CN108216246A - Automatic safe drives interaction systems and its decision-making technique - Google Patents
Automatic safe drives interaction systems and its decision-making technique Download PDFInfo
- Publication number
- CN108216246A CN108216246A CN201611127149.1A CN201611127149A CN108216246A CN 108216246 A CN108216246 A CN 108216246A CN 201611127149 A CN201611127149 A CN 201611127149A CN 108216246 A CN108216246 A CN 108216246A
- Authority
- CN
- China
- Prior art keywords
- driving mode
- driving
- automatic
- environmental aspect
- sub
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention provides a kind of automatic safe and drives interaction systems and its decision-making technique.Automatic safe drives interactive decision-making technique to switch the driving mode of vehicle, this automatic safe drives interactive decision-making technique and includes environment detecting step and mode decision step.Wherein environment detecting step is to provide environment sensing device further to sense the internal and external environment situation of vehicle and generates multiple environmental aspect data.And mode decision step then determines driving mode using a control device according to environmental aspect data.Whereby, switching is interacted between automatic driving mode and manual drive pattern to realize through the interaction mechanism of various different function, can significantly promotes safety, stability and the convenience of handoff procedure.
Description
Technical field
The present invention relates to a kind of interaction systems and its decision-making techniques, and interactive system is driven especially with regard to a kind of automatic safe
System and its decision-making technique.
Background technology
Automated driving system (Automatic Driving System；ADS) it is depot actively develops in recent years intelligence
One of vehicle technology, with the sharp technology that can reach nobody full-automatic driving vehicle boundary in the future.Automated driving system is main
It is to help Driving control vehicle, and then promote driving and road safety through control device and various sensors.
At present on the market there are many handoff technique of automatic Pilot, one of which is to be driven automatically through plucking piece to realize
Sail the switching between pattern and manual drive pattern.When vehicle drives to the section of open Function for Automatic Pilot, instrument meeting
Inform that driving can enter automatic driving mode, if driver presses plectrum for a period of time at this time, vehicle will enter automatic Pilot
Pattern.If in addition, automatic driving mode to be released, driver can press plectrum for a period of time, and then vehicle will switch to hand
Dynamic driving mode.And before automatic Pilot section closes to an end, instrument will appear the zero count of timer, be driven with waiting for
The person of sailing wields driving power again.If when driver accidentally falls asleep or other factors do not turn round and stretch out the hand dynamic drive in zero count inscribe
When sailing pattern, system will continue to maintain automatic driving mode.Judge that driving connects since plucking piece is used only in such switching mode
Pipe is intended to, and does not suggest that in safety nozzle strategy, therefore the problem of accidentally tactile and safety is insufficient easily occurs.
It follows that lack automatic safe a kind of safe and with safe driving takeover mechanism currently on the market
Interaction systems and its decision-making technique are driven, therefore related dealer is seeking its solution.
Invention content
Therefore, the purpose of the present invention is to provide a kind of automatic safes to drive interaction systems and its decision-making technique, penetrates
The interaction mechanism of various different function interacts switching to realize between automatic driving mode and manual drive pattern, can be significantly
Promote safety, stability and the convenience of handoff procedure.Furthermore system can according to car outside and driver condition determine to be
No releasing or startup automatic driving mode in combination with considering for priming the pump mechanism, can further increase driver's manipulation
Safety.In addition, mould is driven come auxiliary judgment using the intervention driving degree of sensor detecting driver and the situation of environment
Formula can not only avoid accidentally touching caused switching problem, moreover it is possible to reduce the switching times of driver, and then increase interactive switching machine
The hommization demand of system.Therefore the present invention can solve tradition using single switch piece directly switch driving mode institute may caused by
The problem of accidentally tactile and safety is insufficient.
An embodiment of an aspect provides a kind of automatic safe and drives interaction systems according to the present invention, to switch one
One driving mode of vehicle.This automatic safe drives interaction systems and includes environment sensing device further, switching device and control device.
Wherein environment sensing device further is set on vehicle, and environment sensing device further includes multiple environment sensors, these environment sensors sensing
The internal and external environment situation of vehicle and generate multiple environmental aspect data.In addition, switching device is set on vehicle, and the one of switching device
On off state controls the switching of driving mode.In addition, control device is set on vehicle and signal connecting switch is sensed with environment
Device, and this control device determines driving mode according on off state and environmental aspect data.
Whereby, it is automatic to realize through the interaction mechanism of various different function to drive interaction systems to automatic safe of the invention
Switching is interacted between driving mode and manual drive pattern, can significantly promote the safety of handoff procedure, stability and just
Profit.Furthermore system can according to car outside and driver condition decide whether to release or start automatic driving mode, tie simultaneously
Considering for priming the pump mechanism is closed, the safety of driver's manipulation can be further increased.In addition, detect driver using sensor
Intervention driving degree and the situation of environment carry out auxiliary judgment driving mode, the switching caused by accidentally touching can not only be avoided to ask
Topic, moreover it is possible to reduce the switching times of driver, and then increase the hommization demand of interactive handover mechanism.
The other embodiment of aforementioned embodiments is as follows：Aforementioned automatic safe, which drives interaction systems, may include that a driving intervenes
Arrangement for detecting, this drives intervention arrangement for detecting signal connection control device, and driving intervention arrangement for detecting includes multiple drive and intervenes
Sensor, these drive intervention sensor and sense the intervention driving degree of a driver and generate driving intervention data.In addition,
Driving mode is in an automatic driving mode, and control device is according to environmental aspect data control vehicle.One peace of control device storage
Full situation condition drives with one and intervenes Sharp criteria, and control device judges whether environmental aspect data meet security context item
Part, and judge to drive whether intervention data meet driving intervention Sharp criteria.
An embodiment of another aspect provides a kind of automatic safe and drives interactive decision-making technique according to the present invention, to
Switch a driving mode of a vehicle, this automatic safe drives interactive decision-making technique and sentences comprising environment detecting step with a pattern
Disconnected step.Wherein environment detecting step is to provide environment sensing device further to sense the internal and external environment situation of vehicle and generates multiple rings
Border status data.Furthermore mode decision step is to determine driving mode according to environmental aspect data using a control device.
Whereby, automatic safe of the invention drives interactive decision-making technique and can pass through the interaction mechanism of various different function in fact
The existing safety of handoff procedure, stability and convenience between automatic driving mode and manual drive pattern, to solve tradition profit
With single switch piece directly switch driving mode institute may caused by accidentally touch and safety it is insufficient the problem of.
An embodiment of an embodiment of aspect according to the method for the present invention, aforementioned driving mode can be at one manually originally
Driving mode, mode decision step include device startup sub-step and judge sub-step with a security context, and wherein device starts
Sub-step is to start a switching device and generate an on off state.When on off state is opening imformation, performing environment detecting step
Suddenly.And security context judges that sub-step is to judge whether environmental aspect data meet a security context item using a control device
Part.In addition, when aforementioned on off state is closing information, driving mode maintains manual drive pattern；When aforementioned on off state is
Opening imformation and when environmental aspect data do not meet security context condition, driving mode maintains manual drive pattern；It is opened when aforementioned
When off status is opening imformation and environmental aspect data fit security context condition, control device is according to the control of environmental aspect data
Vehicle, driving mode switch to an automatic driving mode.
An embodiment of an embodiment of aspect according to the method for the present invention, aforementioned driving mode are driven automatically in one originally
Pattern is sailed, control device is according to environmental aspect data control vehicle.Mode decision step may include a device start sub-step with
One security context judges sub-step.It is to start a switching device and generate an on off state that device, which starts sub-step, when switch shape
Performing environment detects step when state is opening imformation.And security context judges that sub-step is to judge environmental aspect using control device
Whether data meet a security context condition.In addition, when aforesaid switchgear is opening imformation, driving mode maintenance is driven automatically
Sail pattern；When aforementioned on off state is closing information and environmental aspect data do not meet security context condition, driving mode dimension
Hold automatic driving mode；When aforementioned on off state is closing information and environmental aspect data fit security context condition, drive
Pattern switching is to a manual driving mode.
An embodiment of an embodiment of aspect, previous mode judgment step may include a system according to the method for the present invention
It is required that switching sub-step, this system requirements switching sub-step is to judge whether environmental aspect data meet a system using control device
System control condition.Driving mode is in an automatic driving mode, and control device is according to environmental aspect data control vehicle.Work as ring
When border status data meets system control condition, driving mode maintains automatic driving mode.On the contrary, work as environmental aspect data not
When meeting system control condition, driving mode switches to a manual driving mode.In addition, when aforementioned environmental aspect data are not met
During system control condition, system requirements switching sub-step releases automatic driving mode through control device requirement.And aforementioned mould
Formula judgment step may include a safety nozzle sub-step and a priming the pump mechanism sub-step.Wherein safety nozzle sub-step is to hold
One driving safety takeover mechanism of row, this driving safety takeover mechanism represent vehicle and are taken over by a driver and enter manual drive mould
Formula.And priming the pump mechanism sub-step is then that a safety of the security context condition that meets is reached by control device operating and controlling vehicle
Environment.
An embodiment of an embodiment of aspect, previous mode judgment step may include a driving according to the method for the present invention
Intervention detecting sub-step judges sub-step with a security context, is detectd wherein driving intervention detecting sub-step and being to provide driving intervention
The intervention for surveying one driver of device sensing drives degree and generates driving intervention data.And security context judges that sub-step is profit
Judge whether environmental aspect data meet a security context condition with control device.In addition, aforementioned driving mode is in one automatically
Driving mode, control device is according to environmental aspect data control vehicle.Control device stores a security context condition and is driven with one
Sharp criteria is intervened, and control device judges whether environmental aspect data meet security context condition, and judge to drive intervention number
According to whether meet driving intervention Sharp criteria.
An embodiment of an embodiment of aspect according to the method for the present invention, it is automatic that aforementioned driving mode can be at one originally
Driving mode, mode decision step include automatic emergency brake sub-step, this automatic emergency brake sub-step is to judge to drive
Whether the brake sensor for sailing intervention arrangement for detecting senses one and puts brakes on violently phenomenon.When brake sensor senses urgent evil spirit
During vehicle phenomenon, driving mode switches to manual drive pattern.
Description of the drawings
Fig. 1 is the block schematic diagram for the automatic safe driving interaction systems for being painted one embodiment of the invention；
Fig. 2 is the flow diagram for the interactive decision-making technique of automatic safe driving for being painted first embodiment of the invention；
Fig. 3 is the flow diagram for the interactive decision-making technique of automatic safe driving for being painted second embodiment of the invention；
Fig. 4 is the flow diagram for the interactive decision-making technique of automatic safe driving for being painted third embodiment of the invention；
Fig. 5 is the flow diagram for the interactive decision-making technique of automatic safe driving for being painted fourth embodiment of the invention；
Fig. 6 is the flow diagram for the interactive decision-making technique of automatic safe driving for being painted fifth embodiment of the invention；
Fig. 7 is the flow diagram for the interactive decision-making technique of automatic safe driving for being painted sixth embodiment of the invention.
Specific embodiment
The following drawings illustrate multiple embodiments of the present invention.As clearly stated, the details in many practices
It will be explained in the following description.It should be appreciated, however, that the details in these practices is not applied to limit the present invention.Also
It is to say, in section Example of the present invention, the details in these practices is non-essential.In addition, for the sake of simplifying attached drawing, some
Known usual structure will be painted in a manner of simply illustrating in the accompanying drawings with element；And the element repeated will likely use phase
Same number represents.
Also referring to Fig. 1, Fig. 1 is the square for the automatic safe driving interaction systems 100 for being painted one embodiment of the invention
Schematic diagram.This automatic safe drives interaction systems 100 to switch the driving mode of vehicle, and driving mode can be divided into manual drive
Pattern MDM (Manual Driving Mode) and automatic driving mode ADM (Autonomous Driving Mode), and from
Dynamic safe driving interaction systems 100 comprising environment sensing device further 110, switching device 120, drive intervention arrangement for detecting 130 and
Control device 140.
Environment sensing device further 110 is set on vehicle, and environment sensing device further 110 includes multiple environment sensors, these rings
Border sensor is installed in position different on vehicle and senses the internal and external environment situation of vehicle and generate multiple environmental aspect data.
Such as：The situation of road environment, the physiological status of driver, vehicle situation in itself and surrounding vehicles or the situation of object
Deng.
Switching device 120 is set on vehicle, and switching device 120 is controlled generates a switching signal, and switching signal is controlling
System switching driving mode.For example, switching device 120 is set on the side or front of steering wheel, and driver can penetrate hand
Switching device 120 is pulled or pressed to finger, and switching signal is allowed to change and switches driving mode as manual drive pattern MDM or drives automatically
Sail Mode A DM.Whereby, the closed state of switching device 120 can directly control the switching of driving mode.
It drives intervention arrangement for detecting 130 and includes multiple driving intervention sensors, these drive intervention sensor sensing one and drive
The intervention for the person of sailing drives degree and generates driving intervention data.For example, drive intervention sensor include throttle sensor,
Steering wheel sensor, brake sensor, gear shift sensor and indicator sensor.Wherein throttle sensor drives to sense
Person tramples the depth and speed of throttle；Steering wheel sensor is sensing the angle of driver turns' steering wheel and rotating speed；Brake
Sensor is sensing the depth and speed that driver tramples brake；Gear shift sensor then converts automobile row to sense driver
The situation of shelves；Indicator sensor is sensing the situation of driver's control direction lamp.Through the passback of above-mentioned various sensors
Value can should be manual drive pattern MDM or automatic driving mode ADM with auxiliary judgment driving mode.
Control device 140 is set on vehicle and signal JA(junction ambient) sensing device further 110, switching device 120 and driving intervention
Arrangement for detecting 130, and this control device 140 according to switching signal, environmental aspect data and drives intervention data decision driving
Pattern.Furthermore control device 140 can be automobile-used electronic control unit (Electronic Control Unit；ECU), micro- place
Manage device or other electronic controllers.Since it is known technology, therefore CONSTRUCTED SPECIFICATION repeats no more.In addition, when driving mode is in
During automatic driving mode ADM, control device 140 controls vehicle according to environmental aspect data.Control device 140 stores security context
Condition drives intervention Sharp criteria and system control condition, and control device 140 judges whether environmental aspect data meet peace
Full situation condition, and judge to drive whether intervention data meet driving intervention Sharp criteria, and control device 140 can judge ring
Whether border status data meets system control condition.Whereby, automatic safe of the invention driving 100 system of interaction systems can foundation
Interior external environment and driver condition decide whether to release or start automatic driving mode ADM, are connect in combination with safe driving
Tube mechanism can promote the safety of automatic Pilot manipulation.
Also referring to Fig. 1 and Fig. 2, Fig. 2 is the interactive decision-making party of automatic safe driving for being painted first embodiment of the invention
The flow diagram of method 200.Automatic safe drives interactive decision-making technique 200 automatic safe to be controlled to drive interaction systems 100,
And switch the driving mode of vehicle, and this automatic safe drives interactive decision-making technique 200 and includes environment detecting step S12 and mould
Formula judgment step S14.
Environment detecting step S12 is to provide environment sensing device further 110 to sense the internal and external environment situation of vehicle and generates more
A environmental aspect data are simultaneously sent to control device 140.
Mode decision step S14 is to determine driving mode according to environmental aspect data using control device 140.Mode decision
Step S14 include device start sub-step S141, drive intervention detecting sub-step S142, system requirements switching sub-step S143 with
And safety nozzle sub-step S145.
Device, which starts sub-step S141, to be starting switch device 120 and generates switching signal.When switching signal is believed to open
During breath, performing environment detecting step S12.
The intervention that driving intervention detecting sub-step S142 is to provide the driving intervention sensing driver of arrangement for detecting 130 drives journey
It spends and generates and drive intervention data.The storage of control device 140 drives intervention Sharp criteria, and control device 140 judges that driving is situated between
Enter whether data meet driving intervention Sharp criteria.
System requirements switching sub-step S143 is to judge whether environmental aspect data meet system control using control device 140
Condition processed.Assuming that driving mode is originally in automatic driving mode ADM, and control device 140 is controlled according to environmental aspect data
Vehicle.When environmental aspect data fit system control condition, driving mode maintains automatic driving mode ADM.Conversely, work as environment
When status data does not meet system control condition, driving mode can switch to manual drive pattern from automatic driving mode ADM
MDM。
Safety nozzle sub-step S145 can be system safety nozzle mechanism or driving safety takeover mechanism, wherein system safety
Takeover mechanism represents vehicle and is taken over by system and enter automatic driving mode ADM, and driving safety takeover mechanism then represents
Vehicle is taken over by driver and enters manual drive pattern MDM.Whereby, automatic safe of the invention drives interactive decision-making technique
200 interaction mechanisms that can pass through various different function switch to realize between automatic driving mode ADM and manual drive pattern MDM
Safety, stability and the convenience of process.Following Fig. 3~Fig. 6 will introduce aforementioned automatic safe and drives interactive decision-making party respectively
Four kinds of switch modes of method 200 are respectively " drive and start automatic driving mode ADM ", " drive and close automatic driving mode
ADM ", " system requirements closes automatic driving mode ADM " and " driving temporarily intervention ".The present invention is through various different function
Switch mode interacts conversion to realize between automatic driving mode ADM and manual drive pattern MDM, can significantly promote switching
Safety, stability and the convenience of process.
Also referring to Fig. 1~Fig. 3, Fig. 3 is the interactive decision-making party of automatic safe driving for being painted second embodiment of the invention
The flow diagram of method 200a.Automatic safe drives interactive decision-making technique 200a and represents " drive and start automatic driving mode ADM ",
It includes environment detecting step S12 and mode decision step S14.Wherein mode decision step S14 includes device and starts sub-step
S141, security context judge sub-step S144 and safety nozzle sub-step S145.Automatic safe drives interactive decision-making technique
The execution step of 200a is sequentially manual drive pattern MDM, device starts sub-step S141, environment detects step S12, safe feelings
Border judges sub-step S144, safety nozzle sub-step S145 and automatic driving mode ADM.In detail, the driving mode of vehicle
Originally in manual drive pattern MDM, when driver's driving mode to be switched, driver must executive device startup sub-step
S141.This device, which starts sub-step S141, to be starting switch device 120 and generates switching signal.When switching signal is opening imformation
When, performing environment detecting step S12.Environment detecting step S12 is to provide environment sensing device further 110 to sense the inner and outer ring of vehicle
Border situation and generate multiple environmental aspect data and be sent to control device 140.Then, environmental aspect can be sentenced as security context
The basis of disconnected sub-step S144, in other words, security context judges that sub-step S144 is to judge environment shape using control device 140
Whether condition data meet security context condition.Above-mentioned judgement start can be divided into three classes, and the first kind is when device starts sub-step
When the switching signal of S141 is closing information, driving mode maintains the manual drive pattern MDM of script.Second class is when device opens
The switching signal of mover step S141 judges that the environmental aspect data of sub-step S144 are not met for opening imformation and security context
During security context condition, driving mode maintains manual drive pattern MDM.Third class is when device starts the switch of sub-step S141
When signal judges the environmental aspect data fit security context condition of sub-step S144 for opening imformation and security context, control fills
140 are put according to environmental aspect data control vehicle, simultaneity factor can perform safety nozzle sub-step S145, this safety nozzle sub-step
Rapid S145 is system safety nozzle mechanism, that is, vehicle is taken over by system, and then driving mode is made to switch to automatic Pilot
Mode A DM.Whereby, the present invention realizes that manual drive pattern MDM switches to automatic driving mode through specific interaction mechanism
ADM can significantly promote safety, stability and the convenience of handoff procedure.Furthermore environment detecting step S12 can allow system
Decide whether to maintain manual drive pattern MDM or switch to automatic driving mode according to interior outer situation and driver condition
ADM can further increase the safety of driver's manipulation.
Also referring to Fig. 1, Fig. 2 and Fig. 4, Fig. 4 be painted third embodiment of the invention automatic safe drive interaction determine
The flow diagram of plan method 200b.Automatic safe drives interactive decision-making technique 200b and represents " driving closing automatic driving mode
ADM ", it includes environment detecting step S12 and mode decision step S14.Wherein mode decision step S14 includes device promoter
Step S141, security context judges sub-step S144 and safety nozzle sub-step S145.This automatic safe drives interactive decision
The execution step of method 200b is sequentially automatic driving mode ADM, device starts sub-step S141, environment detects step S12, peace
Full situation judges sub-step S144, safety nozzle sub-step S145 and manual drive pattern MDM.In detail, vehicle is driven
Pattern is sailed originally in automatic driving mode ADM, and control device 140 is according to environmental aspect data control vehicle at this time.Work as driving
During person's driving mode to be switched, driver must executive device start sub-step S141.It is to start to open that device, which starts sub-step S141,
It closes device 120 and generates switching signal.When switching signal is opening imformation, performing environment detecting step S12.Environment detecting step
Rapid S12 is to provide environment sensing device further 110 to sense the internal and external environment situation of vehicle and generates multiple environmental aspect data and pass
It send to control device 140.Then, system can perform security context and judge sub-step S144, be judged using control device 140
Whether environmental aspect data meet security context condition.Above-mentioned judgement start can be divided into three classes, and the first kind is when device starts
When the switching signal of sub-step S141 is opening imformation, driving mode maintains automatic driving mode ADM.Second class is when device opens
The switching signal of mover step S141 judges that the environmental aspect data of sub-step S144 are not met for closing information and security context
During security context condition, driving mode maintains automatic driving mode ADM.And third class is when device starts opening for sub-step S141
When OFF signal judges the environmental aspect data fit security context condition of sub-step S144 for closing information and security context, system
Safety nozzle sub-step S145 can be performed, this safety nozzle sub-step S145 is driving safety takeover mechanism, that is, vehicle is by driving
The person of sailing takes over, and then driving mode is made to switch to manual drive pattern MDM.Whereby, the present invention comes through specific interaction mechanism
It realizes that automatic driving mode ADM switches to manual drive pattern MDM, can significantly promote safety, the stability of handoff procedure
And convenience.Furthermore system can according to interior outer situation and driver condition come decide whether maintenance automatic driving mode ADM or
Person switches to manual drive pattern MDM, can further increase the safety of driver's manipulation.
Also referring to Fig. 1, Fig. 2 and Fig. 5, Fig. 5 be painted fourth embodiment of the invention automatic safe drive interaction determine
The flow diagram of plan method 200c.Automatic safe drives interactive decision-making technique 200c and represents " system requirements closing automatic Pilot
Mode A DM ", it includes environment detecting step S12 and mode decision step S14.Wherein mode decision step S14 will comprising system
Ask switching sub-step S143, safety nozzle sub-step S145 and priming the pump mechanism sub-step S146.Automatic safe drives mutual
The execution step of dynamic decision-making technique 200c is sequentially automatic driving mode ADM, environment detecting step S12, system requirements switching
Step S143, safety nozzle sub-step S145 and manual drive pattern MDM.And priming the pump mechanism sub-step S146 can be connected on peace
After full take over sub-step S145, and execution synchronous with manual drive pattern MDM.In detail, the driving mode script of vehicle
In automatic driving mode ADM, control device 140 controls vehicle according to environmental aspect data at this time, and system can be held at any time
Row system requirements switching sub-step S143.This system requirements switching sub-step S143 is to judge ring at any time using control device 140
Whether border status data meets system control condition.When environmental aspect data fit system control condition, driving mode maintains
Automatic driving mode ADM.On the contrary, when environmental aspect data do not meet system control condition, system requirements switching sub-step
S143 can penetrate the requirement of control device 140 and release automatic driving mode ADM, and driving mode is enabled to switch to manual drive pattern MDM.
Furthermore safety nozzle sub-step S145 is to perform driving safety takeover mechanism, this driving safety takeover mechanism represents vehicle by driving
The person of sailing takes over and enters manual drive pattern MDM.In addition, priming the pump mechanism sub-step S146 is pacified by control device 140
Full ground operating and controlling vehicle reaches safe environment, such as stops.In other words, priming the pump mechanism sub-step S146 is to pass through control
140 operating and controlling vehicle of device reaches the security context for meeting security context condition.Whereby, through the control ability for judging system immediately
Can immediate reaction vehicle condition, and the stability automatically controlled and the safety of driver is significantly increased.
Also referring to Fig. 1, Fig. 2 and Fig. 6, Fig. 6 be painted fifth embodiment of the invention automatic safe drive interaction determine
The flow diagram of plan method 200d.Automatic safe drives interactive decision-making technique 200d and represents " driving temporarily intervention ", it includes
Environment detects step S12 and mode decision step S14.Wherein mode decision step S14, which is included, drives intervention detecting sub-step
S142, security context judge sub-step S144, drive warning sub-step S148 and drive intervention control sub-step S147.Automatically
The execution step of safe driving interaction decision-making technique 200d is sequentially automatic driving mode ADM, environment detecting step S12, drives
Intervention detecting sub-step S142, security context judge sub-step S144, drive warning sub-step S148 and drive intervention control
Sub-step S147.In detail, the driving mode of vehicle is in automatic driving mode ADM, and control device 140 is according to environment at this time
Status data controls vehicle.And system can perform driving intervention detecting sub-step S142 at any time.This drives intervention detecting sub-step
Rapid S142 is to provide driving intervention arrangement for detecting 130 and senses the intervention driving degree of driver at any time and generate driving intervention number
According to.Control device 140 stores security context condition with driving intervention Sharp criteria, and control device 140 judges environmental aspect number
According to whether meeting security context condition, and judge to drive whether intervention data meet driving intervention Sharp criteria.Furthermore it if drives
Person does not get involved in certain degree, then system still maintains automatic driving mode ADM.Conversely, if driver gets involved in certain journey
Degree, then system can perform security context and judge sub-step S144.This security context judges that sub-step S144 is to utilize control device
140 judge whether environmental aspect data meet security context condition.If during environmental aspect data fit security context condition, system
Driving intervention control sub-step S147 can be performed, it is that driver is allowed temporarily to control vehicle that this, which drives intervention control sub-step S147,
, until driver's involvement level is reduced to setting threshold, system can actively be returned to the original of automatic driving mode ADM
Setting value.In addition, when environmental aspect data do not meet security context condition, system can first carry out driving warning sub-step
Then S148 is performed and is driven intervention control sub-step S147.Wherein driving warning sub-step S148 is carried using an alarm signal
It wakes up and informs that driver is dangerous at present, alarm signal can be visual alarm, sound warning or vibration warning.Whereby, it is of the invention
Automatic safe drives interaction decision-making technique 200d through temporary intervention control to realize of short duration manual control, and intervention is completed
Original automatic driving mode ADM can be returned to afterwards, can both increase the convenience of driver's manipulation, and driver can also be avoided accidentally to touch
Caused switching problem.As an example it is assumed that encountering, front truck slows down and changing Lane is to right lane, and driver can gently step on very
Vehicle, until front truck leaves travelled track completely, driver loosens brake, and system is allowed to automatically return to the automatic of script
Driving mode ADM.In this case, as long as driver gently applies the brakes and loosens brake, without first releasing automatic Pilot mould
Then formula ADM to manual drive pattern MDM waits until that front truck leaves and makes automatic driving mode ADM into again.It can be seen from the above, this hair
Bright decision-making technique can not only reduce the switching times of driver, moreover it is possible to increase the hommization demand of interactive handover mechanism, simultaneously
Improve tradition using single switch piece directly switch driving mode institute may caused by accidentally touch and safety it is insufficient the problem of.
Also referring to Fig. 1, Fig. 2 and Fig. 7, Fig. 7 be painted sixth embodiment of the invention automatic safe drive interaction determine
The flow diagram of plan method 200e.Automatic safe drives interactive decision-making technique 200e and is situated between comprising environment detecting step S12, driving
Enter to detect sub-step S142, system requirements switching sub-step S143, security context and judge sub-step S144, safety nozzle sub-step
S145, priming the pump mechanism sub-step S146 and automatic emergency brake sub-step S149.Wherein environment detecting step S12, it drives
Sail intervention detecting sub-step S142, system requirements switching sub-step S143 and safety nozzle sub-step S145 steps corresponding with Fig. 2
Rapid identical, security context judges that sub-step S144 judges that sub-step S144 is identical with the security context of Fig. 2, priming the pump mechanism
Step S146 is identical with the priming the pump mechanism sub-step S146 of Fig. 5, therefore repeats no more.Specifically, automatic safe drives
For interactive decision-making technique 200e also comprising automatic emergency brake sub-step S149, this automatic emergency brake sub-step S149 is to judge to drive
Whether the brake sensor for sailing intervention arrangement for detecting 130 senses phenomenon of putting brakes on violently, and puts brakes on violently and is encountered promptly for driver
Situation and caused by step on again, system control condition and security context condition must not met, as long as therefore systems scan to tightly
No matter anxious brake under which kind of step and pattern can be forced back to manual drive pattern MDM, to ensure traffic safety.Also
It is to say, when sensor of braking, which senses, puts brakes on violently phenomenon, driving mode switches to manual drive pattern MDM.
In addition it is noted that the aforementioned automatic driving mode ADM being previously mentioned includes track system for tracking (Lane
Following System；LFS), track maintains system (Lane Keeping System；LKS), adaptability cruise control
(Adaptive Cruise Control；ACC) and lane changing assists (Lane Change Support；LCS).These are certainly
Dynamic driving must penetrate the detecting judgement that control device 140 combines corresponding sensor, and the present invention is to ensure safe item
Under part, strengthen the interactive decision of manual drive pattern MDM and automatic driving mode ADM, to take into account hommization manipulation, safe driving
It takes over and mode safety switches.
By the above embodiment it is found that the present invention has following advantages：First, the interaction mechanism through various different function
Interact switching between automatic driving mode and manual drive pattern to realize, can significantly be promoted handoff procedure safety,
Stability and convenience.Second, system can according to car outside and driver condition decide whether to release or start automatic Pilot
Pattern in combination with considering for priming the pump mechanism, can further increase the safety of driver's manipulation.Third, utilize sensing
The intervention driving degree of device detecting driver and the situation of environment carry out auxiliary judgment driving mode, can not only avoid accidentally touching and be made
Into switching problem, moreover it is possible to reduce the switching times of driver, and then increase the hommization demand of interactive handover mechanism.
Although the present invention is disclosed above with embodiment, however, it is not to limit the invention, any to be familiar with this skill
Person, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations, therefore protection scope of the present invention is worked as
Subject to the scope of which is defined in the appended claims.
Claims (12)
1. a kind of automatic safe drives interaction systems, to switch a driving mode of a vehicle, which is characterized in that the automatic peace
The full interaction systems that drive include：
One environment sensing device further, on the vehicle, which includes multiple environment sensors, the multiple environment
Sensor senses the internal and external environment situation of the vehicle and generates multiple environmental aspect data；
One switching device, set on the vehicle, an on off state of the switching device controls the switching of the driving mode；And
One control device connects the switching device and the environment sensing device further, the control device foundation set on the vehicle and signal
The on off state determines the driving mode with the multiple environmental aspect data.
2. automatic safe according to claim 1 drives interaction systems, which is characterized in that also includes：
One drives intervention arrangement for detecting, and signal connects the control device, and driving intervention arrangement for detecting includes multiple drive and intervenes
Sensor, the multiple intervention sensor that drives sense the intervention driving degree of a driver and generate driving intervention data；
Wherein, which is in an automatic driving mode, which controls according to the multiple environmental aspect data
The vehicle, the control device store a security context condition and drive intervention Sharp criteria, and described in control device judgement with one
Whether multiple environmental aspect data meet the security context condition, and judge whether driving intervention data meet driving intervention
Sharp criteria.
3. a kind of automatic safe drives interactive decision-making technique, to switch a driving mode of a vehicle, which is characterized in that should be certainly
Dynamic safe driving interaction decision-making technique comprises the steps of：
One environment detects step, is to provide an environment sensing device further and generates multiple rings to sense the internal and external environment situation of the vehicle
Border status data；And
One mode decision step is to determine the driving mode according to the multiple environmental aspect data using a control device.
4. automatic safe according to claim 3 drives interactive decision-making technique, which is characterized in that at driving mode script
In a manual driving mode, which includes：
One device starts sub-step, is to start a switching device and generate an on off state, when the on off state is opening imformation
Shi Zhihang environment detecting steps；And
One security context judges sub-step, is to judge whether the multiple environmental aspect data meet a peace using a control device
Full situation condition.
5. automatic safe according to claim 4 drives interactive decision-making technique, which is characterized in that
When the on off state is closing information, which maintains the manual drive pattern；
When the on off state is opening imformation and the multiple environmental aspect data do not meet the security context condition, the driving
Pattern maintains the manual drive pattern；And
When the on off state is opening imformation and the multiple environmental aspect data fit security context condition, the driving mould
Formula switches to an automatic driving mode, which controls the vehicle according to the multiple environmental aspect data.
6. automatic safe according to claim 3 drives interactive decision-making technique, which is characterized in that at driving mode script
In an automatic driving mode, which controls the vehicle according to the multiple environmental aspect data, the mode decision step
Comprising：
One device starts sub-step, is to start a switching device and generate an on off state, when the on off state is opening imformation
Shi Zhihang environment detecting steps；And
One security context judges sub-step, is to judge whether the multiple environmental aspect data meet a peace using the control device
Full situation condition.
7. automatic safe according to claim 6 drives interactive decision-making technique, which is characterized in that
When the on off state is opening imformation, which maintains the automatic driving mode；
When the on off state is closing information and the multiple environmental aspect data do not meet the security context condition, the driving
Pattern maintains the automatic driving mode；And
When the on off state is closing information and the multiple environmental aspect data fit security context condition, the driving mould
Formula switches to a manual driving mode.
8. automatic safe according to claim 3 drives interactive decision-making technique, which is characterized in that the mode decision step packet
Contain：
One system requirements switches sub-step, is to judge whether the multiple environmental aspect data meet a system using the control device
System control condition, the driving mode are in an automatic driving mode, and the control device is according to the multiple environmental aspect data control
Make the vehicle；
Wherein, when the multiple environmental aspect data fit system control condition, which maintains the automatic Pilot
Pattern；
Wherein, when the multiple environmental aspect data do not meet the system control condition, which switches to one manually
Driving mode.
9. automatic safe according to claim 8 drives interactive decision-making technique, which is characterized in that
When the multiple environmental aspect data do not meet the system control condition, system requirements switching sub-step penetrates the control
Device requirement processed releases the automatic driving mode；And
The mode decision step also includes：
One safety nozzle sub-step, be perform a driving safety takeover mechanism, the driving safety takeover mechanism represent the vehicle by
One driver takes over and enters the manual drive pattern；And
One priming the pump mechanism sub-step is to manipulate the vehicle by the control device and reach to meet the one of a security context condition
Security context.
10. automatic safe according to claim 3 drives interactive decision-making technique, which is characterized in that the mode decision step
Comprising：
One drive intervention detecting sub-step, be to provide a driving intervention arrangement for detecting sense a driver intervention drive degree and
It generates one and drives intervention data；And
One security context judges sub-step, is to judge whether the multiple environmental aspect data meet a peace using the control device
Full situation condition.
11. automatic safe according to claim 10 drives interactive decision-making technique, which is characterized in that
The driving mode is in an automatic driving mode, which controls the vehicle according to the multiple environmental aspect data
, the control device store a security context condition with one drive intervene Sharp criteria, and the control device judge it is the multiple
Whether environmental aspect data meet the security context condition, and judge whether driving intervention data meet driving intervention threshold
Condition.
12. automatic safe according to claim 3 drives interactive decision-making technique, which is characterized in that the driving mode is originally
In an automatic driving mode, which includes：
One automatic emergency brake sub-step is to judge whether a brake sensor of a driving intervention arrangement for detecting senses one tightly
Anxious braking phenomenon, when the brake sensor sense this put brakes on violently phenomenon when, which switches to a manual drive mould
Formula.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611127149.1A CN108216246B (en) | 2016-12-09 | 2016-12-09 | Automatic safe driving interaction system and decision-making method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611127149.1A CN108216246B (en) | 2016-12-09 | 2016-12-09 | Automatic safe driving interaction system and decision-making method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108216246A true CN108216246A (en) | 2018-06-29 |
| CN108216246B CN108216246B (en) | 2020-02-07 |
Family
ID=62638556
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611127149.1A Active CN108216246B (en) | 2016-12-09 | 2016-12-09 | Automatic safe driving interaction system and decision-making method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108216246B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318906A (en) * | 2018-10-30 | 2019-02-12 | 奇瑞汽车股份有限公司 | Adapter tube detection method, device and the storage medium of intelligent automobile |
| CN110104051A (en) * | 2019-05-30 | 2019-08-09 | 爱驰汽车有限公司 | Automatic Pilot switching method, system, equipment and storage medium based on steering wheel |
| CN111634286A (en) * | 2020-06-09 | 2020-09-08 | 北京百度网讯科技有限公司 | Automatic driving vehicle control method, device and equipment and readable storage medium |
| CN112477883A (en) * | 2020-11-06 | 2021-03-12 | 浙江吉利控股集团有限公司 | Automatic driving control method, device and equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104608772A (en) * | 2014-12-25 | 2015-05-13 | 财团法人车辆研究测试中心 | System and method for judging environmental failure of automatic aided driving |
| CN104837705A (en) * | 2012-11-30 | 2015-08-12 | 谷歌公司 | Engaging and disengaging for autonomous driving |
| CN104973063A (en) * | 2014-04-08 | 2015-10-14 | 沃尔沃汽车公司 | Method for transition between driving modes |
| CN106094810A (en) * | 2016-06-02 | 2016-11-09 | 郑州宇通客车股份有限公司 | Man-machine double method for handover control and vehicles driving system on a kind of vehicle |
| CN106080606A (en) * | 2016-07-08 | 2016-11-09 | 百度在线网络技术（北京）有限公司 | For the method and apparatus controlling automatic driving vehicle |
-
2016
- 2016-12-09 CN CN201611127149.1A patent/CN108216246B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104837705A (en) * | 2012-11-30 | 2015-08-12 | 谷歌公司 | Engaging and disengaging for autonomous driving |
| CN104973063A (en) * | 2014-04-08 | 2015-10-14 | 沃尔沃汽车公司 | Method for transition between driving modes |
| CN104608772A (en) * | 2014-12-25 | 2015-05-13 | 财团法人车辆研究测试中心 | System and method for judging environmental failure of automatic aided driving |
| CN106094810A (en) * | 2016-06-02 | 2016-11-09 | 郑州宇通客车股份有限公司 | Man-machine double method for handover control and vehicles driving system on a kind of vehicle |
| CN106080606A (en) * | 2016-07-08 | 2016-11-09 | 百度在线网络技术（北京）有限公司 | For the method and apparatus controlling automatic driving vehicle |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318906A (en) * | 2018-10-30 | 2019-02-12 | 奇瑞汽车股份有限公司 | Adapter tube detection method, device and the storage medium of intelligent automobile |
| CN109318906B (en) * | 2018-10-30 | 2021-04-27 | 奇瑞汽车股份有限公司 | Method and device for detecting take-over of intelligent automobile and storage medium |
| CN110104051A (en) * | 2019-05-30 | 2019-08-09 | 爱驰汽车有限公司 | Automatic Pilot switching method, system, equipment and storage medium based on steering wheel |
| CN111634286A (en) * | 2020-06-09 | 2020-09-08 | 北京百度网讯科技有限公司 | Automatic driving vehicle control method, device and equipment and readable storage medium |
| CN111634286B (en) * | 2020-06-09 | 2022-07-05 | 北京百度网讯科技有限公司 | Automatic driving vehicle control method, device and equipment and readable storage medium |
| CN112477883A (en) * | 2020-11-06 | 2021-03-12 | 浙江吉利控股集团有限公司 | Automatic driving control method, device and equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108216246B (en) | 2020-02-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107298102B (en) | Controlling device for vehicle running | |
| CN100363850C (en) | Follow running control system | |
| US10569782B2 (en) | Interactive autonomous safe driving system and deciding method thereof | |
| CN108216246A (en) | Automatic safe drives interaction systems and its decision-making technique | |
| CN106043309B (en) | The countermeasure of automatic driving vehicle driving mode switching | |
| CN102027458B (en) | Method and apparatus for driver control of a limited-ability autonomous vehicle | |
| CN102405166B (en) | Car-following controller and car-following control method | |
| US8784266B2 (en) | Method for operating an automatic start/stop system in a vehicle | |
| CN109515432A (en) | Vehicle and control method of parking, device | |
| CN107697059A (en) | Controlling device for vehicle running | |
| CN107797534A (en) | A kind of pure electronic automated driving system | |
| CN108657189A (en) | Line operating mode automatic Pilot steering and its control method are moved based on BP neural network and safe distance | |
| CN107685735A (en) | Controller of vehicle | |
| CN107539320A (en) | Controlling device for vehicle running | |
| CN107697068A (en) | Controlling device for vehicle running | |
| CN106042924A (en) | Automobile mistaken tread preventing accelerator pedal control system and control method | |
| CN208393354U (en) | Line operating condition automatic Pilot steering system is moved based on BP neural network and safe distance | |
| CN110341709A (en) | It is navigated based on L2 grades of intelligence and drives method of controlling switch and system | |
| JP2005226701A (en) | Vehicle control device | |
| CN103523016A (en) | Method for operating a vehicle during coasting | |
| CN110356415A (en) | A kind of control method for vehicle and device | |
| CN112440981A (en) | Method for executing automatic passenger-replacing parking | |
| CN112455466A (en) | Automatic driving control method, automatic driving control equipment, storage medium and automatic driving control device | |
| CN108974003A (en) | A kind of exchange method | |
| CN103863319A (en) | System and method for improving steering feeling in neutral gear position of vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |