CN106094810A - Man-machine double method for handover control and vehicles driving system on a kind of vehicle - Google Patents
Man-machine double method for handover control and vehicles driving system on a kind of vehicle Download PDFInfo
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- CN106094810A CN106094810A CN201610391946.4A CN201610391946A CN106094810A CN 106094810 A CN106094810 A CN 106094810A CN 201610391946 A CN201610391946 A CN 201610391946A CN 106094810 A CN106094810 A CN 106094810A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000004891 communication Methods 0.000 claims abstract description 38
- 230000004913 activation Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 235000008331 Pinus X rigitaeda Nutrition 0.000 claims 1
- 235000011613 Pinus brutia Nutrition 0.000 claims 1
- 241000018646 Pinus brutia Species 0.000 claims 1
- 230000000903 blocking effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
- G05D1/0061—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements for transition from automatic pilot to manual pilot and vice versa
Abstract
The present invention relates to man-machine double method for handover control and vehicles driving system on a kind of vehicle, the method comprises the steps: 1) detect the driving condition that Current vehicle is in, and detect whether driver operates vehicle；2) according to the current driving condition of vehicle and driver's operation to vehicle, the break-make that autonomous driving System Control Center is connected is controlled with car load communication network, it is achieved the switching between autonomous driving system and pilot steering.This vehicle includes being capable of the autonomous driving system of above-mentioned method for handover control, pilot steering system and handover control system.The method for handover control of the present invention and vehicle well and systematically solve the adapter on autonomous driving automobile of autonomous driving and driver driving and switching problem, and substantially envisage convenient, flexible, safety and the hommization demand that vehicle switches under two states.
Description
Technical field
The present invention relates to the man-machine double of a kind of vehicle and drive system, be specifically related to man-machine double switchings driving system on a kind of vehicle
Control method and vehicle.
Background technology
Autonomous driving is a kind of technology growing on automobile, the most real on the vehicle carrying autonomous driving system
The good switching that vehicle is taken over by existing autonomous driving system and driver driving, is still a blank.
Summary of the invention
The invention provides man-machine double method for handover control and vehicles driving system on a kind of vehicle, to solve autonomous driving
With driver driving adapter on autonomous driving automobile and switching problem.
For solving above-mentioned technical problem, on the vehicle of the present invention, man-machine double method for handover control driving system include:
1) driving condition that detection Current vehicle is in, and detect whether driver operates vehicle；
2) according to the current driving condition of vehicle and driver's operation to vehicle, control autonomous driving System Control Center with
The break-make that car load communication network connects, it is achieved the switching between autonomous driving system and pilot steering.
If vehicle is currently autonomous driving, detect that driver has carried out certain operation to vehicle, it is judged that the behaviour to this operation
Make dynamics when whether reaching predetermined threshold value, if reaching predetermined threshold value, blocking autonomous driving System Control Center and leading to car load
The communication connection of communication network, it is achieved autonomous driving system is to the switching of pilot steering.
When driver steps on the brake pedal of vehicle, obtain the angle of descent angle value of brake pedal, if the angle of descent of brake pedal
When angle value is more than set angle threshold value, block the communication connection of autonomous driving System Control Center and car load communication network, real
Existing vehicle is completely by Artificial Control.
When driver's steering wheel rotation, obtain steering wheel driving torque and and rotation time, when the driving torque of steering wheel
More than when setting driving torque threshold value and rotation time more than default rotation time threshold value, block autonomous driving system and control
Center and the communication connection of car load communication network, it is achieved vehicle is completely by Artificial Control.
When driver steps on the gas pedal of vehicle, obtain the angle of descent angle value of gas pedal, when the angle of descent of gas pedal
Angle value, more than when presetting gas pedal threshold value, blocks the autonomous driving System Control Center activation bit to vehicle, it is achieved department
The machine control completely to throttle.
When driver unclamps gas pedal, the Artificial Control of throttle is converted to Autonomous Control.
If vehicle is currently pilot steering, the switching push button that driver's push panel is arranged, open autonomous driving system
System control centre and the communication connection of car load communication network, it is achieved vehicle is completely taken over by autonomous driving system.
When vehicle is in pilot steering state, described autonomous driving system can run on backstage but wouldn't take over right
The control of vehicle.
The vehicle of the present invention includes that this vehicle includes autonomous driving system and pilot steering system, and this vehicle also includes switching
Control system, described handover control system detects, for basis, the driving condition that driver operation mode, dynamics and vehicle are current,
Control the break-make that is connected with car load communication network of autonomous driving System Control Center, it is achieved autonomous driving system and pilot steering it
Between switching.
Described handover control system for automatically controlling steering, described in automatically control steering by setting on steering wheel
The external force torque sensor put obtain steering wheel driving torque and and rotation time, when the driving torque of steering wheel is more than setting
Driving torque threshold value and rotation time, more than when presetting rotation time threshold value, block autonomous driving System Control Center with whole
The communication connection of car communication network, it is achieved vehicle is completely by Artificial Control.
Described handover control system for automatically controlling braking system, described in automatically control braking system and step on for obtaining braking
The angle of descent angle value of plate, when the angle of descent angle value of brake pedal is more than set angle threshold value, blocks autonomous driving system control
Center processed and the communication connection of car load communication network, it is achieved vehicle is completely by Artificial Control.
Described handover control system for automatically controlling drive system, described in automatically control drive system and step on for obtaining throttle
The angle of descent angle value of plate, when the angle of descent angle value of gas pedal is more than when presetting gas pedal threshold value, blocks autonomous driving system
The system control centre activation bit to vehicle, it is achieved driver's control completely to throttle.
Described handover control system is the switching push button being arranged on guidance panel, is used for opening autonomous driving system and controls
Center and the communication connection of car load communication network, it is achieved vehicle is completely taken over by autonomous driving system.
Described brake pedal is electronic brake pedal.
Described gas pedal is efp.
Described switching push button is rocker switch or rotary switch.
The invention has the beneficial effects as follows: the method for handover control of the present invention well and systematically solves autonomous driving and department
Machine is driven in the adapter on autonomous driving automobile and switching problem, and substantially envisages vehicle and switch under two states
Convenient, flexible, safety and hommization demand.
Use press button to activate autonomous driving system, give autonomous driving system by wagon control power, meet vehicle fortune
The setting of row safety, also complies with human driver and uses the custom of DAS (Driver Assistant System).
Driver's brake pedal and driver's torsional direction dish is used to transfer to driver to connect from automatic control state completely
The mode of pipe, it is ensured that the demand that under unsafe condition, driver takes over and takes urgent measure.
Use driver to step on the throttle pedal and local, the mode of temporarily adapter driving, remain in automatic Pilot process
The middle driver flexible operating to vehicle and the power of control.
The autonomous driving system of the present invention is when car two is in pilot steering state, it is possible to run on backstage, thus, one
When denier is automatic Pilot by needs by manual switching, vehicle can timely respond to, and accelerates switching time.
Accompanying drawing explanation
Fig. 1 is the switch logic figure between autonomous driving system and pilot steering；
Fig. 2 is the handover control system between autonomous driving system and pilot steering；
Wherein, switching arrow 1 represents: by control panel button, vehicle is controlled handing-over completely for independently to drive from driver
Sail system control；
Switching arrow 2 represents: by brake pedal, vehicle is controlled handing-over completely for driver from autonomous driving system
Control；
Switching arrow 3 represents: by steering wheel rotation, from autonomous driving system, vehicle is controlled handing-over completely and controls for driver
System；
Switching arrow 4 represents: by pedal of stepping on the throttle, by the Throttle Opening Control of vehicle temporarily by autonomous driving system control
System handing-over controls for driver.
Detailed description of the invention
Below in conjunction with the accompanying drawings, technical scheme is described in further detail.
Man-machine double method for handover control embodiments driving system on the vehicle of the present invention
The method of the present embodiment includes:
1) driving condition that detection Current vehicle is in, and detect whether driver operates vehicle；
2) according to the current driving condition of vehicle and driver's operation to vehicle, control autonomous driving System Control Center with
The break-make that car load communication network connects, it is achieved the switching between autonomous driving system and pilot steering.
Specifically, include when switching between autonomous driving system and pilot steering that autonomous driving system is to manually driving
Switching between sailing and pilot steering switching between autonomous driving.
Pilot steering switches over to autonomous driving: if being currently driver driving vehicle, by driver's push panel
On switching push button, then vehicle switches to autonomous driving system to completely take over.Hereafter autonomous driving system adapter vehicle comprehensively, presses
Operation according to its own logic commander's vehicle.
Autonomous driving switches over to pilot steering: if vehicle is currently autonomous driving, detect that vehicle is entered by driver
Go certain operation, it is judged that when whether the operating force of this operation is reached predetermined threshold value, if reaching predetermined threshold value, block
Autonomous driving System Control Center and the communication connection of car load communication network, it is achieved autonomous driving system cutting to pilot steering
Change.
Autonomous driving switches over to pilot steering and includes that vehicle transfers to driver to take over vehicle local by driver completely
Adapter: if currently driving vehicle for autonomous driving system, in the case of two kinds below, directly switching to and being connect completely by driver
Pipe.One is driver's brake pedal；Two is driver's steering wheel rotation.In order to judge driver's the most brake pedal,
Setting an angle threshold value, once brake pedal angle downwards exceedes this angle threshold value, then it is assumed that driver has stepped on
Brake pedal, autonomous driving system is abandoned the control to vehicle, is transferred to driver to completely take over；In order to judge that driver has turned
Dynamic steering wheel, needs to set two threshold values, and one is the driving torque threshold value of steering wheel, and one is the time that this moment of torsion applies
Threshold value, under conditions of the two threshold value all meets, autonomous driving system abandons the control to vehicle, transfers to driver complete
Full adapter.
Control for throttle namely driving allows to carry out locally taking over.If currently controlling car for autonomous driving system
, when the driver depresses the accelerator pedal, driver take in short-term and only take over the control to throttle part, once driver is put
Accelerator releasing pedal, autonomous driving system is still returned in the control to throttle.In order to judge that driver has stepped on the throttle pedal,
Set a gas pedal angle downwards threshold value, only when when stepping on angle more than this threshold value of gas pedal, it is believed that
Driver has stepped on the throttle pedal, and gives driver in short-term by the control for throttle.
The vehicle embodiments of the present invention
The vehicle of the present embodiment includes that this vehicle includes autonomous driving system and pilot steering system, and this vehicle also includes cutting
Changing control system, described handover control system is for according to the driving shape that driver operation mode, dynamics and vehicle are current being detected
State, controls the break-make that is connected with car load communication network of autonomous driving System Control Center, it is achieved autonomous driving system with manually drive
Switching between sailing.
The braking that driver includes the switching push button arranged on push panel to the mode of operation of vehicle, step on vehicle is stepped on
Plate, rotating the steering wheel of vehicle or step on the gas pedal of vehicle, concrete operational approach is with above-mentioned method for handover control one
Cause, the most no longer elaborate.
Handover control system is for automatically controlling steering, automatically controlling braking system, automatically control drive system or cut
Change button, in detail below for the handover control system of each form.
1) steering is automatically controlled
Automatically control steering unit allow for receiving instruct from the corner of autonomous driving System Control Center and to
Response, its form includes but not limited to steering-by-wire unit, automatically controlled power-assisted steering unit etc..
Automatically control steering unit to allow for performing from automatically controlling two threshold values redirecting between Artificial Control
Switching condition judge, and when Rule of judgment meets, it is possible to make whole system exit the adapter to vehicle.In order to it is real
This function existing, this steering unit that automatically controls must possess external force torque sensor suffered by steering wheel, and can be by this
Torque value that one torque sensor is experienced and persistent period thereof finally feed back to the gateway of autonomous driving system.This instead
Feedback mode includes but not limited to first feed back to autonomous driving System Control Center, by autonomous driving system control after judging
Center instruction gateway processed carries out message truncation, or directly carries out judging and message truncation via gateway, or by steering
ECU receives moment of torsion and duration signal thereof and these information pass to gateway carries out judging and the mode such as message truncation.
2) braking system is automatically controlled
Automatically control brake unit to allow for responding the brake force size instruction from autonomous driving System Control Center,
The implication of brake force size includes but not limited to deceleration, braking pressure or hydraulic pressure etc..
Being able to carry out aforesaid man-machine double driving method for handover control for making to automatically control brake unit, this unit allows for
Knowing the current angular of brake pedal, the mode known includes but not limited to angular transducer or electronic brake pedal etc..Angle
The feedback system of signal includes but not limited to that the control centre feeding back to autonomous driving system is sent finger by it after judging
Order makes gateway cutoff information stream, or is fed directly to cutoff information stream after gateway judges, or by brakes
ECU receiving angle signal also passes to gateway and carries out judging and the mode such as cutoff information stream, so that driver takes over vehicle
Control.
3) drive system is automatically controlled
Automatically control driver element to allow for responding the driving force size instruction from autonomous driving System Control Center,
The implication of driving force size includes but not limited to gas pedal aperture.
Being able to carry out aforesaid man-machine double driving method for handover control for making to automatically control driver element, this unit allows for
Knowing the angle driving pedal current, the mode known includes but not limited to angular transducer or E-Gas etc..Angle signal
Feedback system include but not limited to that the control centre feeding back to autonomous driving system is sent instruction by it and makes after judging
Obtain gateway and block the drive part flow of information that autonomous driving system sends, or be fed directly to block after gateway judges
Drive part flow of information, or by carrying out voluntarily after drive system ECU receiving angle information from accepting autonomous driving system control
System instructs to the switching etc. accepting driver's action, so that the control that driver's adapter is to vehicle traction part.
4) adapter of vehicle can be supported the method for handover control of switching push button by whole autonomous driving system.
Vehicle can be switched to autonomous driving state from pilot steering state by switching push button.For enabling switching push button to prop up
Holding whole autonomous driving system, autonomous driving system must retain a gateway being connected with car load communication network.This gateway is not
It is limited to concrete form, but is in general the gateway of an example, in hardware.When switching push button is not pressed, gateway blocks independently
All flow of information of control loop, make the instruction of autonomous driving System Control Center can not command the operation of vehicle；When switching is pressed
When button is pressed, gateway opens all flow of information, and the instruction of autonomous driving System Control Center can be delivered to all of vehicle fortune
Dynamic system, the operation of commander's vehicle.
In general, switching push button is placed on vehicle control panel, includes but not limited to rocker switch, rotary switch etc.
The switch of all types.This switching push button is responsible for blocking and opening all flow of information of gateway, thus realizes switching autonomous driving
With the pilot steering control to vehicle.
Autonomous driving system can individually start and can be at running background, until its adapter car of switching push button order
?.
Automated driving system can be run individually in its control centre, and control centre includes but not limited to one or several
Individual supervisory controller, one or several slave computer controller, or be made up of host computer and slave computer controller conglomeration
Control all equipment existed as a control axis entirety or the combinations of equipment such as overall.
Automated driving system can carry out running background but temporary by certain simple mode in its control centre on the whole
Not taking over the control to vehicle, the mode that this unlatching runs includes but not limited to open certain button, opens certain program, holds
The operations such as certain order of row.This operation and operation are non-interference with the operation of driver.As long as control centre can power, then should
Autonomous driving system just can carry out running background the most in the heart.
When the properly functioning required basic vehicle condition of vehicle meets, and only press on control panel as driver
During switching push button, autonomous driving system is just activated and takes over the control to vehicle.
Claims (16)
1. man-machine double method for handover control driving system on a vehicle, it is characterised in that the method comprises the steps:
1) driving condition that detection Current vehicle is in, and detect whether driver operates vehicle；
2) according to the current driving condition of vehicle and driver's operation to vehicle, autonomous driving System Control Center and car load are controlled
The break-make that communication network connects, it is achieved the switching between autonomous driving system and pilot steering.
Man-machine double method for handover control driving system on vehicle the most according to claim 1, it is characterised in that if vehicle is worked as
Front is autonomous driving, detects that driver has carried out certain operation to vehicle, it is judged that whether the operating force of this operation is reached pre-
If during threshold value, if reaching predetermined threshold value, block the communication connection of autonomous driving System Control Center and car load communication network,
Realize the switching to pilot steering of the autonomous driving system.
Man-machine double method for handover control driving system on vehicle the most according to claim 1, it is characterised in that when driver steps on
The brake pedal of lower vehicle, obtains the angle of descent angle value of brake pedal, if the angle of descent angle value of brake pedal is more than set angle
During threshold value, block the communication connection of autonomous driving System Control Center and car load communication network, it is achieved vehicle is completely by manually
Control.
Man-machine double method for handover control driving system on vehicle the most according to claim 1, it is characterised in that when driver turns
Dynamic steering wheel, obtain steering wheel driving torque and and rotation time, when the driving torque of steering wheel is more than setting driving torque
Threshold value and rotation time, more than when presetting rotation time threshold value, block autonomous driving System Control Center and car load communication network
The communication connection of network, it is achieved vehicle is completely by Artificial Control.
Man-machine double method for handover control driving system on vehicle the most according to claim 1, it is characterised in that when driver steps on
The gas pedal of lower vehicle, obtains the angle of descent angle value of gas pedal, when the angle of descent angle value of gas pedal is more than presetting throttle
During pedal threshold value, block the autonomous driving System Control Center activation bit to vehicle, it is achieved driver's control completely to throttle
System.
Man-machine double method for handover control driving system on vehicle the most according to claim 5, it is characterised in that when driver pine
Open gas pedal, the Artificial Control of throttle is converted to Autonomous Control.
7. according to double method for handover control driving system man-machine on the arbitrary described vehicle of claim 1-6, it is characterised in that if
Vehicle is currently pilot steering, and the switching push button that driver's push panel is arranged opens autonomous driving System Control Center
Communication connection with car load communication network, it is achieved vehicle is completely taken over by autonomous driving system.
Man-machine double method for handover control driving system on vehicle the most according to claim 7, it is characterised in that at vehicle
When pilot steering state, described autonomous driving system can be run on backstage but wouldn't take over the control to vehicle.
9. using a vehicle for method described in claim 1, this vehicle includes autonomous driving system and pilot steering system, its
Being characterised by, this vehicle also includes handover control system, described handover control system for according to detect driver operation mode,
Dynamics and the current driving condition of vehicle, control the break-make that autonomous driving System Control Center is connected, reality with car load communication network
Existing switching between autonomous driving system and pilot steering.
Vehicle the most according to claim 9, it is characterised in that described handover control system for automatically controlling steering,
Described automatically control steering by the external force torque sensor arranged on steering wheel obtain steering wheel driving torque and and
Rotation time, when the driving torque of steering wheel is more than setting driving torque threshold value and rotation time more than presetting rotation time door
During limit value, block the communication connection of autonomous driving System Control Center and car load communication network, it is achieved vehicle is completely by artificial controlled
System.
11. vehicles according to claim 9, it is characterised in that described handover control system for automatically controlling braking system,
The described braking system that automatically controls is for obtaining the angle of descent angle value of brake pedal, when the angle of descent angle value of brake pedal is more than setting
When determining angle threshold value, block the communication connection of autonomous driving System Control Center and car load communication network, it is achieved vehicle is complete
By Artificial Control.
12. vehicles according to claim 9, it is characterised in that described handover control system for automatically controlling drive system,
The described drive system that automatically controls is for obtaining the angle of descent angle value of gas pedal, when the angle of descent angle value of gas pedal is more than pre-
If during gas pedal threshold value, block the autonomous driving System Control Center activation bit to vehicle, it is achieved driver is to throttle
Control completely.
13. vehicles according to claim 9, it is characterised in that described handover control system is for being arranged on guidance panel
Switching push button, for opening the communication connection of autonomous driving System Control Center and car load communication network, it is achieved autonomous driving
Vehicle is completely taken over by system.
14. vehicles according to claim 11, it is characterised in that described brake pedal is electronic brake pedal.
15. vehicles according to claim 12, it is characterised in that described gas pedal is efp.
16. vehicles according to claim 13, it is characterised in that described switching push button is rocker switch or rotary switch.
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