CN106080606B - Method and apparatus for controlling automatic driving vehicle - Google Patents

Method and apparatus for controlling automatic driving vehicle Download PDF

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Publication number
CN106080606B
CN106080606B CN201610539205.6A CN201610539205A CN106080606B CN 106080606 B CN106080606 B CN 106080606B CN 201610539205 A CN201610539205 A CN 201610539205A CN 106080606 B CN106080606 B CN 106080606B
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China
Prior art keywords
vehicle
automatic driving
current
mode
driving
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CN106080606A (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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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/18Propelling the vehicle
    • B60W30/182Selecting between different operative modes, e.g. comfort and performance modes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W40/00Estimation 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details 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
    • B60W2050/0001Details of the control system
    • B60W2050/0043Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2556/00Input parameters relating to data
    • B60W2556/45External transmission of data to or from the vehicle

Abstract

This application discloses the method and apparatus for controlling automatic driving vehicle.One specific embodiment of the method includes: the current driving mode for obtaining automatic driving vehicle;If current driving mode is automatic driving mode, the control instruction that the driving control devices of automatic driving vehicle issue is detected;In response to detecting control instruction, then the current driving environmental information of control instruction, the current vehicle condition information of automatic driving vehicle and automatic driving vehicle is obtained;According to acquired control instruction, current vehicle condition information and current driving environmental information, it is determined whether the driving mode of automatic driving vehicle is switched to pilot steering mode;The driving mode of automatic driving vehicle is switched to pilot steering mode in response to determining, control automatic driving vehicle exits automatic driving mode and enters pilot steering mode.The embodiment realizes the raising of the safety of the automatic driving vehicle of different vendor's different model.

Description

Method and apparatus for controlling automatic driving vehicle
Technical field
This application involves automotive fields, and in particular to automatic driving vehicle technical field is more particularly, to controlled The method and apparatus of automatic driving vehicle processed.
Background technique
It in automatic driving vehicle R&D process, is very important safely, especially the safety of tester must obtain To sound assurance.Research and development early period is due to that can be related to the test vehicle of the different automobile types from different vendor, and these vehicles Bottom steering wheel controls manual intervention, and brake system manual intervention and throttle system manual intervention in realization can be different Sample, and due to the difference in the difference and occupation rate of market in manufacturer's technical strength, it will lead to them to device supplier Control ability have biggish difference, thus the vehicle manual intervention mode having the same for being difficult to push all manufacturers to provide. The accessory that current portions manufacturer provides can automatically exit from automatic driving mode after by manual intervention, but have part manufacturer The accessory of offer only has the function of actuator, and automatic driving mode is not exited after by manual intervention, it is necessary to pass through instruction It can just exit, these differences increase the risk of automatic driving vehicle debugging process.
Therefore, there is the vehicles that cannot be adapted to different vendor's different model for the control method of existing automatic driving vehicle To guarantee the problem of occupant's safety.
Summary of the invention
The purpose of the application is to propose a kind of improved method and apparatus for controlling automatic driving vehicle, to solve The technical issues of background section above is mentioned.
In a first aspect, this application provides a kind of methods for controlling automatic driving vehicle, which comprises obtain The current driving mode of automatic driving vehicle, wherein the driving mode includes automatic driving mode and pilot steering mode;Such as Current driving mode described in fruit is automatic driving mode, then detects the control that the driving control devices of the automatic driving vehicle issue System instruction;In response to detecting the control instruction, then the current vehicle of the control instruction, the automatic driving vehicle is obtained The current driving environmental information of status information and the automatic driving vehicle;According to the acquired control instruction, described Current vehicle condition information and the current driving environmental information, it is determined whether cut the driving mode of the automatic driving vehicle It is changed to pilot steering mode;The driving mode of the automatic driving vehicle is switched to pilot steering mode in response to determining, is controlled It makes the automatic driving vehicle and exits automatic driving mode and enter pilot steering mode.
Second aspect, this application provides a kind of for controlling the device of automatic driving vehicle, and described device includes: first Acquiring unit is configured to obtain the current driving mode of automatic driving vehicle, wherein the driving mode includes automatic Pilot Mode and pilot steering mode;Detection unit detects if being configured to the current driving mode is automatic driving mode The control instruction that the driving control devices of the automatic driving vehicle issue;Second acquisition unit is configured in response to detection To the control instruction, then the control instruction, the current vehicle condition information of the automatic driving vehicle and described are obtained The current driving environmental information of automatic driving vehicle;First determination unit, be configured to according to the acquired control instruction, The current vehicle condition information and the current driving environmental information, it is determined whether by the driving mould of the automatic driving vehicle Formula is switched to pilot steering mode;Control unit is configured in response to determining the driving mode of the automatic driving vehicle It is switched to pilot steering mode, the automatic driving vehicle is controlled and exits automatic driving mode and enter pilot steering mode.
Method and apparatus provided by the present application for controlling automatic driving vehicle, by detecting automatic driving mode Under automatic driving vehicle the control instruction that issues of driving control devices after, obtain the 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 mode of automatic driving vehicle is switched to and is manually driven Mode is sailed, finally in the case where the driving mode of automatic driving vehicle is switched to pilot steering mode by determination, controls nobody Driving vehicle exits automatic driving mode and enters pilot steering mode, so that the control for being effectively utilized automatic driving vehicle refers to It enables, current vehicle condition information and current driving environmental information, improves the safety of automatic driving vehicle, more guarantee The safety of personnel in automatic driving vehicle.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other Feature, objects and advantages will become more apparent upon:
Fig. 1 is that this application can be applied to exemplary system architecture figures therein;
Fig. 2 is the flow chart according to one embodiment of the method for controlling automatic driving vehicle of the application;
Fig. 3 is the flow chart according to another embodiment of the method for controlling automatic driving vehicle of the application;
Fig. 4 is the structural schematic diagram according to one embodiment of the device for controlling automatic driving vehicle of the application;
Fig. 5 is adapted for the structural schematic diagram for the computer system for realizing the electronic equipment of the embodiment of the present application.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to Convenient for description, part relevant to related invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is shown can be using the application for controlling the method or unmanned for controlling of automatic driving vehicle The exemplary system architecture 100 of the embodiment of the device of vehicle.
As shown in Figure 1, system architecture 100 may include automatic driving vehicle 101, network 102 and to automatic driving vehicle 101 provide the Cloud Server 103 supported.Driving control devices 1011 can be installed on automatic driving vehicle 101, safety guarantee is set Standby 1012, Vehicle Body Bus 1013, ECU (Electronic Control Unit, electronic control unit) 1014,1015,1016 and Sensor 1017,1018,1019.
Driving control devices (also known as vehicle-mounted brain) 1011 are responsible for the overall intelligent control of entire automatic driving vehicle.It drives Sailing control equipment 1011 can be the controller being separately provided, such as programmable logic controller (PLC) (Programmable Logic Controller, PLC), single-chip microcontroller, Industrial Control Computer etc.;It is also possible to by other with input/output end port, and there is fortune The equipment for calculating the electronic device composition of control function;It can also be the computer equipment for being equipped with vehicle drive control class application. The data that each ECU that driving control devices can receive safety guarantee equipment 1012 from Vehicle Body Bus 1013 is sent And/or the data that each sensor is sent are analyzed and processed, and make corresponding decision, and the corresponding control instruction of decision is sent out It is sent 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 microcontroller, Industrial Control Computer etc.;Be also possible to by other have input/it is defeated Exit port, and the equipment that the electronic device with operation control function forms;It can also be that being equipped with vehicle safety ensures that class is answered Computer equipment.
Safety guarantee equipment 1012 between driving control devices 1011 and Vehicle Body Bus 1013 for being controlled.Safety The control instruction for ensureing that equipment 1012 can issue driving control devices 1011 is analyzed, and is finding control instruction presence When logic error, control automatic driving vehicle 101 enters pilot steering mode.Safety guarantee equipment 1012 can also be controlled driving The control instruction that control equipment 1011 issues is converted into and the specific vehicle model information of the automatic driving vehicle, the automatic driving vehicle Current vehicle condition information and current driving environmental information is matched executes instruction, and eventually by Vehicle Body Bus 1013 to ECU 1014,1015,1016 issues this and executes instruction to control the distinct device in automatic driving vehicle respectively, to realize vehicle 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 there are intended level alarms for automatic driving vehicle 101, are then controlled unmanned Vehicle 101 enters pilot steering mode.
Vehicle Body Bus 1013 can be for connecting ECU 1014,1015,1016, sensor 1017,1018,1019, peace All risk insurance hinders the fieldbus of other unshowned equipment of equipment 1012 and automatic driving vehicle 101.Due to CAN The high-performance and reliability of (Controller Area Network, controller local area network) bus are accepted extensively, therefore Common Vehicle Body Bus is CAN bus in motor vehicle at present.Of course it is to be appreciated that Vehicle Body Bus is also possible to other types Fieldbus.
Cloud Server 103 can be to provide the Cloud Server of data query service, such as send out safety guarantee equipment 1012 Vehicle model information, current vehicle condition information and the current vehicle running environment information of the inquiry and automatic driving vehicle 101 that come The inquiry request that matches exit the exit instruction sequence that automatic driving mode enters pilot steering mode, which is received and provided, to be looked 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 matched exit instruction sequences of data queries such as breath, current vehicle condition information and current vehicle running environment information, and The exit instruction sequence inquired is returned into safety guarantee equipment 1012.Certainly, safety guarantee equipment 1012 can also be looked into locally It askes and is moved back with the vehicle model information of automatic driving vehicle 101, current vehicle condition information and current vehicle running environment information matches Automatic driving mode enters the exit instruction sequence of pilot steering mode out, does not need the support of Cloud Server 103.In this feelings Under condition, exemplary system architecture 100 can also be without the network 102 and Cloud Server 103 described in Fig. 1.
It should be noted that for controlling the method for automatic driving vehicle generally by safety provided by the embodiment of the present application Ensure that equipment 1012 executes, correspondingly, the device for controlling automatic driving vehicle is generally positioned at safety guarantee equipment 1012 In.
It should be understood that automatic driving vehicle, driving control devices, safety guarantee equipment, Vehicle Body Bus, ECU in Fig. 1, The number of sensor, network and Cloud Server is only schematical.According to realize needs, can have it is any number of nobody 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 implementations according to the method for controlling automatic driving vehicle of the application The process 200 of example.The method for controlling automatic driving vehicle, comprising the following steps:
Step 201, the current driving mode of automatic driving vehicle is obtained.
In the present embodiment, the method for controlling automatic driving vehicle runs electronic equipment (such as Fig. 1 institute thereon The safety guarantee equipment 1012 shown) it can locally obtain the current driving mode of automatic driving vehicle;Above-mentioned electronic equipment can also To obtain automatic driving car from the driving control devices of automatic driving vehicle by wired connection mode or radio connection Current driving mode.Here, driving mode includes automatic driving mode and pilot steering mode.Automatic driving mode, i.e., The equipment such as throttle, brake and the steering of the vehicle are controlled by the driving control devices of automatic driving vehicle, are not required to manual intervention Vehicle automatic running can be realized.And pilot steering mode, that is, need throttle, the brake of all or part of manual control vehicle And the equipment such as turn to realize the traveling of vehicle.
In some optional implementations of the present embodiment, pilot steering mode may include: manual control direction from Dynamic control speed, manual control speed automatically control direction and manual control direction and speed.
It should be pointed out that above-mentioned radio connection can include but is not limited to 3G/4G connection, WiFi connection, bluetooth Connection, WiMAX connection, Zigbee connection, UWB (ultra wideband) connection and other currently known or exploitations in the future Radio connection.
Step 202, judge whether current driving mode is automatic driving mode, if so, going to step 203.
In the present embodiment, above-mentioned electronic equipment can judge that current driving mode is after obtaining current driving mode No is automatic driving mode, if so, going to step 203.
It is above-mentioned if current driving mode is artificial driving mode in some optional implementations of the present embodiment Electronic equipment can detecte user and ask to the automatic Pilot that is manually entered into automatic driving mode that automatic driving vehicle issues It asks.
It is manually entered automatic Pilot request if detected, above-mentioned electronic equipment can control in accordance with the following steps nobody and drive It sails vehicle and enters automatic driving mode: firstly, obtaining the current vehicle of the vehicle model information of automatic driving vehicle, automatic driving vehicle The current driving environmental information of status information and automatic driving vehicle;Then, it obtains and vehicle model information, current vehicle condition information With the matched entry instruction sequence for entering automatic driving mode from pilot steering mode of current driving environmental information;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.
It is manually entered automatic Pilot request if do not detected, above-mentioned electronic equipment can detecte automatic driving vehicle The bottom into automatic driving mode received in Vehicle Body Bus enter automatic Pilot request, if detect above-mentioned bottom into Enter automatic Pilot request, above-mentioned electronic equipment can control in accordance with the following steps automatic driving vehicle and enter automatic driving mode: Firstly, obtaining vehicle model information, the current vehicle condition information of automatic driving vehicle and the automatic driving vehicle of automatic driving vehicle Current driving environmental information;Then, it obtains and is matched with vehicle model information, current vehicle condition information and current driving environmental information The entry instruction sequence for entering automatic driving mode from pilot steering mode;Finally, to the Vehicle Body Bus of automatic driving vehicle It sends above-mentioned entry instruction sequence and enters 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, above-mentioned control instruction is converted to and is referred to the matched execution of above-mentioned vehicle model information It enables, above-mentioned execute instruction finally is sent to the Vehicle Body Bus of automatic driving vehicle to control the automatic row of automatic driving vehicle again It sails.Based on aforesaid operations, the driving control devices of automatic driving vehicle be may be implemented to the vehicle of different vendor's different model Intelligent control.
Step 203, the control instruction that the driving control devices of automatic driving vehicle issue is detected.
In the present embodiment, above-mentioned electronic equipment can be automatic Pilot mould in the current driving mode of automatic driving vehicle In the case where formula, the control instruction that the driving control devices of automatic driving vehicle issue is detected.For example, above-mentioned control instruction can be with It is the control instruction for controlling above-mentioned automatic driving vehicle advance, retroversion, steering, acceleration, deceleration etc..
Step 204, judge whether to detect control instruction, if so, going to step 205.
Step 205, control instruction, the current vehicle condition information of automatic driving vehicle and automatic driving vehicle are obtained Current driving environmental information.
In the present embodiment, above-mentioned electronic equipment can obtain control instruction, nothing in the case where detecting control instruction 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 locally obtain the current vehicle condition information of automatic driving vehicle, The current vehicle condition information that automatic driving vehicle can also be obtained from driving control devices, can also be and obtain from Vehicle Body Bus The current vehicle condition information of automatic driving vehicle.
In the present embodiment, above-mentioned electronic equipment can locally obtain the current driving environmental information of automatic driving vehicle, It is also possible to obtain the current driving environmental information of automatic driving vehicle from driving control devices, can also be remotely to nothing People drives the current driving environmental information that the Cloud Server that vehicle is supported obtains automatic driving vehicle.
In the present embodiment, the car status information of automatic driving vehicle can be state relevant to automatic driving vehicle Information.As an example, car status information can be throttle information, braking state information, steering wheel position information, turn to Lamp status information, forward travel state information, retroversion status information, vehicle speed information, vehicle heading information etc..
In the present embodiment, the running environment information of automatic driving vehicle can be and the geography where automatic driving vehicle The information of environmental correclation.As an example, running environment information may include the road condition letter of road where automatic driving vehicle Breath, wherein road status information includes the geographical feature information (such as position, gradient and curvature of road) of road, traffic Condition information (such as congested link due to caused by traffic accident, bad weather or road construction etc.) and traffic rule information (such as, if it is one-way road, speed limit is how many etc.);Running environment information can also include Weather information (such as snow, rain or wind direction And wind speed).
Step 206, it according to acquired control instruction, current vehicle condition information and current driving environmental information, determines Whether the driving mode of automatic driving vehicle is switched to pilot steering mode.
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 mode of automatic driving vehicle is switched to pilot steering mode.
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 switching is artificial driving mode: firstly, above-mentioned electronic equipment can be according to acquired control instruction, current vehicle condition Information and current driving environmental information judge control instruction with the presence or absence of logic error;Then, above-mentioned electronic equipment can respond Logic error is not present in above-mentioned control instruction, then: obtaining the vehicle model information of automatic driving vehicle;By control instruction be converted to Vehicle model information is matched to be executed instruction;The Vehicle Body Bus for being sent to automatic driving vehicle will be executed instruction for automatic driving vehicle Execute above-mentioned execute instruction.Based on aforesaid operations, above-mentioned electronic equipment may be implemented to set in the Driving control of automatic driving vehicle The control instruction is converted into the vehicle with automatic driving vehicle there is no in the case where logic error by the control instruction that preparation goes out The current vehicle condition information of information and automatic driving vehicle and current driving environmental information is matched executes instruction, to realize The control instruction that driving control devices issue can be executed 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 are logic errors to cut the driving mode of automatic driving vehicle if automatic driving vehicle meets following either condition for order Be changed to pilot steering mode: there are logic mistakes for the predetermined number control instruction received before receiving above-mentioned control instruction Accidentally;There are logic errors for the control instruction received within the predetermined amount of time before receiving above-mentioned control instruction.It is based on Aforesaid operations, above-mentioned electronic equipment can filter out illogical commands once in a while, and for logic is wrong for a long time or continuously Accidentally instruction, which is just determined, is switched to pilot steering mode for the driving mode of automatic driving vehicle, to guarantee in automatic driving vehicle Driving control devices issue control instruction occur being switched to pilot steering mode when logic error, guarantee automatic driving vehicle Interior personnel safety.Above-mentioned logic error can be by shifting to an earlier date preset control instruction and current vehicle condition information and current line The matching relationship of environmental information is sailed to embody.As an example, current driving environment is highway, current vehicle condition information is aobvious Show automatic driving vehicle to require matched travel speed to advance with the speed limit of the highway, if above-mentioned electronics is set at this time The standby significantly Servo Control instruction for receiving driving control devices and sending, then may determine that the control instruction, there are logic mistakes Accidentally;In another example current vehicle condition information shows that automatic driving vehicle is being fallen back in driving process, driving control is received at this time The control instruction hung neutral gear or hang drive shift that control equipment is sent, then may determine that there are logic errors for the control instruction.
Step 207, the driving mode of automatic driving vehicle is switched to pilot steering mode in response to determining, controls nobody Driving vehicle exits automatic driving mode and enters pilot steering mode.
In the present embodiment, above-mentioned electronic equipment can be determined in step 206 by the driving mode of automatic driving vehicle After being switched to pilot steering mode, control automatic driving vehicle exits automatic driving mode and enters pilot steering mode.
In some optional implementations of the present embodiment, in order to ensure the automatic driving vehicle of different automobile types can pacify Automatic driving mode is exited entirely and enters pilot steering mode, and above-mentioned electronic equipment can control unmanned as follows Vehicle exits automatic driving mode and enters pilot steering mode: firstly, obtaining the vehicle model information of automatic driving vehicle;Then, it obtains It takes and enters manually with the matched automatic driving mode that exits of vehicle model information, current vehicle condition information and current driving environmental information The exit instruction sequence of driving mode;Finally, sending above-mentioned exit instruction sequence to the Vehicle Body Bus of automatic driving vehicle to control Automatic driving vehicle processed exits automatic driving mode and enters pilot steering mode.Wherein, the vehicle model information of automatic driving vehicle can Local to be stored in above-mentioned electronic equipment, electronic equipment above-mentioned in this way can locally obtain the vehicle model information of automatic driving vehicle. The vehicle model information of automatic driving vehicle also can store to be provided in the Cloud Server supported to above-mentioned automatic driving vehicle, in this way Above-mentioned electronic equipment can remotely obtain the vehicle model information of automatic driving vehicle.With vehicle model information, current vehicle condition information With current driving environmental information it is matched exit automatic driving mode and enter the exit instruction sequence of pilot steering mode can be Previously according to vehicle model information, the difference of car status information and running environment information and be arranged can guarantee automatic driving vehicle Safely enter the instruction sequence of pilot steering mode from automatic driving mode.Vehicle model information, current vehicle condition information and work as The matching relationship of preceding traveling environmental information and exit instruction sequence can be embodied by mapping table, can also pass through storage Data in relevant database or non-relational database embody.And above-mentioned matching mapping table or database It can store in above-mentioned electronic equipment local, also can store in the Cloud Server being supported to above-mentioned automatic driving vehicle In.
As an example, the current vehicle condition information of automatic driving vehicle shows that automatic driving vehicle remains static, At this moment, if control automatic driving vehicle enters pilot steering from automatic Pilot, exit instruction sequence may is that control direction Zero, switches to neutral gear;If the current vehicle condition information of automatic driving vehicle shows that automatic driving vehicle is in nonstatic State, exit instruction sequence, which may is that, keeps original direction, unclamps throttle.
In some optional implementations of the present embodiment, in order to be prepared to enter into manually to driver with the sufficient time Driving condition, above-mentioned electronic equipment can control automatic driving vehicle exit automatic driving mode enter pilot steering mode it Before, warning message is generated according to current vehicle condition information and current driving environmental information, above-mentioned warning message is then presented.This In, above-mentioned warning message can be acoustic information, and the mode that warning message is correspondingly presented can be played by loudspeaker Above-mentioned warning message;Above-mentioned warning message is also possible to text information or pictorial information, and the side of warning message is correspondingly presented Formula can be that above-mentioned warning message is shown by display.It is, of course, understood that above-mentioned warning message can also be sound The combination of message breath and text information or pictorial information, the mode that above-mentioned warning message is presented accordingly can be by raising Sound device back sound information shows text information or pictorial information by display.Above-mentioned warning message can also be vibration Mode information, correspondingly, present above-mentioned warning message mode can be according to the vibration mode information start steering wheel or The vibration of shaking device on driver's seat operates, to cause the attention of driver.Above-mentioned warning message can also include above-mentioned The pilot steering mode of automatic driving vehicle, for example, manual control direction automatic control velocity, manual control speed automatically control Direction and manual control direction and speed.
The method provided by the above embodiment of the application passes through the automatic driving vehicle in the case where detecting automatic driving mode Driving control devices issue control instruction after, obtain the control instruction, the current vehicle condition information of 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 mode of automatic driving vehicle is switched to pilot steering mode, finally true Determine in the case that the driving mode of automatic driving vehicle is switched to pilot steering mode, control automatic driving vehicle exits automatically Driving mode enters pilot steering mode, to be 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, more ensure that in automatic driving vehicle The safety of personnel.
With further reference to Fig. 3, it illustrates the processes of another embodiment of the method for controlling automatic driving vehicle 300.This is used to control the process 300 of the method for automatic driving vehicle, comprising the following steps:
Step 301, the current driving mode of automatic driving vehicle is obtained.
Step 302, judge whether current driving mode is automatic driving mode, if so, going to step 303.
Step 303, the control instruction that the driving control devices of automatic driving vehicle issue is detected.
The operation of above-mentioned steps 301- step 303 is essentially identical with the operation of step 201- step 203 respectively, herein no longer It repeats.
Step 304, judge whether to detect control instruction, if so, step 305 is gone to, if not, going to step 308.
In the present embodiment, above-mentioned electronic equipment can go to step 305 in the case where detecting control instruction;? In the case where not detecting control instruction, step 308 is gone to.
Step 305, control instruction, the current vehicle condition information of automatic driving vehicle and automatic driving vehicle are obtained Current driving environmental information.
Step 306, it according to acquired control instruction, current vehicle condition information and current driving environmental information, determines Whether the driving mode of automatic driving vehicle is switched to pilot steering mode.
The operation of above-mentioned steps 305 and step 306 is essentially identical with the operation of step 205 and step 206 respectively, herein not It repeats again.
Step 307, the driving mode of automatic driving vehicle is switched to pilot steering mode in response to determining, controls nobody Driving vehicle exits automatic driving mode and enters pilot steering mode.
In the present embodiment, above-mentioned electronic equipment can determine in step 306 or step 308 by automatic driving vehicle In the case that driving mode is switched to pilot steering mode, control automatic driving vehicle exits automatic driving mode entrance and manually drives Sail mode.
The concrete operations of above-mentioned steps 307 and the operation of step 207 are essentially identical, and details are not described herein.
Step 308, the current vehicle condition information of automatic driving vehicle and the current driving ring of automatic driving vehicle are obtained Border information.
In the present embodiment, in the case that above-mentioned electronic equipment can judge in 304 does not detect control instruction, Obtain the current vehicle condition information of automatic driving vehicle and the current driving environmental information of automatic driving vehicle.
Step 309, according to acquired current vehicle condition information and current driving environmental information, it is determined whether by nobody The driving mode for driving vehicle is switched to pilot steering mode.
In the present embodiment, above-mentioned electronic equipment can in the current vehicle condition information that gets automatic driving vehicle and After the current driving environmental information of automatic driving vehicle, believed according to acquired current vehicle condition information and current driving environment Breath, it is determined whether the driving mode of automatic driving vehicle is switched to pilot steering mode.
In some optional implementations of the present embodiment, above-mentioned electronic equipment can also work as front truck according to acquired Status information and current driving environmental information judge automatic driving vehicle with the presence or absence of intended level alarm, if it is, really It is fixed that the driving mode of automatic driving vehicle is switched to pilot steering mode.Above-mentioned intended level alarm is that meeting preset in advance is led Cause the alarm of automatic driving vehicle severe compromise.As an example, above-mentioned intended level alarm can be ESP (Electronic Stability Program, body electronics systems stabilisation) alarm, brake not can be automatically controled alarm etc..
In some optional implementations of the present embodiment, above-mentioned electronic equipment can also work as front truck according to acquired Status information and current driving environmental information judge automatic driving vehicle with the presence or absence of manual intervention, if it is, determining will The driving mode of automatic driving vehicle is switched to pilot steering mode.
In some optional implementations of the present embodiment, current vehicle condition information may include: brake pedal shape State, gas pedal state, steering wheel position.Above-mentioned electronic equipment can be below above-mentioned current vehicle condition information meets at least In the case where one, judging automatic driving vehicle, there are manual interventions: brake pedal state is steps on state, gas pedal state To step on state, steering wheel position be artificial adapter tube 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 being used to control automatic driving car in the present embodiment compared with the corresponding embodiment of Fig. 2 The process 300 of method had more in the case where not detecting control instruction, obtain automatic driving vehicle works as front truck The step 308 of status information and the current driving environmental information of automatic driving vehicle and according to current vehicle condition information and work as Preceding traveling environmental information, it is determined whether the driving mode of automatic driving vehicle is switched to the step 309 of pilot steering mode.By This, the scheme of the present embodiment description may be implemented in the case where not detecting the control instruction from driving control devices, It is confirmed whether for the driving mode of automatic driving vehicle to be switched to according to current vehicle condition information and current driving environmental information Pilot steering mode more fully controls automatic driving vehicle to realize, guarantees the personnel safety in automatic driving vehicle.
With further reference to Fig. 4, as the realization to method shown in above-mentioned each figure, this application provides one kind for controlling nothing People drives one embodiment of the device of vehicle, and the Installation practice is corresponding with embodiment of the method shown in Fig. 2, device tool Body can be applied in various electronic equipments.
As shown in figure 4, being used to control automatic driving vehicle device 400 described in the present embodiment includes: first acquisition unit 401, detection unit 402, second acquisition unit 403, the first determination unit 404 and control unit 405.Wherein, first list is obtained Member 401 is configured to obtain the current driving mode of automatic driving vehicle, wherein above-mentioned driving mode includes automatic Pilot mould Formula and pilot steering mode;Detection unit 402 is examined if being configured to above-mentioned current driving mode is automatic driving mode Survey the control instruction that the driving control devices of above-mentioned automatic driving vehicle issue;Second acquisition unit 403, be configured in response to Detect above-mentioned control instruction, 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 determination 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 mode be switched to pilot steering mode;Control unit 405 is configured in response to determining above-mentioned automatic driving vehicle Driving mode be switched to pilot steering mode, control above-mentioned automatic driving vehicle and exit automatic driving mode and enter pilot steering Mode.
In the present embodiment, for controlling first acquisition unit 401, the detection unit of the device 400 of automatic driving vehicle 402, the specific processing of second acquisition unit 403, the first determination unit 404 and control unit 405 and its brought technology effect Fruit can be respectively with reference to step 201, step 202 and step 203, step 204 and step 205, step 206 in Fig. 2 corresponding embodiment And the related description of step 207, details are not described herein.
In some optional implementations of the present embodiment, above-mentioned control unit 405 may include: the first acquisition module 4051, it is configured to obtain the vehicle model information of above-mentioned automatic driving vehicle;Second obtain module 4052, be configured to obtain with it is upper State vehicle model information, above-mentioned current vehicle condition information and above-mentioned current driving environmental information it is matched exit automatic driving mode into Enter the exit instruction sequence of pilot steering mode;First sending module 4053, is configured to the vehicle to above-mentioned automatic driving vehicle Body bus, which sends above-mentioned exit instruction sequence and exits automatic driving mode to control above-mentioned automatic driving vehicle, enters pilot steering Mode.First acquisition module 4051, second obtains the specific processing of module 4052 and the first sending module 4053 and its is brought Technical effect can refer to the related description of step 207 in Fig. 2 corresponding embodiment, details are not described herein.
In some optional implementations of the present embodiment, the above-mentioned device 400 for controlling automatic driving vehicle is also It may include: warning message generation unit 406, be configured to according to above-mentioned current vehicle condition information and above-mentioned current driving ring Border information generates warning message;Display unit 407 is configured to that above-mentioned warning message is presented.406 He of warning message generation unit The specific processing of display unit 407 and its brought technical effect can refer to mutually speaking on somebody's behalf for step 207 in Fig. 2 corresponding embodiment Bright, details are not described herein.
In some optional implementations of the present embodiment, above-mentioned first determination unit 404 may include: judgment 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 judges above-mentioned control instruction with the presence or absence of logic error;Second sending module 4042, is configured in response to above-mentioned control Logic error is not present in instruction, then: obtaining the vehicle model information of above-mentioned automatic driving vehicle;By above-mentioned control instruction be converted to it is upper State that vehicle model information is matched to be executed instruction;By the above-mentioned Vehicle Body Bus for being sent to above-mentioned automatic driving vehicle that executes instruction for upper It states automatic driving vehicle and executes above-mentioned execute instruction.The specific processing of judgment module 4041 and the second sending module 4042 and its institute Bring technical effect can refer to the related description of step 206 in Fig. 2 corresponding embodiment, and details are not described herein.
In some optional implementations of the present embodiment, above-mentioned first determination unit 404 can also include: first true Cover half block 4043 is configured in response to above-mentioned control instruction there are logic error, if above-mentioned automatic driving vehicle meet with Lower either condition, it is determined that the driving mode of above-mentioned automatic driving vehicle is switched to pilot steering mode: above-mentioned receiving There are logic errors for the predetermined number control instruction received before control instruction;Before receiving above-mentioned control instruction There are logic errors for the control instruction received within predetermined amount of time.The specific processing of first determining module 4043 and its institute's band The technical effect come can refer to the related description of step 206 in Fig. 2 corresponding embodiment, and details are not described herein.
In some optional implementations of the present embodiment, the above-mentioned device 400 for controlling automatic driving vehicle is also May include: third acquiring unit 408, be configured in response to above-mentioned control instruction is not detected, then obtain it is 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 determination 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 will be above-mentioned The driving mode of automatic driving vehicle is switched to pilot steering mode.The tool of third acquiring unit 408 and the second determination unit 409 Body processing and its brought technical effect can mutually speaking on somebody's behalf with reference to step 308 in Fig. 3 corresponding embodiment and step 309 respectively Bright, details are not described herein.
In some optional implementations of the present embodiment, above-mentioned second determination unit 409 may include: second determining Module 4091 is configured to according to acquired above-mentioned current vehicle condition information and above-mentioned current driving environmental information, judgement Above-mentioned automatic driving vehicle whether there is intended level alarm, if it is, determining the driving mould of above-mentioned automatic driving vehicle Formula is switched to pilot steering mode.The specific processing of second determining module 4091 and its brought technical effect can refer to Fig. 3 The related description of step 309 in corresponding embodiment, details are not described herein.
In some optional implementations of the present embodiment, above-mentioned second determination unit 409 can also include: that third is true Cover half block 4092 is configured to be sentenced according to acquired above-mentioned current vehicle condition information and above-mentioned current driving environmental information The above-mentioned automatic driving vehicle that breaks whether there is manual intervention, if it is, determining the driving mode of above-mentioned automatic driving vehicle It is switched to pilot steering mode.The specific processing of third determining module 4092 and its brought technical effect can refer to Fig. 3 pairs The related description of step 309 in embodiment is answered, details are not described herein.
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 above-mentioned third determining module 4092 is further configured to: if above-mentioned work as At least one of below vehicle in front status information satisfaction, then judge that there are manual interventions for above-mentioned automatic driving vehicle: brake pedal shape State be step on state, gas pedal state be step on state, steering wheel position is artificial adapter tube state.Third determining module 4092 Specific processing and its brought technical effect can refer to the related description of step 309 in Fig. 3 corresponding embodiment, herein no longer It repeats.
Below with reference to Fig. 5, it illustrates the computer systems 500 for the electronic equipment for being suitable for being used to realize the embodiment of the present application Structural schematic diagram.
As shown in figure 5, computer system 500 includes central processing unit (CPU) 501, it can be read-only according to being stored in Program in memory (ROM) 502 or be loaded into the program in random access storage device (RAM) 503 from storage section 508 and Execute various movements appropriate and processing.In RAM 503, also it is stored with system 500 and operates 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.
I/O interface 505 is connected to lower component: the importation 506 including driving control devices, ECU, sensor etc.; Output par, c 507 including driving control devices, ECU, liquid crystal display (LCD) etc. and loudspeaker etc.;Including hard disk Deng storage section 508;And the communications portion 509 of the network interface card including LAN card, modem etc..Communication Part 509 executes communication process via the network of such as internet.Driver 510 is also connected to I/O interface 505 as needed. Detachable media 511, such as disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on driver 510 as needed On, in order to be mounted into storage section 508 as needed from the computer program read thereon.
Particularly, in accordance with an embodiment of the present disclosure, it may be implemented as computer above with reference to the process of flow chart description Software program.For example, embodiment of the disclosure includes a kind of computer program product comprising be tangibly embodied in machine readable Computer program on medium, the computer program include the program code for method shown in execution flow chart.At this In the embodiment of sample, which can be downloaded and installed from network by communications portion 509, and/or from removable Medium 511 is unloaded to be mounted.When the computer program is executed by central processing unit (CPU) 501, execute in the present processes The above-mentioned function of limiting.
Flow chart and block diagram in attached drawing are illustrated according to the system of the various embodiments of the application, method and computer journey The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation A part of one module, program segment or code of table, a part of the module, program segment or code include one or more Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical On can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it wants It is noted that the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart, Ke Yiyong The dedicated hardware based system of defined functions or operations is executed to realize, or can be referred to specialized hardware and computer The combination of order is realized.
Being described in unit involved in the embodiment of the present application can be realized by way of software, can also be by hard The mode of part is realized.Described unit also can be set in the processor, for example, can be described as: a kind of processor packet Include first acquisition unit, detection unit, second acquisition unit, the first determination unit and control unit.Wherein, the name of these units Claim not constituting the restriction to the unit itself under certain conditions, for example, first acquisition unit is also described as " obtaining The unit of the current driving mode of automatic driving vehicle ".
As on the other hand, present invention also provides a kind of nonvolatile computer storage media, the non-volatile calculating Machine storage medium can be nonvolatile computer storage media included in device described in above-described embodiment;It is also possible to Individualism, without the nonvolatile computer storage media in supplying terminal.Above-mentioned nonvolatile computer storage media is deposited One or more program is contained, when one or more of programs are executed by an equipment, so that the equipment: obtaining The current driving mode of automatic driving vehicle, wherein above-mentioned driving mode includes automatic driving mode and pilot steering mode;Such as The above-mentioned current driving mode of fruit is automatic driving mode, then detects the control that the driving control devices of above-mentioned automatic driving vehicle issue System instruction;In response to detecting above-mentioned control instruction, then the current vehicle of above-mentioned control instruction, above-mentioned automatic driving vehicle is obtained 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 cut the driving mode of above-mentioned automatic driving vehicle It is changed to pilot steering mode;The driving mode of above-mentioned automatic driving vehicle is switched to pilot steering mode in response to determining, is controlled It makes above-mentioned automatic driving vehicle and exits automatic driving mode and enter pilot steering mode.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein Can technical characteristic replaced mutually and the technical solution that is formed.

Claims (18)

1. a kind of method for controlling automatic driving vehicle, which is characterized in that the described method includes:
Obtain the current driving mode of automatic driving vehicle, wherein driving mode includes automatic driving mode and pilot steering mould Formula;
If the current driving mode is automatic driving mode, the driving control devices hair of the automatic driving vehicle is detected Control instruction out;
In response to detecting the control instruction, then the current vehicle shape of the control instruction, the automatic driving vehicle is obtained The current driving environmental information of state information and the automatic driving vehicle;
According to the acquired control instruction, the current vehicle condition information and the current driving environmental information, determine Whether the driving mode of the automatic driving vehicle is switched to pilot steering mode;
The driving mode of the automatic driving vehicle is switched to pilot steering mode in response to determining, is controlled described unmanned Vehicle exits automatic driving mode and enters pilot steering mode.
2. the method according to claim 1, wherein the control automatic driving vehicle exits automatic Pilot Mode enters pilot steering mode, comprising:
Obtain the vehicle model information of the automatic driving vehicle;
Obtain with the vehicle model information, the current vehicle condition information and the current driving environmental information it is matched exit from Dynamic driving mode enters the exit instruction sequence of pilot steering mode;
The exit instruction sequence is sent to the Vehicle Body Bus of the automatic driving vehicle to move back to control the automatic driving vehicle Automatic driving mode enters pilot steering mode out.
3. the method according to claim 1, wherein the control automatic driving vehicle exits automatic Pilot Mode enters before pilot steering mode, the method also includes:
Warning message is generated according to the current vehicle condition information and the current driving environmental information;
The warning message is presented.
4. the method according to claim 1, wherein the control instruction according to acquired in, described working as Vehicle in front status information and the current driving environmental information, it is determined whether switch the driving mode of the automatic driving vehicle For artificial driving mode, comprising:
According to the acquired control instruction, the current vehicle condition information and the current driving environmental information, judgement The control instruction whether there is logic error;
Logic error is not present in response to the control instruction, then: obtaining the vehicle model information of the automatic driving vehicle;It will be described Control instruction is converted to and the vehicle model information is matched executes instruction;Described execute instruction is sent to the automatic driving car Vehicle Body Bus for the automatic driving vehicle execute described in execute instruction.
5. according to the method described in claim 4, it is characterized in that, the control instruction according to acquired in, described working as Vehicle in front status information and the current driving environmental information, it is determined whether switch the driving mode of the automatic driving vehicle For artificial driving mode, further includes:
In response to the control instruction, there are logic errors, if the automatic driving vehicle meets following either condition, really It is fixed that the driving mode of the automatic driving vehicle is switched to pilot steering mode: to be received before receiving the control instruction To predetermined number control instruction there are logic errors;Predetermined amount of time before receiving the control instruction is inscribed There are logic errors for the control instruction received.
6. the method according to claim 1, wherein the Driving control of the detection automatic driving vehicle is set After the control instruction that preparation goes out, the method also includes:
In response to the control instruction is not detected, then the current vehicle condition information of the automatic driving vehicle and described is obtained The current driving environmental information of automatic driving vehicle;
According to acquired the current vehicle condition information and the current driving environmental information, it is determined whether by it is described nobody The driving mode for driving vehicle is switched to pilot steering mode.
7. according to the method described in claim 6, it is characterized in that, the current vehicle condition information according to acquired in With the current driving environmental information, it is determined whether the driving mode of the automatic driving vehicle is switched to pilot steering mould Formula, comprising:
According to acquired the current vehicle condition information and the current driving environmental information, the automatic driving car is judged It whether there is intended level alarm, the driving mode of the automatic driving vehicle is switched to manually drives if it is, determining Sail mode.
8. according to the method described in claim 6, it is characterized in that, the current vehicle condition information according to acquired in With the current driving environmental information, it is determined whether the driving mode of the automatic driving vehicle is switched to pilot steering mould Formula, comprising:
According to acquired the current vehicle condition information and the current driving environmental information, the automatic driving car is judged It whether there is manual intervention, the driving mode of the automatic driving vehicle be switched to pilot steering mould if it is, determining Formula.
9. according to the method described in claim 8, it is characterized in that, the current vehicle condition information includes: brake pedal shape State, gas pedal state, steering wheel position;And
The current vehicle condition information and the current driving environmental information according to acquired in, judge it is described nobody drive Vehicle is sailed with the presence or absence of manual intervention, comprising:
If at least one of below the current vehicle condition information satisfaction, judging that the automatic driving vehicle has artificial do It is pre-: brake pedal state be step on state, gas pedal state be step on state, steering wheel position is artificial adapter tube state.
10. a kind of for controlling the device of automatic driving vehicle, which is characterized in that described device includes:
First acquisition unit is configured to obtain the current driving mode of automatic driving vehicle, wherein driving mode includes automatic Driving mode and pilot steering mode;
Detection unit detects the automatic driving car if being configured to the current driving mode is automatic driving mode Driving control devices issue control instruction;
Second acquisition unit, is configured in response to detecting the control instruction, then obtain the control instruction, it is described nobody Drive the current vehicle condition information of vehicle and the current driving environmental information of the automatic driving vehicle;
First determination unit is configured to according to the acquired control instruction, the current vehicle condition information and described Current driving environmental information, it is determined whether the driving mode of the automatic driving vehicle is switched to pilot steering mode;
Control unit is configured to that the driving mode of the automatic driving vehicle is switched to pilot steering mould in response to determining Formula, controls the automatic driving vehicle and exits automatic driving mode and enter pilot steering mode.
11. device according to claim 10, which is characterized in that described control unit includes:
First obtains module, is configured to obtain the vehicle model information of the automatic driving vehicle;
Second obtains module, is configured to obtain and the vehicle model information, the current vehicle condition information and the current line Sail the matched exit instruction sequence for exiting automatic driving mode and entering pilot steering mode of environmental information;
First sending module is configured to send the exit instruction sequence to the Vehicle Body Bus of the automatic driving vehicle to control It makes the automatic driving vehicle and exits automatic driving mode and enter pilot steering mode.
12. device according to claim 10, which is characterized in that described device further include:
Warning message generation unit is configured to raw according to the current vehicle condition information and the current driving environmental information At warning message;
Display unit is configured to that the warning message is presented.
13. device according to claim 10, which is characterized in that first determination unit includes:
Judgment module is configured to according to the acquired control instruction, the current vehicle condition information and described current Running environment information judges the control instruction with the presence or absence of logic error;
Second sending module is configured to that logic error is not present in response to the control instruction, then: obtaining described unmanned The vehicle model information of vehicle;The control instruction is converted to and the vehicle model information is matched executes instruction;The execution is referred to The Vehicle Body Bus for being sent to the automatic driving vehicle is enabled for executing instruction described in automatic driving vehicle execution.
14. device according to claim 13, which is characterized in that first determination unit further include:
First determining module, is configured to that there are logic errors in response to the control instruction, if the automatic driving vehicle Meet following either condition, it is determined that the driving mode of the automatic driving vehicle is switched to pilot steering mode: being received There are logic errors for the predetermined number control instruction received before to the control instruction;Receiving the control instruction There are logic errors for the control instruction received within predetermined amount of time before.
15. device according to claim 10, which is characterized in that described device further include:
Third acquiring unit is configured to then obtain the automatic driving vehicle in response to the control instruction is not detected The current driving environmental information of current vehicle condition information and the automatic driving vehicle;
Second determination unit is configured to be believed according to the acquired current vehicle condition information and the current driving environment Breath, it is determined whether the driving mode of the automatic driving vehicle is switched to pilot steering mode.
16. device according to claim 15, which is characterized in that second determination unit includes:
Second determining module is configured to be believed according to the acquired current vehicle condition information and the current driving environment Breath judges the automatic driving vehicle with the presence or absence of intended level alarm, if it is, determining the automatic driving vehicle Driving mode is switched to pilot steering mode.
17. device according to claim 15, which is characterized in that second determination unit further include:
Third determining module is configured to be believed according to the acquired current vehicle condition information and the current driving environment Breath judges the automatic driving vehicle with the presence or absence of manual intervention, if it is, determining the driving of the automatic driving vehicle Pattern switching is artificial driving mode.
18. device according to claim 17, which is characterized in that the current vehicle condition information includes: brake pedal State, gas pedal state, steering wheel position;And
The third determining module is further configured to:
If at least one of below the current vehicle condition information satisfaction, judging that the automatic driving vehicle has artificial do It is pre-: brake pedal state be step on state, gas pedal state be step on state, steering wheel position is artificial adapter tube state.
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