagram and/or stream
The combination of the square frame in journey figure, can be with performing the function of regulation or the special based on firmly of operation
The system of part realizes, or can realize with the combination of specialized hardware with computer instruction.
Being described in the embodiment of the present application involved unit can be real by the way of software
Existing, it is also possible to realize by the way of hardware.Described unit can also be arranged on process
In device, for example, it is possible to be described as: a kind of processor includes detector unit, signal generating unit, cuts
Change unit.Wherein, the title of these unit is not intended that under certain conditions to this unit itself
Restriction, such as, detector unit is also described as " being in automatic driving mode at vehicle
Time, use the sensor detectable substance body acupuncture unit to the predetermined registration operation of gas pedal ".
As on the other hand, present invention also provides a kind of nonvolatile computer storage media,
This nonvolatile computer storage media can be described in above-described embodiment included in device
Nonvolatile computer storage media；Can also be individualism, be unkitted allocate in terminal non-
Volatile computer storage medium.Above-mentioned nonvolatile computer storage media storage have one or
The multiple program of person, when one or more program is performed by an equipment so that described
Equipment: when vehicle is in automatic driving mode, uses described sensor detectable substance body acupuncture to institute
Stating the predetermined registration operation of gas pedal, wherein, described sensor is installed on the throttle of described vehicle and steps on
On plate；Based on the predetermined registration operation detected, generate for described vehicle is exited automatic Pilot mould
The control signal of formula；According to described control signal, described vehicle is switched to from automatic driving mode
Pilot steering pattern.
Above description is only the preferred embodiment of the application and saying institute's application technology principle
Bright.It will be appreciated by those skilled in the art that invention scope involved in the application, do not limit
In the technical scheme of the particular combination of above-mentioned technical characteristic, also should contain simultaneously without departing from
In the case of described inventive concept, above-mentioned technical characteristic or its equivalent feature carry out combination in any
And other technical scheme formed.Such as features described above and (but not limited to) disclosed herein
The technical characteristic with similar functions is replaced mutually and the technical scheme that formed.
Claims (13)
1. a vehicle, it is characterised in that described vehicle includes:
Sensor, is arranged in the gas pedal of described vehicle, automatically drives for being at vehicle
When sailing pattern, the detectable substance body acupuncture predetermined registration operation to described gas pedal；
Decision-making device, for based on the predetermined registration operation detected, generates for being moved back by described vehicle
Go out the control signal of automatic driving mode；
Control device, for being cut from automatic driving mode by described vehicle according to described control signal
Shift to pilot steering pattern.
Vehicle the most according to claim 1, it is characterised in that described sensor is contact
Sensor, described predetermined registration operation is that object is to the operating of contacts in described gas pedal.
Method the most according to claim 1, it is characterised in that described sensor is pressure
Sensor, described predetermined registration operation is that object is more than preset pressure threshold to described gas pedal force value
The pressure operation of value.
Method the most according to claim 1, it is characterised in that described sensor is distance
Sensor, described predetermined registration operation is the operation that object enters pre-set space, and described pre-set space is
Distance with described gas pedal is less than the space of predeterminable range threshold value.
5. according to the method one of claim 1-4 Suo Shu, it is characterised in that described decision-making device
Part is further used for:
When detecting that the continuous operating period of described predetermined registration operation and described predetermined registration operation is more than presetting
During duration threshold value, generate the control signal for described vehicle being exited automatic driving mode.
6. according to the method one of claim 1-4 Suo Shu, it is characterised in that described decision-making device
Part is further used for:
When described predetermined registration operation and described predetermined registration operation number of operations in preset duration being detected
When reaching preset times, generate the control signal for described vehicle being exited automatic driving mode.
7. a control method for vehicle, it is characterised in that install in the gas pedal of described vehicle
Sensor, described method is had to include:
When vehicle is in automatic driving mode, use described sensor detectable substance body acupuncture to described
The predetermined registration operation of gas pedal；
Based on the predetermined registration operation detected, generate for described vehicle is exited automatic driving mode
Control signal；
According to described control signal, described vehicle is switched to pilot steering mould from automatic driving mode
Formula.
Method the most according to claim 7, it is characterised in that described sensor is contact
Sensor, described predetermined registration operation is that object is to the operating of contacts in described gas pedal.
Method the most according to claim 7, it is characterised in that described sensor is pressure
Sensor, described predetermined registration operation is that object is more than preset pressure threshold to described gas pedal force value
The pressure operation of value.
Method the most according to claim 7, it is characterised in that described sensor be away from
From sensor, described predetermined registration operation is the operation that object enters pre-set space, described pre-set space
It it is the space less than predeterminable range threshold value of the distance with described gas pedal.
11. according to the method one of claim 7-10 Suo Shu, it is characterised in that described based on
The predetermined registration operation detected, generates the control letter for described vehicle exits automatic driving mode
Number, including:
When detecting that the continuous operating period of described predetermined registration operation and described predetermined registration operation is more than presetting
During duration threshold value, generate the control signal for described vehicle being exited automatic driving mode.
12. according to the method one of claim 7-10 Suo Shu, it is characterised in that described based on
The predetermined registration operation detected, generates the control letter for described vehicle exits automatic driving mode
Number, including:
When described predetermined registration operation and described predetermined registration operation number of operations in preset duration being detected
When reaching preset times, generate the control signal for described vehicle being exited automatic driving mode.
13. 1 kinds of controller of vehicle, it is characterised in that pacify in the gas pedal of described vehicle
Equipped with sensor, described device includes:
Detector unit, for when vehicle is in automatic driving mode, uses described sensor to examine
Survey the object predetermined registration operation for described gas pedal；
Signal generating unit, for based on the predetermined registration operation detected, generates for being moved back by described vehicle
Go out the control signal of automatic driving mode；
Switch unit, for cutting described vehicle from automatic driving mode according to described control signal
Shift to pilot steering pattern.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610267038.4A CN105955248A (en) | 2016-04-26 | 2016-04-26 | Vehicle, vehicle control method and apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610267038.4A CN105955248A (en) | 2016-04-26 | 2016-04-26 | Vehicle, vehicle control method and apparatus |
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| CN105955248A true CN105955248A (en) | 2016-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610267038.4A Pending CN105955248A (en) | 2016-04-26 | 2016-04-26 | Vehicle, vehicle control method and apparatus |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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