CN106080606A - For the method and apparatus controlling automatic driving vehicle - Google Patents

For the method and apparatus controlling automatic driving vehicle Download PDF

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Publication number
CN106080606A
CN106080606A CN201610539205.6A CN201610539205A CN106080606A CN 106080606 A CN106080606 A CN 106080606A CN 201610539205 A CN201610539205 A CN 201610539205A CN 106080606 A CN106080606 A CN 106080606A
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China
Prior art keywords
vehicle
automatic driving
driving
current
control instruction
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Application number
CN201610539205.6A
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Chinese (zh)
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CN106080606B (en
Inventor
潘余昌
朱振广
张天雷
杨文利
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Beijing Baidu Netcom Science and Technology Co Ltd
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Beijing Baidu Netcom Science and Technology Co Ltd
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Priority to CN201610539205.6A priority Critical patent/CN106080606B/en
Publication of CN106080606A publication Critical patent/CN106080606A/en
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Classifications

    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

Abstract

This application discloses the method and apparatus for controlling automatic driving vehicle.One detailed description of the invention of described method includes: obtain the current driving model of automatic driving vehicle；If described current driving model is automatic driving mode, then detect the control instruction that the driving control devices of described automatic driving vehicle sends；In response to described control instruction being detected, then obtain described control instruction, the current vehicle condition information of described automatic driving vehicle and the current driving environmental information of described automatic driving vehicle；According to acquired described control instruction, described current vehicle condition information and described current driving environmental information, it is determined whether the driving model of described automatic driving vehicle is switched to pilot steering pattern；In response to determining, the driving model of described automatic driving vehicle is switched to pilot steering pattern, control described automatic driving vehicle and exit automatic driving mode entrance pilot steering pattern.This embodiment achieves the raising of the safety of the automatic driving vehicle of different vendor's different model.

Description

For the method and apparatus controlling automatic driving vehicle
Technical field
The application relates to automotive field, is specifically related to automatic driving vehicle technical field, particularly for control The method and apparatus of automatic driving vehicle processed.
Background technology
In automatic driving vehicle R&D process, safety is very important, and the especially safety of tester must obtain To sound assurance.Research and development early stage is owing to can relate to come from the test vehicle of the different automobile types of different vendor, and these cars Bottom steering wheel controls manual intervention, and brake system manual intervention and throttle system manual intervention the most all can differ Sample, and due to the difference in manufacturer's technical strength and the difference on market share, them can be caused device supplier Control ability have a bigger difference, thus the vehicle being difficult to promote all manufacturers to provide has identical manual intervention pattern. The accessory that current portions manufacturer provides can automatically exit from automatic driving mode after by manual intervention, but has part manufacturer The accessory provided only has the function of executor, does not exit automatic driving mode after by manual intervention, it is necessary to by instruction Just can exit, these differences add the danger of automatic driving vehicle debugging process.
Therefore, also exist can not the vehicle of adaptive different vendor different model for the control method of existing automatic driving vehicle With the problem ensureing occupant's safety.
Summary of the invention
The purpose of the application be to propose a kind of improvement for the method and apparatus controlling automatic driving vehicle, solve The technical problem that background section above is mentioned.
First aspect, this application provides a kind of method for controlling automatic driving vehicle, and described method includes: obtain The current driving model of automatic driving vehicle, wherein, described driving model includes automatic driving mode and pilot steering pattern；As The most described current driving model is automatic driving mode, then detect the control that the driving control devices of described automatic driving vehicle sends System instruction；In response to described control instruction being detected, then obtain described control instruction, the Current vehicle of described automatic driving vehicle The current driving environmental information of status information and described automatic driving vehicle；According to acquired described control instruction, described Current vehicle condition information and described current driving environmental information, it is determined whether the driving model of described automatic driving vehicle is cut It is changed to pilot steering pattern；In response to determining, the driving model of described automatic driving vehicle is switched to pilot steering pattern, control Make described automatic driving vehicle and exit automatic driving mode entrance pilot steering pattern.
Second aspect, this application provides a kind of device for controlling automatic driving vehicle, and described device includes: first Acquiring unit, is configured to obtain the current driving model of automatic driving vehicle, and wherein, described driving model includes automatic Pilot Pattern and pilot steering pattern；Detector unit, if being configured to described current driving model is automatic driving mode, then detects The control instruction that the driving control devices of described automatic driving vehicle sends；Second acquisition unit, is configured in response to detection To described control instruction, then obtain described control instruction, the current vehicle condition information of described automatic driving vehicle and described The current driving environmental information of automatic driving vehicle；First determines unit, be configured to according to acquired described control instruction, Described current vehicle condition information and described current driving environmental information, it is determined whether by the driving mould of described automatic driving vehicle Formula switches to pilot steering pattern；Control unit, is configured in response to determining the driving model of described automatic driving vehicle Switch to pilot steering pattern, control described automatic driving vehicle and exit automatic driving mode entrance pilot steering pattern.
The method and apparatus being used for controlling automatic driving vehicle that the application provides, by detecting automatic driving mode Under the driving control devices of the automatic driving vehicle control instruction that sends after, obtain this control instruction, automatic driving vehicle The current driving environmental information of current vehicle condition information and automatic driving vehicle, and according to acquired control instruction, when Vehicle in front status information and current driving environmental information, it is determined whether the driving model of automatic driving vehicle is switched to and manually drives Sail pattern, finally in the case of determining the driving model of automatic driving vehicle is switched to pilot steering pattern, control unmanned Drive vehicle and exit automatic driving mode entrance pilot steering pattern, thus the control being effectively utilized automatic driving vehicle refers to Make, current vehicle condition information and current driving environmental information, improve the safety of automatic driving vehicle, ensure more The safety of personnel in automatic driving vehicle.
Accompanying drawing explanation
By the detailed description that non-limiting example is made made with reference to the following drawings of reading, other of the application Feature, 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 flow chart of an embodiment of the method for controlling automatic driving vehicle according to the application；
Fig. 3 is the flow chart of another embodiment of the method for controlling automatic driving vehicle according to the application；
Fig. 4 is the structural representation of an embodiment of the device for controlling automatic driving vehicle according to the application；
Fig. 5 is adapted for the structural representation of the computer system of the electronic equipment for realizing the embodiment of the present application.
Detailed description of the invention
With embodiment, the application is described in further detail below in conjunction with the accompanying drawings.It is understood that this place is retouched The specific embodiment stated is used only for explaining related invention, rather than the restriction to this invention.It also should be noted that, in order to It is easy to describe, accompanying drawing illustrate only the part relevant to about invention.
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases Combination mutually.Describe the application below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
Fig. 1 show can apply the application for controlling the method for automatic driving vehicle or unmanned for controlling The exemplary system architecture 100 of the embodiment of the device of vehicle.
As it is shown in figure 1, system architecture 100 can include automatic driving vehicle 101, network 102 and to automatic driving vehicle 101 provide the Cloud Server 103 supported.Can install driving control devices 1011 on automatic driving vehicle 101, safety guarantee sets Standby 1012, Vehicle Body Bus 1013, ECU (Electronic Control Unit, electronic control unit) 1014,1015,1016 and Sensor 1017,1018,1019.
Driving control devices (being also called vehicle-mounted brain) 1011 is responsible for the overall Based Intelligent Control of whole automatic driving vehicle.Drive Sailing control equipment 1011 can be the controller being separately provided, such as programmable logic controller (PLC) (Programmable Logic Controller, PLC), single-chip microcomputer, Industrial Control Computer etc.；Can also be, by other, there is input/output end port, and there is fortune Calculate the equipment of the electronic device composition controlling function；Can also is that being provided with vehicle drive controls the computer equipment of class application. The data that each ECU that safety guarantee equipment 1012 can be received from Vehicle Body Bus 1013 by driving control devices sends And/or the data that each sensor is sent are analyzed processing, make corresponding decision-making, and control instruction corresponding for decision-making is sent out Deliver to safety guarantee equipment 1012.
Safety guarantee equipment 1012 can be the controller being separately provided, such as programmable logic controller (PLC) (PLC, Programmable Logic Controller), single-chip microcomputer, Industrial Control Computer etc.；Can also be, by other, there is input/defeated Go out port, and there is the equipment of the electronic device composition of operation control function；Can also is that being provided with vehicle safety ensures that class should Computer equipment.
Safety guarantee equipment 1012 is for being controlled between driving control devices 1011 and Vehicle Body Bus 1013.Safety The control instruction that driving control devices 1011 sends can be analyzed by guarantee equipment 1012, is finding that this control instruction exists During logical error, control automatic driving vehicle 101 and enter pilot steering pattern.Safety guarantee equipment 1012 can also will drive control The control instruction that control equipment 1011 sends is converted into concrete vehicle information with this automatic driving vehicle, this automatic driving vehicle Current vehicle condition information and current driving environmental information coupling perform instruction, and eventually through Vehicle Body Bus 1013 to ECU 1014,1015,1016 sends this execution and instructs the distinct device controlling in automatic driving vehicle respectively, thus realizes car Fully automatic operation, reach the unpiloted purpose of vehicle.Safety guarantee equipment 1012 can also be in Vehicle Body Bus 1013 The various messages sent are analyzed, if it find that automatic driving vehicle 101 exists intended level alarm, then control unmanned Vehicle 101 enters pilot steering pattern.
Vehicle Body Bus 1013 could be for connecting ECU 1014,1015,1016, sensor 1017,1018,1019, peace The fieldbus of other unshowned equipment of all risk insurance barrier equipment 1012 and automatic driving vehicle 101.Due to CAN High-performance and the reliability of (Controller Area Network, controller local area network) bus are extensively admitted, therefore In motor vehicles, conventional Vehicle Body Bus is CAN at present.Of course it is to be appreciated that Vehicle Body Bus can also be other types Fieldbus.
Cloud Server 103 can be to provide the Cloud Server of data query service, such as to safety guarantee equipment 1012 The inquiry come and the vehicle information of automatic driving vehicle 101, current vehicle condition information and Current vehicle running environment information The inquiry request exiting the exit instruction sequence that automatic driving mode enters pilot steering pattern joined is received and provides looking into Ask the background network Cloud Server of function.Background network Cloud Server can be believed according to the vehicle of the automatic driving vehicle received The exit instruction sequence that the data queries such as breath, current vehicle condition information and Current vehicle running environment information are matched, and The exit instruction sequence inquired is returned safety guarantee equipment 1012.Certainly, safety guarantee equipment 1012 can also be looked into this locality Ask moving back of vehicle information, current vehicle condition information and Current vehicle running environment information matches with automatic driving vehicle 101 Go out automatic driving mode and enter the exit instruction sequence of pilot steering pattern, it is not necessary to the support of Cloud Server 103.In this feelings Under condition, exemplary system architecture 100 can also not have the network 102 described in Fig. 1 and Cloud Server 103.
It should be noted that the method for controlling automatic driving vehicle that the embodiment of the present application is provided is typically by safety Guarantee equipment 1012 performs, and correspondingly, is generally positioned at safety guarantee equipment 1012 for controlling the device of automatic driving vehicle In.
It should be understood that automatic driving vehicle in Fig. 1, driving control devices, safety guarantee equipment, Vehicle Body Bus, ECU, The number of sensor, network and Cloud Server is only schematically.According to realizing needs, can have any number of unmanned Drive vehicle, driving control devices, safety guarantee equipment, Vehicle Body Bus, ECU, sensor, network and Cloud Server.
With continued reference to Fig. 2, it illustrates an enforcement of the method for controlling automatic driving vehicle according to the application The flow process 200 of example.The described method being used for controlling automatic driving vehicle, comprises the following steps:
Step 201, obtains the current driving model of automatic driving vehicle.
In the present embodiment, the method being used for controlling automatic driving vehicle runs on electronic equipment thereon (such as Fig. 1 institute The safety guarantee equipment 1012 shown) can the local current driving model obtaining automatic driving vehicle；Above-mentioned electronic equipment also may be used To obtain automatic driving car by wired connection mode or radio connection from the driving control devices of automatic driving vehicle Current driving model.Here, driving model includes automatic driving mode and pilot steering pattern.Automatic driving mode, i.e. Controlled the throttle of this vehicle by the driving control devices of automatic driving vehicle, braked and the equipment such as turn to, be not required to manual intervention Vehicle automatic running can be realized.And pilot steering pattern, i.e. need the throttle of all or part of this vehicle of Artificial Control, brake And the equipment such as turn to realize the traveling of vehicle.
In some optional implementations of the present embodiment, pilot steering pattern may include that Artificial Control direction is certainly Dynamic control speed, Artificial Control speed automatically control direction and Artificial Control direction and speed.
It is pointed out that above-mentioned radio connection can include but not limited to that 3G/4G connects, WiFi connects, bluetooth Connect, WiMAX connects, Zigbee connects, UWB (ultra wideband) connects and other are currently known or exploitation in the future Radio connection.
Step 202, it is judged that whether current driving model is automatic driving mode, if it is, forward step 203 to.
In the present embodiment, above-mentioned electronic equipment can be after obtaining current driving model, it is judged that current driving model is No for automatic driving mode, if it is, forward step 203 to.
In some optional implementations of the present embodiment, if current driving model is artificial driving model, above-mentioned Electronic equipment can detect the automatic Pilot that is manually entered of the entrance automatic driving mode that automatic driving vehicle is sent by user please Ask.
If be detected that be manually entered automatic Pilot request, above-mentioned electronic equipment can control nobody in accordance with the following steps and drive Sail vehicle and enter automatic driving mode: first, obtain the vehicle information of automatic driving vehicle, the Current vehicle of automatic driving vehicle The current driving environmental information of status information and automatic driving vehicle；Then, obtain and vehicle information, current vehicle condition information The entry instruction sequence entering automatic driving mode from pilot steering pattern with current driving environmental information coupling；Finally, to The Vehicle Body Bus of automatic driving vehicle sends above-mentioned entry instruction sequence and enters automatic driving mode to control automatic driving vehicle.
Being manually entered automatic Pilot request without detecting, above-mentioned electronic equipment can detect automatic driving vehicle The bottom entering automatic driving mode received in Vehicle Body Bus enters automatic Pilot request, if be detected that above-mentioned bottom enters Enter automatic Pilot request, above-mentioned electronic equipment can control in accordance with the following steps automatic driving vehicle enter automatic driving mode: First, the vehicle information of automatic driving vehicle, the current vehicle condition information of automatic driving vehicle and automatic driving vehicle are obtained Current driving environmental information；Then, acquisition is mated with vehicle information, current vehicle condition information and current driving environmental information From pilot steering pattern enter automatic driving mode entry instruction sequence；Finally, to the Vehicle Body Bus of automatic driving vehicle Send above-mentioned entry instruction sequence and enter automatic driving mode to control automatic driving vehicle.
After automatic driving vehicle enters automatic driving mode, above-mentioned electronic equipment can receive automatic driving vehicle The control instruction sent of driving control devices after, be converted to above-mentioned control instruction refer to the execution of above-mentioned vehicle information matches Order, is sent to the Vehicle Body Bus of automatic driving vehicle the most again to control the automatic row of automatic driving vehicle by above-mentioned execution instruction Sail.Based on aforesaid operations, the driving control devices of automatic driving vehicle can realize the vehicle to different vendor's different model Based Intelligent Control.
Step 203, the control instruction that the driving control devices of detection automatic driving vehicle sends.
In the present embodiment, above-mentioned electronic equipment can be automatic Pilot mould at the current driving model of automatic driving vehicle In the case of formula, the control instruction that the driving control devices of detection automatic driving vehicle sends.Such as, above-mentioned control instruction is permissible Be control above-mentioned automatic driving vehicle advance, fall back, turn to, accelerate, the control instruction of deceleration etc..
Step 204, it may be judged whether control instruction detected, if it is, forward step 205 to.
Step 205, obtains control instruction, the current vehicle condition information of automatic driving vehicle and automatic driving vehicle Current driving environmental information.
In the present embodiment, above-mentioned electronic equipment can obtain control instruction, nothing in the case of control instruction being detected People drives the current vehicle condition information of vehicle and the current driving environmental information of automatic driving vehicle.
In the present embodiment, above-mentioned electronic equipment directly can obtain control instruction from driving control devices.
In the present embodiment, above-mentioned electronic equipment can the local current vehicle condition information obtaining automatic driving vehicle, The current vehicle condition information of automatic driving vehicle can also be obtained, it is also possible to be to obtain from Vehicle Body Bus from driving control devices The current vehicle condition information of automatic driving vehicle.
In the present embodiment, above-mentioned electronic equipment can the local current driving environmental information obtaining automatic driving vehicle, Can also be the current driving environmental information obtaining automatic driving vehicle from driving control devices, it is also possible to be remotely to nothing People drives the current driving environmental information of the Cloud Server acquisition automatic driving vehicle that vehicle is supported.
In the present embodiment, the car status information of automatic driving vehicle can be the state relevant to automatic driving vehicle Information.As example, car status information can be throttle information, braking state information, steering wheel position information, turn to Lamp status information, forward travel state information, the status information that falls back, speed information, vehicle heading information etc..
In the present embodiment, the running environment information of automatic driving vehicle can be and the geography at automatic driving vehicle place The information of environmental correclation.As example, running environment information can include the road condition letter of automatic driving vehicle place road Breath, wherein, road status information includes the geographical feature information (position of such as road, gradient and curvature) of road, traffic Condition information (congested link such as caused due to vehicle accident, vile weather or road construction etc.) and traffic rule information (such as, if be one-way road, speed limit how many etc.)；Running environment information can also include Weather information (such as snow, rain or wind direction And wind speed).
Step 206, according to acquired control instruction, current vehicle condition information and current driving environmental information, determines Whether the driving model of automatic driving vehicle is switched to pilot steering pattern.
In the present embodiment, above-mentioned electronic equipment can be according to control instruction acquired in step 205, Current vehicle shape State information and current driving environmental information, it is determined whether the driving model of automatic driving vehicle is switched to pilot steering pattern.
In some optional implementations of the present embodiment, above-mentioned electronic equipment can be as follows according to being obtained Control instruction, current vehicle condition information and the current driving environmental information taken, it is determined whether by the driving of automatic driving vehicle Pattern switches to pilot steering pattern: first, and above-mentioned electronic equipment can be according to acquired control instruction, current vehicle condition Information and current driving environmental information, it is judged that whether control instruction exists logical error；Then, above-mentioned electronic equipment can respond Logical error is there is not, then: obtain the vehicle information of automatic driving vehicle in above-mentioned control instruction；Control instruction is converted to Vehicle information matches perform instruction；It is sent to the Vehicle Body Bus of automatic driving vehicle for automatic driving vehicle by performing instruction Perform above-mentioned to perform instruction.Based on aforesaid operations, above-mentioned electronic equipment can be implemented in the Driving control of automatic driving vehicle and sets In the case of the control instruction that preparation goes out does not exists logical error, this control instruction is converted into the vehicle with automatic driving vehicle What the current vehicle condition information of information and automatic driving vehicle and current driving environmental information were mated performs instruction, thus realizes The control instruction sending driving control devices can be performed for the automatic driving vehicle of different automobile types.
In some optional implementations of the present embodiment, above-mentioned electronic equipment can also refer in response to above-mentioned control There is logical error in order, if automatic driving vehicle meets following either condition, is then cut by the driving model of automatic driving vehicle It is changed to pilot steering pattern: there is logic mistake receiving predetermined number the control instruction received before above-mentioned control instruction By mistake；There is logical error in the control instruction received within the predetermined amount of time before receiving above-mentioned control instruction.Based on Aforesaid operations, above-mentioned electronic equipment can filter illogical commands once in a while, and for long-time or continuous print logic mistake By mistake instruction just determines the driving model of automatic driving vehicle is switched to pilot steering pattern, thus ensures at automatic driving vehicle The control instruction that sends of driving control devices there is being switched to during logical error pilot steering pattern, it is ensured that automatic driving vehicle Interior personal security.Above-mentioned logical error can be by the most preset control instruction and current vehicle condition information and current line The matching relationship sailing environmental information embodies.As example, current driving environment is highway, and current vehicle condition information shows Show that automatic driving vehicle is to require that with the speed limit of this highway the travel speed mated is advanced, if the most above-mentioned electronics sets For receiving the significantly Servo Control instruction that driving control devices is sent, then may determine that this control instruction exists logic wrong By mistake；The most such as, current vehicle condition information display automatic driving vehicle is falling back in driving process, now receives driving control What control equipment was sent hangs neutral gear or hangs the control instruction of drive shift, then may determine that this control instruction exists logical error.
Step 207, in response to determining the pilot steering pattern that switched to by the driving model of automatic driving vehicle, controls unmanned Drive vehicle and exit automatic driving mode entrance pilot steering pattern.
In the present embodiment, above-mentioned electronic equipment can determine in step 206 by the driving model of automatic driving vehicle After switching to pilot steering pattern, control automatic driving vehicle and exit automatic driving mode entrance pilot steering pattern.
In some optional implementations of the present embodiment, the automatic driving vehicle in order to ensure different automobile types can be pacified Entirely exiting automatic driving mode and enter pilot steering pattern, above-mentioned electronic equipment can control unmanned as follows Vehicle exits automatic driving mode and enters pilot steering pattern: first, obtains the vehicle information of automatic driving vehicle；Then, obtain Take the automatic driving mode that exits mated with vehicle information, current vehicle condition information and current driving environmental information and enter artificial The exit instruction sequence of driving model；Finally, above-mentioned exit instruction sequence is sent with control to the Vehicle Body Bus of automatic driving vehicle Automatic driving vehicle processed exits automatic driving mode and enters pilot steering pattern.Wherein, the vehicle information of automatic driving vehicle can Local to be stored in above-mentioned electronic equipment, the most above-mentioned electronic equipment can the local vehicle information obtaining automatic driving vehicle. The vehicle information of automatic driving vehicle can also be stored in be provided in the Cloud Server supported to above-mentioned automatic driving vehicle, so Above-mentioned electronic equipment can remotely obtain the vehicle information of automatic driving vehicle.With vehicle information, current vehicle condition information With the exit instruction sequence exiting automatic driving mode entrance pilot steering pattern of current driving environmental information coupling can be Arrange ensure that automatic driving vehicle previously according to vehicle information, car status information and the difference of running environment information The job sequence of pilot steering pattern is entered safely from automatic driving mode.Vehicle information, current vehicle condition information and work as Front traveling environmental information can be embodied by mapping table with the matching relationship of exit instruction sequence, it is also possible to by storage Data in relevant database or non-relational data base embody.And above-mentioned coupling mapping table or data base Above-mentioned electronic equipment can be stored in local, it is also possible to be stored in the Cloud Server that above-mentioned automatic driving vehicle is supported In.
As example, the current vehicle condition information display automatic driving vehicle of automatic driving vehicle remains static, At this moment, if control automatic driving vehicle is when automatic Pilot enters pilot steering, exit instruction sequence may is that control direction Zero, switches to neutral gear；If the current vehicle condition information display automatic driving vehicle of automatic driving vehicle is in nonstatic State, exit instruction sequence may is that the original direction of holding, unclamps throttle.
In some optional implementations of the present embodiment, in order to be prepared to enter into manually with the sufficient time to driver Driving condition, above-mentioned electronic equipment can control automatic driving vehicle exit automatic driving mode enter pilot steering pattern it Before, generate warning message according to current vehicle condition information and current driving environmental information, then present above-mentioned warning message.This In, above-mentioned warning message can be acoustic information, and the mode correspondingly presenting warning message can be just to be play by speaker Above-mentioned warning message；Above-mentioned warning message can also be Word message or pictorial information, correspondingly presents the side of warning message Formula can be just to show above-mentioned warning message by display.It is, of course, understood that above-mentioned warning message can also is that sound Message breath and Word message or the combination of pictorial information, the mode presenting above-mentioned warning message accordingly can be just by raising Sound device back sound information, by display display Word message or pictorial information.Above-mentioned warning message can also is that vibrations Mode information, correspondingly, present the mode of above-mentioned warning message can be just according to this vibration mode information start steering wheel or The vibrations operation of the shaking device on driver's seat, to cause the attention of driver.Above-mentioned warning message can also include above-mentioned The pilot steering pattern of automatic driving vehicle, such as, Artificial Control direction automatic control velocity, Artificial Control speed automatically control Direction and Artificial Control direction and speed.
The method that above-described embodiment of the application provides is by the automatic driving vehicle under automatic driving mode being detected The control instruction that sends of driving control devices after, obtain the current vehicle condition information of this control instruction, automatic driving vehicle And the current driving environmental information of automatic driving vehicle, and according to acquired control instruction, current vehicle condition information and Current driving environmental information, it is determined whether the driving model of automatic driving vehicle is switched to pilot steering pattern, finally really In the case of determining the driving model of automatic driving vehicle is switched to pilot steering pattern, control automatic driving vehicle and exit automatically Driving model enters pilot steering pattern, thus is effectively utilized the control instruction of automatic driving vehicle, current vehicle condition letter Breath and current driving environmental information, improve the safety of automatic driving vehicle, in ensure that automatic driving vehicle more The safety of personnel.
With further reference to Fig. 3, it illustrates the flow process of another embodiment of method for controlling automatic driving vehicle 300.This flow process 300 being used for controlling the method for automatic driving vehicle, comprises the following steps:
Step 301, obtains the current driving model of automatic driving vehicle.
Step 302, it is judged that whether current driving model is automatic driving mode, if it is, forward step 303 to.
Step 303, the control instruction that the driving control devices of detection automatic driving vehicle sends.
The operation of above-mentioned steps 301-step 303 is essentially identical with the operation of step 201-step 203, at this no longer respectively Repeat.
Step 304, it may be judged whether control instruction detected, if it is, forward step 305 to, if it does not, forward step 308 to.
In the present embodiment, above-mentioned electronic equipment can forward step 305 in the case of control instruction being detected；? In the case of being not detected by control instruction, forward step 308 to.
Step 305, obtains control instruction, the current vehicle condition information of automatic driving vehicle and automatic driving vehicle Current driving environmental information.
Step 306, according to acquired control instruction, current vehicle condition information and current driving environmental information, determines Whether the driving model of automatic driving vehicle is switched to pilot steering pattern.
The operation of above-mentioned steps 305 and step 306 is essentially identical with the operation of step 205 and step 206, at this not respectively Repeat again.
Step 307, in response to determining the pilot steering pattern that switched to by the driving model of automatic driving vehicle, controls unmanned Drive vehicle and exit automatic driving mode entrance pilot steering pattern.
In the present embodiment, above-mentioned electronic equipment can determine automatic driving vehicle in step 306 or step 308 In the case of driving model switches to pilot steering pattern, control automatic driving vehicle exits automatic driving mode entrance and manually drives Sail pattern.
The concrete operations of above-mentioned steps 307 are essentially identical with the operation of step 207, do not repeat them here.
Step 308, obtains current vehicle condition information and the current driving ring of automatic driving vehicle of automatic driving vehicle Environment information.
In the present embodiment, in the case of what above-mentioned electronic equipment can judge in 304 is not detected by control instruction, Obtain current vehicle condition information and the current driving environmental information of automatic driving vehicle of automatic driving vehicle.
Step 309, according to acquired current vehicle condition information and current driving environmental information, it is determined whether will be unmanned The driving model driving vehicle switches to pilot steering pattern.
In the present embodiment, above-mentioned electronic equipment can get automatic driving vehicle current vehicle condition information and After the current driving environmental information of automatic driving vehicle, believe according to acquired current vehicle condition information and current driving environment Breath, it is determined whether the driving model of automatic driving vehicle is switched to pilot steering pattern.
In some optional implementations of the present embodiment, above-mentioned electronic equipment can also be according to acquired current vehicle Status information and current driving environmental information, it is judged that whether automatic driving vehicle exists intended level alarm, if it is, really Determine the driving model of automatic driving vehicle is switched to pilot steering pattern.Above-mentioned intended level alarm is that the most preset meeting is led Cause the alarm of automatic driving vehicle severe compromise.As example, above-mentioned intended level alarm can be ESP (Electronic Stability Program, body electronics stabilisation systems) alarm, brake can not automatically control alarm etc..
In some optional implementations of the present embodiment, above-mentioned electronic equipment can also be according to acquired current vehicle Status information and current driving environmental information, it is judged that whether automatic driving vehicle exists manual intervention, if it is, determine by The driving model of automatic driving vehicle switches to pilot steering pattern.
In some optional implementations of the present embodiment, current vehicle condition information may include that brake pedal shape State, gas pedal state, steering wheel position.Above-mentioned electronic equipment can below above-mentioned current vehicle condition information meets at least In the case of one, it is judged that automatic driving vehicle exists manual intervention: brake pedal state is for stepping on state, gas pedal state For stepping on state, steering wheel position be artificial adapter state.Wherein, brake pedal state, gas pedal state and direction plate-like State can be obtained by brake pedal state sensor, gas pedal state sensor and steering wheel position sensor respectively.
From figure 3, it can be seen that compared with the embodiment that Fig. 2 is corresponding, being used in the present embodiment controls automatic driving car The flow process 300 of method had more in the case of being not detected by control instruction, obtain the current vehicle of automatic driving vehicle The step 308 of the current driving environmental information of status information and automatic driving vehicle and according to current vehicle condition information with work as Front traveling environmental information, it is determined whether the driving model of automatic driving vehicle is switched to the step 309 of pilot steering pattern.By This, the scheme that the present embodiment describes can be implemented in and is not detected by the case of the control instruction of driving control devices, It is confirmed whether to switch to the driving model of automatic driving vehicle according to current vehicle condition information and current driving environmental information Pilot steering pattern, thus realize more fully controlling automatic driving vehicle, it is ensured that the personal security in automatic driving vehicle.
With further reference to Fig. 4, as to the realization of method shown in above-mentioned each figure, this application provides a kind of for controlling nothing People drives an embodiment of the device of vehicle, and this device embodiment is corresponding with the embodiment of the method shown in Fig. 2, and this device has Body can apply in various electronic equipment.
As shown in Figure 4, being used for described in the present embodiment controls automatic driving vehicle device 400 and includes: the first acquiring unit 401, detector unit 402, second acquisition unit 403, first determine unit 404 and control unit 405.Wherein, first list is obtained Unit 401, is configured to obtain the current driving model of automatic driving vehicle, and wherein, above-mentioned driving model includes automatic Pilot mould Formula and pilot steering pattern；Detector unit 402, if being configured to above-mentioned current driving model is automatic driving mode, then examines Survey the control instruction that the driving control devices of above-mentioned automatic driving vehicle sends；Second acquisition unit 403, be configured in response to Above-mentioned control instruction detected, then obtain above-mentioned control instruction, the current vehicle condition information of above-mentioned automatic driving vehicle and The current driving environmental information of above-mentioned automatic driving vehicle；First determines unit 404, is configured to according to acquired above-mentioned control System instruction, above-mentioned current vehicle condition information and above-mentioned current driving environmental information, it is determined whether by above-mentioned automatic driving vehicle Driving model switch to pilot steering pattern；Control unit 405, is configured in response to determining above-mentioned automatic driving vehicle Driving model switch to pilot steering pattern, control above-mentioned automatic driving vehicle exit automatic driving mode enter pilot steering Pattern.
In the present embodiment, for controlling first acquiring unit 401 of device 400 of automatic driving vehicle, detector unit 402, second acquisition unit 403, the first concrete technology effect processing and being brought determining unit 404 and control unit 405 Fruit can be respectively with reference to step 201, step 202 and step 203, step 204 and step 205, step 206 in Fig. 2 correspondence embodiment And the related description of step 207, do not repeat them here.
In some optional implementations of the present embodiment, above-mentioned control unit 405 may include that the first acquisition module 4051, it is configured to obtain the vehicle information of above-mentioned automatic driving vehicle；Second acquisition module 4052, is configured to obtain with upper The automatic driving mode that exits stating vehicle information, above-mentioned current vehicle condition information and above-mentioned current driving environmental information coupling enters Enter the exit instruction sequence of pilot steering pattern；First sending module 4053, is configured to the car to above-mentioned automatic driving vehicle Body bus sends above-mentioned exit instruction sequence and exits automatic driving mode entrance pilot steering to control above-mentioned automatic driving vehicle Pattern.First acquisition module the 4051, second acquisition module 4052 and the concrete of the first sending module 4053 process and are brought Technique effect refer to the related description of step 207 in Fig. 2 correspondence embodiment, do not repeat them here.
In some optional implementations of the present embodiment, the above-mentioned device 400 for controlling automatic driving vehicle is also May include that warning message signal generating unit 406, be configured to according to above-mentioned current vehicle condition information and above-mentioned current driving ring Environment information generates warning message；Display unit 407, is configured to present above-mentioned warning message.Warning message signal generating unit 406 He The concrete technique effect processing and being brought of display unit 407 refers to speaking on somebody's behalf mutually of step 207 in Fig. 2 correspondence embodiment Bright, do not repeat them here.
In some optional implementations of the present embodiment, above-mentioned first determines that unit 404 may include that judge module 4041, it is configured to according to acquired above-mentioned control instruction, above-mentioned current vehicle condition information and above-mentioned current driving environment Information, it is judged that whether above-mentioned control instruction exists logical error；Second sending module 4042, is configured in response to above-mentioned control There is not logical error, then in instruction: obtains the vehicle information of above-mentioned automatic driving vehicle；Above-mentioned control instruction is converted to upper That states vehicle information matches performs instruction；Above-mentioned execution instruction is sent to the Vehicle Body Bus of above-mentioned automatic driving vehicle for upper State automatic driving vehicle to perform above-mentioned to perform instruction.Judge module 4041 and the concrete of the second sending module 4042 process and institute The technique effect brought refers to the related description of step 206 in Fig. 2 correspondence embodiment, does not repeats them here.
In some optional implementations of the present embodiment, above-mentioned first determines that unit 404 can also include: first is true Cover half block 4043, is configured to there is logical error in response to above-mentioned control instruction, if above-mentioned automatic driving vehicle meet with Lower either condition, it is determined that the driving model of above-mentioned automatic driving vehicle is switched to pilot steering pattern: above-mentioned receiving There is logical error in predetermined number the control instruction received before control instruction；Before receiving above-mentioned control instruction There is logical error in the control instruction received within predetermined amount of time.First determines that the concrete of module 4043 processes and carried The technique effect come refers to the related description of step 206 in Fig. 2 correspondence embodiment, does not repeats them here.
In some optional implementations of the present embodiment, the above-mentioned device 400 for controlling automatic driving vehicle is also May include that the 3rd acquiring unit 408, be configured in response to being not detected by above-mentioned control instruction, then obtain above-mentioned nobody drive Sail the current vehicle condition information of vehicle and the current driving environmental information of above-mentioned automatic driving vehicle；Second determines unit 409, It is configured to according to acquired above-mentioned current vehicle condition information and above-mentioned current driving environmental information, it is determined whether by above-mentioned The driving model of automatic driving vehicle switches to pilot steering pattern.3rd acquiring unit 408 and second determines the tool of unit 409 Body processes and the technique effect that brought can speaking on somebody's behalf with reference to step 308 in Fig. 3 correspondence embodiment and step 309 respectively mutually Bright, do not repeat them here.
In some optional implementations of the present embodiment, above-mentioned second determines that unit 409 may include that second determines Module 4091, is configured to according to acquired above-mentioned current vehicle condition information and above-mentioned current driving environmental information, it is judged that Whether above-mentioned automatic driving vehicle exists intended level alarm, if it is, determine the driving mould of above-mentioned automatic driving vehicle Formula switches to pilot steering pattern.Second determines that the concrete technique effect processing and being brought of module 4091 refers to Fig. 3 In corresponding embodiment, the related description of step 309, does not repeats them here.
In some optional implementations of the present embodiment, above-mentioned second determines that unit 409 can also include: the 3rd is true Cover half block 4092, is configured to, according to acquired above-mentioned current vehicle condition information and above-mentioned current driving environmental information, sentence Whether disconnected above-mentioned automatic driving vehicle exists manual intervention, if it is, determine the driving model of above-mentioned automatic driving vehicle Switch to pilot steering pattern.3rd determines that the concrete technique effect processing and being brought of module 4092 refers to Fig. 3 pair Answer the related description of step 309 in embodiment, do not repeat them here.
In some optional implementations of the present embodiment, above-mentioned current vehicle condition information includes: brake pedal shape State, gas pedal state, steering wheel position；And the above-mentioned 3rd determine that module 4092 is configured to further: work as if above-mentioned Vehicle in front status information meet following at least one, then judge that above-mentioned automatic driving vehicle exists manual intervention: brake pedal shape State for step on state, gas pedal state for stepping on state, steering wheel position be artificial adapter state.3rd determines module 4092 The concrete technique effect processing and being brought refer to the related description of step 309 in Fig. 3 correspondence embodiment, at this no longer Repeat.
Below with reference to Fig. 5, it illustrates the computer system 500 being suitable to the electronic equipment for realizing the embodiment of the present application Structural representation.
As it is shown in figure 5, computer system 500 includes CPU (CPU) 501, it can be read-only according to being stored in Program in memorizer (ROM) 502 or be loaded into the program random access storage device (RAM) 503 from storage part 508 and Perform various suitable action and process.In RAM 503, also storage has system 500 to operate required various programs and data. CPU 501, ROM 502 and RAM 503 are connected with each other by bus 504.Input/output (I/O) interface 505 is also connected to always Line 504.
It is connected to I/O interface 505: include the importation 506 of driving control devices, ECU, sensor etc. with lower component； Output part 507 including such as driving control devices, ECU, liquid crystal display (LCD) etc. and speaker etc.；Including hard disk Deng storage part 508；And include the communications portion 509 of the NIC of such as LAN card, modem etc..Communication Part 509 performs communication process via the network of such as the Internet.Driver 510 is connected to I/O interface 505 also according to needs. Detachable media 511, such as disk, CD, magneto-optic disk, semiconductor memory etc., be arranged on driver 510 as required On, in order to the computer program read from it is mounted into storage part 508 as required.
Especially, according to embodiment of the disclosure, the process described above with reference to flow chart may be implemented as computer Software program.Such as, embodiment of the disclosure and include a kind of computer program, it includes being tangibly embodied in machine readable Computer program on medium, described computer program comprises the program code for performing the method shown in flow chart.At this In the embodiment of sample, this computer program can be downloaded and installed from network by communications portion 509, and/or from removable Unload medium 511 to be mounted.When this computer program is performed by CPU (CPU) 501, perform in the present processes The above-mentioned functions limited.
Flow chart in accompanying drawing and block diagram, it is illustrated that according to system, method and the computer journey of the various embodiment of the application Architectural framework in the cards, function and the operation of sequence product.In this, each square frame in flow chart or block diagram can generation One module of table, program segment or a part for code, a part for described module, program segment or code comprises one or more For realizing the executable instruction of the logic function of regulation.It should also be noted that some as replace realization in, institute in square frame The function of mark can also occur to be different from the order marked in accompanying drawing.Such as, the square frame that two succeedingly represent is actual On can perform substantially in parallel, they can also perform sometimes in the opposite order, and this is depending on involved function.Also want It is noted that the combination of the square frame in each square frame in block diagram and/or flow chart and block diagram and/or flow chart, Ke Yiyong The special hardware based system of the function or operation that perform regulation realizes, or can refer to computer with specialized hardware The combination of order realizes.
It is described in the embodiment of the present application involved unit to realize by the way of software, it is also possible to by firmly The mode of part realizes.Described unit can also be arranged within a processor, for example, it is possible to be described as: a kind of processor bag Include the first acquiring unit, detector unit, second acquisition unit, first determine unit and control unit.Wherein, the name of these unit Claiming to be not intended that under certain conditions the restriction to this unit itself, such as, the first acquiring unit is also described as " obtaining The unit of the current driving model of automatic driving vehicle ".
As on the other hand, present invention also provides a kind of nonvolatile computer storage media, this non-volatile calculating Machine storage medium can be the nonvolatile computer storage media described in above-described embodiment included in device；Can also be Individualism, is unkitted the nonvolatile computer storage media allocating in terminal.Above-mentioned nonvolatile computer storage media is deposited Contain one or more program, when one or more program is performed by an equipment so that described equipment: obtain The current driving model of automatic driving vehicle, wherein, above-mentioned driving model includes automatic driving mode and pilot steering pattern；As The most above-mentioned current driving model is automatic driving mode, then detect the control that the driving control devices of above-mentioned automatic driving vehicle sends System instruction；In response to above-mentioned control instruction being detected, then obtain above-mentioned control instruction, the Current vehicle of above-mentioned automatic driving vehicle The current driving environmental information of status information and above-mentioned automatic driving vehicle；According to acquired above-mentioned control instruction, above-mentioned Current vehicle condition information and above-mentioned current driving environmental information, it is determined whether the driving model of above-mentioned automatic driving vehicle is cut It is changed to pilot steering pattern；In response to determining, the driving model of above-mentioned automatic driving vehicle is switched to pilot steering pattern, control Make above-mentioned automatic driving vehicle and exit automatic driving mode entrance pilot steering pattern.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art Member should be appreciated that invention scope involved in the application, however it is not limited to the technology of the particular combination of above-mentioned technical characteristic Scheme, also should contain in the case of without departing from described inventive concept simultaneously, above-mentioned technical characteristic or its equivalent feature carry out Combination in any and other technical scheme of being formed.Such as features described above has similar merit with (but not limited to) disclosed herein The technical scheme that the technical characteristic of energy is replaced mutually and formed.

Claims (18)

1. the method being used for controlling automatic driving vehicle, it is characterised in that described method includes:
Obtaining the current driving model of automatic driving vehicle, wherein, described driving model includes automatic driving mode and manually drives Sail pattern；
If described current driving model is automatic driving mode, then the driving control devices detecting described automatic driving vehicle is sent out The control instruction gone out；
In response to described control instruction being detected, then obtain the Current vehicle shape of described control instruction, described automatic driving vehicle The current driving environmental information of state information and described automatic driving vehicle；
According to acquired described control instruction, described current vehicle condition information and described current driving environmental information, determine Whether the driving model of described automatic driving vehicle is switched to pilot steering pattern；
In response to determining, the driving model of described automatic driving vehicle is switched to pilot steering pattern, control described unmanned Vehicle exits automatic driving mode and enters pilot steering pattern.
Method the most according to claim 1, it is characterised in that the described automatic driving vehicle of described control exits automatic Pilot Pattern enters pilot steering pattern, including:
Obtain the vehicle information of described automatic driving vehicle；
What acquisition was mated with described vehicle information, described current vehicle condition information and described current driving environmental information exits certainly Dynamic driving model enters the exit instruction sequence of pilot steering pattern；
Send described exit instruction sequence to the Vehicle Body Bus of described automatic driving vehicle to move back to control described automatic driving vehicle Go out automatic driving mode and enter pilot steering pattern.
Method the most according to claim 1, it is characterised in that the described automatic driving vehicle of described control exits automatic Pilot Before pattern enters pilot steering pattern, described method also includes:
Warning message is generated according to described current vehicle condition information and described current driving environmental information；
Present described warning message.
Method the most according to claim 1, it is characterised in that described control instruction acquired in described basis, described work as Vehicle in front status information and described current driving environmental information, it is determined whether the driving model of described automatic driving vehicle is switched For artificial driving model, including:
According to acquired described control instruction, described current vehicle condition information and described current driving environmental information, it is judged that Whether described control instruction exists logical error；
Logical error is there is not, then: obtain the vehicle information of described automatic driving vehicle in response to described control instruction；By described Control instruction be converted to described vehicle information matches perform instruction；Described execution instruction is sent to described automatic driving car Vehicle Body Bus perform described to perform instruction for described automatic driving vehicle.
Method the most according to claim 4, it is characterised in that described control instruction acquired in described basis, described work as Vehicle in front status information and described current driving environmental information, it is determined whether the driving model of described automatic driving vehicle is switched For artificial driving model, also include:
Logical error is there is, if described automatic driving vehicle meets following either condition, the most really in response to described control instruction Fixed pilot steering pattern that the driving model of described automatic driving vehicle is switched to: received before receiving described control instruction To predetermined number control instruction there is logical error；Connect within predetermined amount of time before receiving described control instruction There is logical error in the control instruction received.
Method the most according to claim 1, it is characterised in that the Driving control of the described automatic driving vehicle of described detection sets After the control instruction that preparation goes out, described method also includes:
In response to being not detected by described control instruction, then obtain the current vehicle condition information of described automatic driving vehicle and described The current driving environmental information of automatic driving vehicle；
According to acquired described current vehicle condition information and described current driving environmental information, it is determined whether by described unmanned The driving model driving vehicle switches to pilot steering pattern.
Method the most according to claim 6, it is characterised in that the described current vehicle condition information acquired in described basis With described current driving environmental information, it is determined whether the driving model of described automatic driving vehicle is switched to pilot steering mould Formula, including:
According to acquired described current vehicle condition information and described current driving environmental information, it is judged that described automatic driving car Whether there is intended level alarm, if it is, determine to switch to the driving model of described automatic driving vehicle and manually drive Sail pattern.
Method the most according to claim 6, it is characterised in that the described current vehicle condition information acquired in described basis With described current driving environmental information, it is determined whether the driving model of described automatic driving vehicle is switched to pilot steering mould Formula, including:
According to acquired described current vehicle condition information and described current driving environmental information, it is judged that described automatic driving car Whether there is manual intervention, if it is, determine and the driving model of described automatic driving vehicle is switched to pilot steering mould Formula.
Method the most according to claim 8, it is characterised in that described current vehicle condition information includes: brake pedal shape State, gas pedal state, steering wheel position；And
Described current vehicle condition information acquired in described basis and described current driving environmental information, it is judged that described nobody drives Sail whether vehicle exists manual intervention, including:
If at least one, then judge that described automatic driving vehicle exists artificial dry below described current vehicle condition information is satisfied Pre-: brake pedal state for step on state, gas pedal state for stepping on state, steering wheel position be artificial adapter state.
10. the device being used for controlling automatic driving vehicle, it is characterised in that described device includes:
First acquiring unit, is configured to obtain the current driving model of automatic driving vehicle, and wherein, described driving model includes Automatic driving mode and pilot steering pattern；
Detector unit, if being configured to described current driving model is automatic driving mode, then detects described automatic driving car The control instruction that sends of driving control devices；
Second acquisition unit, is configured in response to described control instruction being detected, then obtain described control instruction, described unmanned Drive current vehicle condition information and the current driving environmental information of described automatic driving vehicle of vehicle；
First determines unit, is configured to according to acquired described control instruction, described current vehicle condition information and described Current driving environmental information, it is determined whether the driving model of described automatic driving vehicle is switched to pilot steering pattern；
Control unit, is configured to, in response to determining, the driving model of described automatic driving vehicle is switched to pilot steering mould Formula, controls described automatic driving vehicle and exits automatic driving mode entrance pilot steering pattern.
11. devices according to claim 10, it is characterised in that described control unit includes:
First acquisition module, is configured to obtain the vehicle information of described automatic driving vehicle；
Second acquisition module, is configured to obtain and described vehicle information, described current vehicle condition information and described current line The automatic driving mode that exits sailing environmental information coupling enters the exit instruction sequence of pilot steering pattern；
First sending module, is configured to send described exit instruction sequence with control to the Vehicle Body Bus of described automatic driving vehicle Make described automatic driving vehicle and exit automatic driving mode entrance pilot steering pattern.
12. devices according to claim 10, it is characterised in that described device also includes:
Warning message signal generating unit, is configured to according to described current vehicle condition information and described current driving environmental information raw Become warning message；
Display unit, is configured to present described warning message.
13. devices according to claim 10, it is characterised in that described first determines that unit includes:
Judge module, be configured to according to acquired described control instruction, described current vehicle condition information and described currently Running environment information, it is judged that whether described control instruction exists logical error；
Second sending module, is configured to there is not logical error, then in response to described control instruction: obtain described unmanned The vehicle information of vehicle；Described control instruction is converted to described vehicle information matches perform instruction；Described execution is referred to Order is sent to the Vehicle Body Bus of described automatic driving vehicle and performs instruction for the execution of described automatic driving vehicle is described.
14. devices according to claim 13, it is characterised in that described first determines that unit also includes:
First determines module, is configured to there is logical error in response to described control instruction, if described automatic driving vehicle Meet following either condition, it is determined that the driving model of described automatic driving vehicle is switched to pilot steering pattern: receiving There is logical error in predetermined number the control instruction received before described control instruction；Receiving described control instruction There is logical error in the control instruction received within predetermined amount of time before.
15. devices according to claim 10, it is characterised in that described device also includes:
3rd acquiring unit, is configured in response to being not detected by described control instruction, then obtain described automatic driving vehicle The current driving environmental information of current vehicle condition information and described automatic driving vehicle；
Second determines unit, is configured to believe according to acquired described current vehicle condition information and described current driving environment Breath, it is determined whether the driving model of described automatic driving vehicle is switched to pilot steering pattern.
16. devices according to claim 15, it is characterised in that described second determines that unit includes:
Second determines module, is configured to believe according to acquired described current vehicle condition information and described current driving environment Breath, it is judged that whether described automatic driving vehicle exists intended level alarm, if it is, determine described automatic driving vehicle Driving model switches to pilot steering pattern.
17. devices according to claim 15, it is characterised in that described second determines that unit also includes:
3rd determines module, is configured to believe according to acquired described current vehicle condition information and described current driving environment Breath, it is judged that whether described automatic driving vehicle exists manual intervention, if it is, determine the driving of described automatic driving vehicle Pattern switches to pilot steering pattern.
18. devices according to claim 17, it is characterised in that described current vehicle condition information includes: brake pedal State, gas pedal state, steering wheel position；And
Described 3rd determines that module is configured to further:
If at least one, then judge that described automatic driving vehicle exists artificial dry below described current vehicle condition information is satisfied Pre-: brake pedal state for step on state, gas pedal state for stepping on state, steering wheel position be artificial adapter state.
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