CN108791191A - A kind of vehicle control system and control method for vehicle - Google Patents
A kind of vehicle control system and control method for vehicle Download PDFInfo
- Publication number
- CN108791191A CN108791191A CN201810620174.6A CN201810620174A CN108791191A CN 108791191 A CN108791191 A CN 108791191A CN 201810620174 A CN201810620174 A CN 201810620174A CN 108791191 A CN108791191 A CN 108791191A
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- vehicle
- steering shaft
- control
- steering
- sliding sleeve
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/20—Means to switch the anti-theft system on or off
- B60R25/25—Means to switch the anti-theft system on or off using biometry
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/01—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens
- B60R25/02—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens operating on the steering mechanism
- B60R25/021—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens operating on the steering mechanism restraining movement of the steering column or steering wheel hub, e.g. restraining means controlled by ignition switch
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/01—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens
- B60R25/08—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens operating on brakes or brake systems
- B60R25/083—Locking of foot-actuated control actuating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/10—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles actuating a signalling device
- B60R25/102—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles actuating a signalling device a signal being sent to a remote location, e.g. a radio signal being transmitted to a police station, a security company or the owner
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/20—Means to switch the anti-theft system on or off
- B60R25/25—Means to switch the anti-theft system on or off using biometry
- B60R25/252—Fingerprint recognition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/30—Detection related to theft or to other events relevant to anti-theft systems
- B60R25/33—Detection related to theft or to other events relevant to anti-theft systems of global position, e.g. by providing GPS coordinates
Abstract
The present invention provides a kind of vehicle control system and control method for vehicle, and for the vehicle with automatic Pilot, the vehicle control system includes：Detection module, the biological characteristic for detecting passenger；And control module if illegal identity, then the manual drive control unit of vehicle described in locking and is alarmed for determining whether the passenger has illegal identity based on the biological characteristic.By judging whether passenger there is illegal bodily movement of practising Wushu to adjust the control mode of vehicle in time as automatic Pilot, enable the vehicle to not controlled by the passenger with illegal identity, and alarm to assist police to arrest the passenger with illegal identity.
Description
Technical field
The present invention relates to field of vehicle control, more particularly to the field of vehicle control with Function for Automatic Pilot.
Background technology
With advances in technology, pilotless automobile develops rapidly.2013, National Highway Traffic safety management bureau
(NHTSA, National Highway Traffic Safety Administration) has issued the Pyatyi of automotive automation
Standard, to cope with the explosive growth of automobile active safety technology, specifically：Level 0：Without automatic Pilot：Completely by driver
Moment manipulates the traveling of automobile, including braking, steering, throttle and power transmission.Any driving ancillary technique, as long as there is still a need for
People controls automobile, belongs to Level 0.
Level 1：Automatic Pilot with specific function, driver is still responsible for traffic safety, but certain functions are
Through carrying out automatically, for example, common adaptive cruise (Adaptive Cruise Control, ACC), emergency brake auxiliary
(Emergency Brake Assist, EBA), track keep (Lane-Keep Support, LKS).Feature is Level 1
There are simple function, driver that can not do in one's hands and foot while not manipulate.
Level 2：Automatic Pilot with complex function, driver can not operate automobile under certain default environment,
I.e. trick leaves control simultaneously, but driver still needs responsible to driving safety, and is ready to the take over vapour in the short time
Vehicle drives power.Such as combine that ACC and LKS formed with vehicle function.The core of Level 2 is not lain in will be there are two above work(
Can, and it is the driver person that can not be re-used as primary operational.
Level 3：With the unmanned of restrictive condition, in preset section (such as high speed and the less city road of the stream of people
Section), automatic driving and the responsibility for undertaking posture safety, driver have enough there is still a need in sometimes take over automobile
Pre-warning time, will such as enter the section (Road work ahead) repaired the roads.Level 3 will liberate driver, i.e., to driving
Safety is no longer responsible for, it is not necessary to monitor condition of road surface.
Level 4：Full working scope is unmanned.There is no drivers, it is only necessary to which beginning and end information, automobile will be negative in whole process
Traffic safety is blamed, and does not depend on driver's interference completely.It can be taken with nobody (such as empty wagons shipping) when driving.
Automotive engineer association of the U.S. (SAE, Society of Automotive Engineers) issues for 2013
The standard of similar automotive automation has refined the state between Level3 to the Level4 of NHTSA publications, specifically：Level
0 (no automation)：Automobile is operated by human driver's full powers, can be alerted and be protected in the process of moving the auxiliary of system
It helps.
Level 1 (drive supporting)：An operation in steering wheel and acceleration and deceleration is provided by driving environment and drives branch
It helps, other driver behaviors is all operated by human driver.
Level 2 (partial automation)：By driving environment driving is provided to the multi-mode operation in steering wheel and acceleration and deceleration
It supports, other driver behaviors are all operated by human driver.
Level 3 (automation of having ready conditions)：All driver behaviors are completed by Unmanned Systems.According to system request,
Human driver provides response appropriate
Level 4 (increasingly automated)：All driver behaviors are completed by Unmanned Systems.According to system request, people
Class driver is not necessarily required to respond all system requests, limits road and environmental condition etc..
Level 5 (full automation)：All driver behaviors are completed by Unmanned Systems.Human driver is possible
In the case of take over.It is driven under all roads and environmental condition.
Vehicle in use, robbed and steal vehicle and be easy to be utilized by suspect, it is made to escape by especially shared vehicle
Die young.When vehicle be pilotless automobile when, having unmanned function, especially be configured with L3 or L4 even more than
The automobile of the unmanned function of rank, in use, if occupant can be identified, if it find that car has
Suspect or real runaway convict, then control vehicle be unmanned pattern, do not allow driver participate in vehicle control, and and
When by runaway convict's information reporting to public security department, facilitate public security department to arrest runaway convict.Therefore, there is an urgent need for can realize above-mentioned function
A kind of vehicle control system and control method.
Invention content
A brief summary of one or more aspects is given below to provide to the basic comprehension in terms of these.This general introduction is not
The extensive overview of all aspects contemplated, and be both not intended to identify critical or decisive element in all aspects also non-
Attempt to define the range in terms of any or all.Its unique purpose is to provide the one of one or more aspects in simplified form
A little concepts are with the sequence for more detailed description given later.
In order to achieve the above object, it prevents from runaway convict from utilizing shared automobile or being robbed robber's vehicle to escape, the present invention provides
A kind of vehicle control system, for the vehicle with automatic Pilot, the vehicle control system includes：Detection module, for examining
Survey the biological characteristic of passenger；Control module, for determining whether the passenger has illegal identity based on the biological characteristic, if
For illegal identity, then the manual drive control unit of vehicle described in locking and alarm.
Such as above-mentioned vehicle control system, optionally, the Tbox modules that the control module controls the vehicle will be described
Biological characteristic is uploaded to cloud server, the feedback result in response to the biological characteristic received based on the Tbox modules
Determine whether the passenger has illegal identity.
Such as above-mentioned vehicle control system, optionally, the passenger includes driver, and the detection module includes being located at one
Fingerprint identification unit in key start button, for obtaining the finger print information of the driver as the biological characteristic.
Such as above-mentioned vehicle control system, optionally, the detection module includes image acquisition unit, described for obtaining
The face-image of passenger is as the biological characteristic.
Such as above-mentioned vehicle control system, optionally, if illegal identity, the control module controls the vehicle
Tbox modules send alarm signal to public security alarm system.
Such as above-mentioned vehicle control system, optionally, if illegal identity, the control module controls the vehicle
Tbox modules send the real time position of the vehicle to public security alarm system.
Such as above-mentioned vehicle control system, optionally, if illegal identity, the control module further passes through the vehicle
Tbox modules receive the take over control instruction from public security department and execute described in take over control instruction to control the vehicle
?.
Such as above-mentioned vehicle control system, optionally, if illegal identity, the control module is further in response to described
Take over control instruction starts the position that the Function for Automatic Pilot of the vehicle is specified with automatic running to the take over control instruction.
Such as above-mentioned vehicle control system, optionally, the manual drive control unit includes being connected to the vehicle
Steering column structure between steering wheel and turning machine, if illegal identity, steering column knot described in the control module locking
Structure.
Such as above-mentioned vehicle control system, optionally, the steering column structure includes steering column tube and passes through the steering
The steering shaft of column tube, which is characterized in that the steering shaft surface carries spline structure, and the steering shaft includes first turn of separation
To axis and the second steering shaft, first steering shaft is coupled with the steering wheel, second steering shaft and the turning machine coupling
It connects, sliding sleeve pipe is equipped in the steering column tube, the inner surface of the sliding sleeve pipe carries spline corresponding with the steering shaft surface
Structure, the sliding sleeve pipe are located in the steering column tube with the first position and the second position in axial direction, the sliding sleeve pipe
When the first position, the sliding sleeve pipe by the spline structure respectively with first steering shaft and second steering shaft
Coupling, first steering shaft link with second steering shaft to form the linkage status of steering column structure, if not meeting hand
Dynamic driving demand, the control module control the sliding sleeve pipe and move to the second position, and the sliding sleeve pipe passes through the flower
Bond structure is coupled with one of first steering shaft and second steering shaft, first steering shaft and described second
Steering shaft is detached to form the discrete state of steering column structure.
Such as above-mentioned vehicle control system, optionally, the manual drive control unit brake pedal structure, if illegal
Identity, brake pedal structure described in the control module locking.
Such as above-mentioned vehicle control system, optionally, the brake pedal structure includes pedal arm, is set on the pedal arm
It is equipped with rotatable block, the brake pedal structure includes the baffle with through-hole, the shape of the through-hole and the block
Contour shape it is consistent, the brake pedal structure includes unlocked state and lock-out state, when the block rotate to it is described
Through-hole match corresponding precalculated position when, the block moves across the through-hole with the pedal arm, forms the solution
Lock status, if not meeting manual drive requirement, the control module controls the block and rotates to deviateing the precalculated position, institute
It states block and the lock-out state is formed to prevent the pedal arm from moving by the baffle.
The present invention also provides a kind of control method for vehicle, the vehicle for having automatic Pilot, the vehicle includes inspection
Module is surveyed, the control method for vehicle includes：Detect the biological characteristic of passenger；And multiply based on described in biological characteristic determination
Whether visitor has illegal identity, if illegal identity, then the manual drive control unit of vehicle described in locking and alarms.
Such as above-mentioned control method for vehicle, optionally, whether the determination passenger there is illegal identity to include：By institute
It states biological characteristic and is uploaded to cloud server；Based on the feedback knot in response to the biological characteristic from the cloud server
Fruit determines whether the passenger has illegal identity.
Such as above-mentioned control method for vehicle, optionally, the biological characteristic of the detection passenger is including the use of the vehicle
Fingerprint identification unit on one-key start button obtains the finger print information of driver as the biological characteristic.
Such as above-mentioned control method for vehicle, optionally, the biological characteristic of the detection passenger includes obtaining the passenger
Face-image is as the biological characteristic.
Such as above-mentioned control method for vehicle, optionally, the alarm includes controlling the Tbox modules of the vehicle to public security
Alarm system sends alarm signal.
If above-mentioned control method for vehicle further includes optionally the real-time position for sending the vehicle to public security alarm system
It sets.
As above-mentioned control method for vehicle further includes optionally：If illegal identity, further receives and come from the Ministry of Public Security
The take over control instruction of door and take over control instruction described in executing controls the vehicle.
As above-mentioned control method for vehicle further includes optionally：If illegal identity, taken over further in response to described
Control instruction starts the position that the Function for Automatic Pilot of the vehicle is specified with automatic running to the take over control instruction.
Such as above-mentioned control method for vehicle, optionally, the manual drive control unit includes being connected to the vehicle
The manual drive control unit of steering column structure between steering wheel and turning machine, vehicle described in the locking includes locking institute
State steering column structure.
Such as above-mentioned control method for vehicle, optionally, the steering column structure includes steering column tube and passes through the steering
The steering shaft of column tube, which is characterized in that the steering shaft surface carries spline structure, and the steering shaft includes first turn of separation
To axis and the second steering shaft, first steering shaft is coupled with the steering wheel, second steering shaft and the turning machine coupling
It connects, sliding sleeve pipe is equipped in the steering column tube, the inner surface of the sliding sleeve pipe carries spline corresponding with the steering shaft surface
Structure, the sliding sleeve pipe are located in the steering column tube with the first position and the second position in axial direction, the sliding sleeve pipe
When the first position, the sliding sleeve pipe by the spline structure respectively with first steering shaft and second steering shaft
Coupling, first steering shaft link with second steering shaft to form the linkage status of steering column structure, the locking institute
It includes controlling the sliding sleeve pipe to move to the second position to state steering column structure, and the sliding sleeve pipe passes through the spline structure
It is coupled with one of first steering shaft and second steering shaft, first steering shaft and second steering shaft
Separation is to form the discrete state of steering column structure.
Such as above-mentioned control method for vehicle, optionally, the manual drive control unit brake pedal structure, the locking
The manual drive control unit of the vehicle includes brake pedal structure described in locking.
Such as above-mentioned control method for vehicle, optionally, the brake pedal structure includes pedal arm, is set on the pedal arm
It is equipped with rotatable block, the brake pedal structure includes the baffle with through-hole, the shape of the through-hole and the block
Contour shape it is consistent, the brake pedal structure includes unlocked state and lock-out state, when the block rotate to it is described
Through-hole match corresponding precalculated position when, the block moves across the through-hole with the pedal arm, forms the solution
Lock status, brake pedal structure described in the locking include controlling the block to rotate to deviateing the precalculated position, the gear
Block forms the lock-out state by the baffle to prevent the pedal arm from moving.
The present invention also provides a kind of controller of vehicle, the vehicle for having automatic Pilot, including processor and coupling
It is bonded to the memory of the processor, computer instruction is stored on the memory, the processor is executing the calculating
Implement such as the step of above-mentioned control method for vehicle when machine instructs.
The present invention also provides a kind of computer-readable mediums, are stored thereon with computer-readable instruction, the computer
Readable instruction is implemented when executed by the processor such as the step of above-mentioned control method for vehicle.
It, in use, can be to vehicle occupant according to vehicle control system provided by the invention and control method for vehicle
Member is identified, people or real runaway convict if it find that car is suspected of being guilty, then it is unmanned pattern to control vehicle, is not permitted
Perhaps driver participates in vehicle control, and in time by runaway convict's information reporting to public security department, public security department is facilitated to arrest runaway convict.
Description of the drawings
After reading the detailed description of embodiment of the disclosure in conjunction with the following drawings, it better understood when the present invention's
Features described above and advantage.In the accompanying drawings, each component is not necessarily drawn to scale, and has similar correlation properties or feature
Component may have same or similar reference numeral.
Figure 1A shows the schematic diagram of vehicle control system provided by the invention.
Figure 1B shows the flow diagram of control method for vehicle provided by the invention.
Fig. 2 shows one embodiment schematic diagrams of detection module provided by the invention.
Fig. 3 shows one embodiment schematic diagram of control module provided by the invention.
Fig. 4 shows one embodiment schematic diagram of manual drive component provided by the invention.
Fig. 5 shows the front view of brake pedal provided by the invention.
Fig. 6 A show close-up schematic view when brake pedal first embodiment unlocked state provided by the invention.
Fig. 6 B show close-up schematic view when brake pedal first embodiment lock-out state provided by the invention.
Fig. 7 A show close-up schematic view when brake pedal second embodiment unlocked state provided by the invention.
Fig. 7 B show close-up schematic view when brake pedal second embodiment lock-out state provided by the invention.
Fig. 8 A show close-up schematic view when brake pedal 3rd embodiment unlocked state provided by the invention.
Fig. 8 B show close-up schematic view when brake pedal 3rd embodiment lock-out state provided by the invention.
Fig. 9 A show close-up schematic view when brake pedal fourth embodiment unlocked state provided by the invention.
Fig. 9 B show close-up schematic view when brake pedal fourth embodiment lock-out state provided by the invention.
Figure 10 A show close-up schematic view when the 5th embodiment unlocked state of brake pedal provided by the invention.
Figure 10 B show close-up schematic view when the 5th embodiment lock-out state of brake pedal provided by the invention.
Figure 11 shows the structural schematic diagram of steering column structure discrete state provided by the invention.
Figure 12 shows the structural schematic diagram of steering column structure linkage status provided by the invention.
Figure 13 A show the structural schematic diagram of one embodiment of sliding sleeve pipe provided by the invention.
Figure 13 B show the partial enlarged view of one embodiment of sliding sleeve pipe provided by the invention.
Reference numeral
Detection module 100
Fingerprint identification unit 110
Image acquisition unit 120
Control module 200
TBox modules 210
Manual drive component 300
Brake pedal 400
Brake pedal pedestal 411
Pedal arm 412
Block 413,423,433,443,453,463
Main part 4231
Scotch 4232
Baffle 414,424,434,444,454,464
Through-hole 4241,4341,4441,4541,4641
Block shaft 425
Electric rotating machine 426
Steering column 500
First steering shaft 511
Second steering shaft 512
Steering column tube 520
Scotch 521
Sliding sleeve pipe 530
Sliding sleeve inner tube 531
Sliding sleeve outer tube 532
Bearing 533
Stop tooth 534
Driving mechanism 540
Specific implementation mode
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.Note that below in conjunction with attached drawing and specifically real
The aspects for applying example description is merely exemplary, and is understood not to carry out any restrictions to protection scope of the present invention.
As described above, the present invention provides a kind of vehicle control system, the vehicle for having automatic Pilot.Figure 1A is shown
The schematic diagram of vehicle control system provided by the invention, vehicle control system include：Detection module 100, for detecting passenger
Biological characteristic；And control module 200, for judging whether passenger has illegal identity based on the biological characteristic detected,
If there is passenger illegal identity, the manual drive control unit 300 of locking vehicle simultaneously to alarm.
Figure 1B shows the flow diagram of control method for vehicle provided by the invention.It is ready in step S101 vehicles
In the case of, step S102, the biological characteristic of control detection module detection passenger are executed, and send testing result to control mould
Block then executes step S103 control modules and judges whether passenger has illegal identity based on the biological characteristic detected, if multiplying
Visitor has illegal identity, thens follow the steps S104, and control module controls the manual drive control unit of locking vehicle, and alarms.
Specifically, detection module 100 provided by the invention may include the fingerprint recognition list being located on one-key start button
Member 110 and/or image acquisition unit 120, as shown in Figure 2.
In the embodiment that detection module 100 includes fingerprint identification unit 110, in step S102, control module 200 controls
Detection module 100 detects whether passenger includes the fingerprint letter for controlling fingerprint identification unit 110 and obtaining driver with illegal identity
Breath is used as biological characteristic.More specifically, the one-key start button in vehicle is arranged in fingerprint identification unit 110 provided by the present invention
On, therefore, in order to start vehicle, it is necessary to the finger print information of typing driver.Or the driver with runaway convict's identity is made to select
It selects and does not start automobile, it can not be using automobile as escape tool；Selection starts automobile, then according to system provided by the invention
And exposure own identification and location information are arrested runaway convict for public security department and provided convenience by method.Those skilled in the art
It should be known that above-mentioned fingerprint identification unit 110 can be realized by currently preferred radio-frequency fingerprint identification technology, or pass through
The realizations such as optical fingerprint identification system, capacitance type sensor, or future fill by the fingerprint identification technology having and accordingly
Set realization.
In the embodiment that detection module 100 includes image acquisition unit 120, in step S102, control module 200 controls
Detection module 100 detects whether passenger includes the face-image for controlling image acquisition unit 120 and obtaining passenger with illegal identity
As biological characteristic.More specifically, image acquisition unit 120 can be camera, and the visual angle of set camera covers vehicle
The front and rear row seat of inside, to carry out face-image identification to the personnel of above-mentioned vehicle interior.Those skilled in the art should
Know, above-mentioned camera can be digital camera, can also be simulation camera, can be monocular cam, can also be
Binocular camera.The visual angle of set camera can cover the front and rear row seat of vehicle interior in the present invention, whole to identify
The face-image of the passenger of a vehicle interior, it will be appreciated by those skilled in the art that, tight shot can be selected, as short focus is wide
Angle or ultra-wide angle tight shot；Or select zoom (again) camera lens.
As shown in figure 3, control module 200 provided by the invention controls the TBox modules 210 of vehicle with by detection module 100
The biological characteristic of detection is uploaded to cloud server, the feedback knot in response to biological characteristic received based on TBox modules 210
Fruit determines whether passenger has illegal identity.Wherein cloud server is stored with runaway convict's information of public security department, and can be real
Runaway convict's information of Shi Gengxin public security departments.Runaway convict's information of storage may include the facial image information of runaway convict, runaway convict fingerprint
Information etc. includes the information of runaway convict's biological characteristic, by the biological characteristic for the passenger inside the vehicle for detecting interior detection unit 100
Information whether interior passenger, which is public, to be obtained to, the process screened compared with the runaway convict's information stored in cloud server
The feedback result of the runaway convict of peace department publication.Control module 200 based on TBox modules 210 receive in response to biological characteristic
In the case that feedback result confirms whether passenger inside the vehicle has illegal identity, and passenger has illegal identity in the car, locking vehicle
Manual control part.
Control module 200 further can also confirm passenger inside the vehicle with illegal identity by controlling TBox modules 210
In the case of, warning message is sent to public security alarm system, and receive the take over control instruction from public security department.Control mould
Block 200 controls the automatic Pilot of vehicle according to the take over control instruction of public security department, so that the vehicle for being loaded with runaway convict is controlled by public affairs
Peace department, contributes to public security department to arrest runaway convict.Further, due to vehicle control system provided by the present invention and vehicle control
Method processed is used for the vehicle with Function for Automatic Pilot, and the take over control instruction of above-mentioned reception public security department can be received
Location information from public security department, control module 200 keep the vehicle for being loaded with runaway convict automatic by controlling the automatic Pilot of vehicle
The specified position of public security department is driven to, and in above process, once find that car has runaway convict, control module 200 will
The car door locking of above-mentioned vehicle, the passenger of vehicle interior can not open car door and get off, to prevent runaway convict from finding that oneself can not be controlled
Car door is opened when vehicle processed jumps vehicle escape.
As shown in figure 4, manual drive component 300 provided by the invention may include brake pedal 400 and/or steering column
500.Brake pedal 400, which has, corresponds to car without runaway convict, the unlocked state of permission manual drive state and corresponding to car
The lock-out state for having runaway convict, not allowing manual drive.Steering column 500, which has, to be corresponded to interior no runaway convict, allows to drive manually
The discrete state sailed the linkage status of state and have runaway convict corresponding to car, do not allow manual drive.
Incorporated by reference to Fig. 5-Figure 10 B, to understand the detail of brake pedal 400 provided by the invention.Fig. 5 shows this hair
The front view of the brake pedal of bright offer.As shown in figure 5, brake pedal structure is arranged on brake pedal pedestal 411, braking is stepped on
Plate arm 412 tramples reciprocating motion in response to driver's, according to the degree of movement, is converted into frictional force of the wheel to ground, from
And play the role of braking.Rotatable block 413 is arranged on pedal arm 412, with pedal arm 412 in response to driver
Trample reciprocating motion, meanwhile, block 413 can be in 413 place plane internal rotation of block.Brake pedal structure includes to carry through-hole
Baffle 414, the shape for the through-hole being arranged on baffle 414 is consistent with the contour shape of block 413.Brake pedal structure includes solution
Lock status and locking transition, when the rotation of block 413 extremely matches corresponding precalculated position with through-hole, block 413 is with pedal arm
412 move across through-hole, form unlocked state；When block 413 rotation to out of position when, block 413 is by baffle 414
Blocking forms lock-out state to prevent pedal arm 412 from moving.
Above-mentioned unlocked state corresponds to the foregoing state for allowing driver to intervene Driving control vehicle, above-mentioned locking
State, which corresponds to foregoing discovery passenger inside the vehicle, has runaway convict's information, and driver is not allowed to intervene the shape of Driving control vehicle
State.
When block 413 is in above-mentioned precalculated position, the shape that block 413 is projected in 414 plane of baffle can be complete
The shape of through holes covering being arranged on baffle 414, thus, in above-mentioned precalculated position, block 413 and the position of through-hole match
Alignment, to which in above-mentioned precalculated position, block 413 can successfully pass through above-mentioned through-hole under the drive of pedal arm 412.It is solving
Under lock status, block 413 does not play a part of to stop that pedal arm 412 moves.When block, which deviates 413, deviates above-mentioned precalculated position,
The shape that block 413 is projected in 414 plane of baffle can not be arranged on the covering of the shape of through holes on baffle 414 completely, because
And in the case of deviateing above-mentioned precalculated position, do not stopped by baffle 414 by 413 part of block that shape of through holes covers, to
Pedal arm 412 is prevented to move.
Fig. 6 A and Fig. 6 B are respectively brake pedal structure first embodiment unlocked state provided by the invention and lock-out state
When close-up schematic view.In the first embodiment of brake pedal structure as shown in Figure 6 A and 6 B, the shape of block 423
Shape is set as including main part 4231 and two scotch 4232, and scotch 4232 is arranged on main part 4231, and along main body
Portion 4231 extends outwardly.
As shown in Figure 6A, the shape that the through-hole 4241 on baffle 424 is arranged is consistent with the profile of block 423, is unlocking
Under state, block 423 successfully passes through through-hole 4241 in precalculated position as shown with the movement of pedal arm 412.
As shown in Figure 6B, when block 423 out of position when, scotch 4232 and 424 phase of baffle at through-hole 4241
It supports, to prevent block 423 from being passed through from through-hole 4241, prevents the movement of pedal arm 412.
It will be appreciated by those skilled in the art that the quantity of scotch 4232 is not limited to two in embodiment, it can basis
Need, at least one brake block 4232 be set, block 423 rotation to out of position when, can make scotch 4232 with
Baffle 424 at through-hole 4241 offsets.Those skilled in the art are arranged it is to be understood that when scotch 4232 is two
Position and extension direction be not limited to as shown in fig. 6 a or fig. 6b be located at straight line on.Also, it is counted in scotch 4232
When amount is not 2, the direction of position and extension that scotch 4232 is arranged can be equally arranged as required to.
In embodiment as shown in Figure 6 A and 6 B, show that block 423 is connected to electric rotating by block shaft 425
Machine 426, to be arranged on pedal arm 412.Electric rotating machine 426 drives block 423 to exist by controlling the rotation of block shaft 425
423 place plane internal rotation of block is to precalculated position or out of position, and to realize under specific circumstances, locking braking is stepped on
The movement of plate arm 412, the case where preventing dangerous driving.
Specifically, electric rotating machine 426 is connect by cable with control module 200.Control module 200 passes through detection module
100 sensing signal judges whether passenger inside the vehicle has illegal identity, and result is exported to electric rotating machine 426, to control rotation
426 rotary block 423 of rotating motor forms unlock or the locking shape of brake pedal to corresponding precalculated position or out of position
State.
Fig. 7 A, 7B respectively illustrate brake pedal structure second embodiment unlocked state provided by the invention and lock-out state
When close-up schematic view.In the present embodiment, the through-hole 4341 of ellipse, the shape of block 433 are provided on baffle 434
For ellipse, correspond to the shape of through-hole 4341.
Fig. 8 A, 8B respectively illustrate brake pedal structure 3rd embodiment unlocked state provided by the invention and lock-out state
When close-up schematic view.In the present embodiment, the through-hole 4441 of triangle, the shape of block 443 are provided on baffle 444
For triangle, correspond to the shape of through-hole 4441.
Fig. 9 A, 9B respectively illustrate brake pedal structure fourth embodiment unlocked state provided by the invention and lock-out state
When close-up schematic view.In the present embodiment, the through-hole 4541 of rectangle is provided on baffle 454, the shape of block 453 is
Rectangle corresponds to the shape of through-hole 4541.
Figure 10 A, 10B respectively illustrate the 5th embodiment unlocked state of brake pedal structure provided by the invention and locking shape
Close-up schematic view when state.In the present embodiment, the through-hole 4641 of diamond shape, the shape of block 463 are provided on baffle 464
For diamond shape, correspond to the shape of through-hole 4641.
It will be appreciated by those skilled in the art that the shape of block is other than the shape of circular, it can be according to actual need
Arbitrary setting is wanted, and is not limited to the shape mentioned in above-mentioned cited embodiment.Due to the shape of through holes and block of baffle
Contour shape it is consistent, there is precalculated position always, block made to move across above-mentioned through-hole with pedal arm.Block can be with simultaneously
Rotation, when block out of position when, the position of block and through-hole is staggered so that block and the baffle of through hole offset, closely
And block prevents pedal arm from moving by baffle.The shape of block can be set as needed, and be brought just for manufacturing process
Profit.
Incorporated by reference to Figure 11-Figure 13 B, to understand the detail of steering column 500 provided by the invention.As shown in Figure 10,
Steering column structure is connected between the steering wheel of automobile and turning machine, including steering column tube 520 and steering shaft, and steering shaft is turning to
Rotation by the steering force from steering wheel to pass to turning machine in column tube 520, to control wheel steering.
In the present invention, the steering shaft provided be separation the first steering shaft 511 and the second steering shaft 512, first turn
Spline structure is carried to the surface of axis 511 and the second steering shaft 512.Wherein, the first steering shaft 511 is coupled with steering wheel, and second
Steering shaft 512 is coupled with turning machine, it will be appreciated by those skilled in the art that the first steering shaft 511 and steering wheel and second turn
Include but not limited to spline or bearing connection to the connection type between axis 512 and turning machine, meanwhile, the first steering shaft 511 with
Include but not limited to be directly connected between steering wheel and between the second steering shaft 512 and turning machine.
Sliding sleeve pipe 530 is provided in steering column tube 520,530 inner surface of sliding sleeve pipe carries flower corresponding with steering shaft surface
Bond structure.Sliding sleeve pipe 530 can be in steering column tube 520 axially movable, and Figure 11 shows that sliding sleeve pipe 530 passes through driving mechanism
540 move to the second position of discrete state in steering column tube 520.As shown in figure 11, the flower that sliding sleeve pipe 530 passes through inner surface
Bond structure and the first steering shaft 511 couple, and are disconnected with the second steering shaft 512, therefore, the first steering shaft 511 and second turn
It is in discrete state to axis 512, the steering force from steering wheel is aborted transmission.
Figure 12 shows the structural schematic diagram of steering column structure linkage status provided by the invention.Turn in as shown in figure 12
Into rod structure, sliding sleeve pipe 530 moves to the first position of linkage status by driving mechanism 540 in steering column tube 520, sliding
Casing 530 is coupled with the first steering shaft 511 and the second steering shaft 512 respectively by the spline structure of inner surface, to come from
The steering force of steering wheel passes to the second steering shaft 512, the first steering shaft 511 via the first steering shaft 511 by sliding sleeve pipe 530
It is realized and is linked by sliding sleeve pipe 530 and the second steering shaft 512.
Above-mentioned linkage status corresponds to the foregoing state for allowing driver to intervene Driving control vehicle, above-mentioned separation
State, which corresponds to foregoing passenger inside the vehicle, has illegal identity, and driver is not allowed to intervene the state of Driving control vehicle.
Specifically, driving mechanism 540 is connect by cable with control module 200.Control module 200 passes through detection module
100 sensing signal judges whether the state of driver allows intervention control vehicle, and result is exported to driving mechanism 540,
Drive sliding sleeve pipe to corresponding first position or the second position to control driving mechanism 540, formed steering column structure linkage or
Discrete state.In one embodiment, driving mechanism 540 is arranged to drive sliding sleeve pipe when the first steering shaft is no rotary
530 axially movable.
More specifically, Figure 13 A show the structural schematic diagram of one embodiment of sliding sleeve pipe provided by the invention.In such as Figure 13 A
Shown in the present embodiment, the sliding sleeve pipe that is provided is double-deck sliding sleeve pipe, including sliding sleeve inner tube 531 and sliding sleeve outer tube 532, sliding
It is connected by bearing 533 between set inner tube 531 and sliding sleeve outer tube 532, therefore, sliding sleeve inner tube 531 is by bearing 533 outside sliding sleeve
It can in an axial direction be moved synchronously with sliding sleeve outer tube 532 while rotation in pipe 532.
In the embodiment that above-mentioned sliding sleeve pipe is double-deck, driving mechanism is coupled with sliding sleeve outer tube, to drive sliding sleeve outer tube
532 axially movable, meanwhile, as described above, by bearing 533, sliding sleeve inner tube 531 is synchronously transported with sliding sleeve outer tube in an axial direction
It is dynamic.Therefore, in above-mentioned implementation, driving mechanism can be set to drive the axial fortune of sliding sleeve pipe when arbitrary
It is dynamic, whether do not have to distinguish the first steering shaft in the state rotated.
More specifically, driving mechanism may include push-and-pull servo mechanism and drive shaft, and push-and-pull servo mechanism has along axis
The function of push and pull, drive shaft are connect with push-and-pull servo mechanism and sliding sleeve outer tube respectively, so that the axial direction of push-and-pull servo mechanism
Push-and-pull is converted into the axial movement of sliding sleeve outer tube.In the above-described embodiments, driving mechanism can be arranged in the outside of pipeline column tube,
Drive shaft passes through steering column tube connection push-and-pull servo mechanism and sliding sleeve outer tube.
Sliding sleeve pipe as shown in FIG. 13A, sliding sleeve inner tube 531 is arranged to be longer than sliding sleeve outer tube 532, also, is being longer than cunning
The parts sliding sleeve inner tube 531A of outer tube 532 are covered, the outer surface of sliding sleeve inner tube 531A is provided with stop tooth, and Figure 13 B show amplification
The parts sliding sleeve inner tube 531A structural schematic diagram, several stop tooths 534 are arranged in the outer surface of sliding sleeve inner tube 531.
Figure 11, Figure 12 are can refer to provided in the embodiment of stop tooth 534 above-mentioned, the inner surface of steering column tube 520 is matched
It is provided at least one scotch 521 engaged with stop tooth 534 with closing.More specifically, in conjunction with Fig. 1, in discrete state, stop
Block 521 is caught between adjacent stop tooth 534, to prevent sliding sleeve inner tube from rotating；In conjunction with Fig. 2, in linkage status, scotch 521
It is mutually staggered with stop tooth 534, does not influence the rotation of sliding sleeve inner tube.
It will be appreciated by those skilled in the art that above-mentioned stop tooth includes but not limited to be arranged in the reality with the double-deck sliding sleeve pipe
On the outer surface for applying the sliding sleeve inner tube in example, the outer surface of the sliding sleeve pipe of single layer also may be provided at.
It is provided in the embodiment of stop tooth in above-mentioned sliding sleeve tube outer surface, under discrete state, sliding sleeve pipe and first turn
It is coupled to axis, the scotch being used cooperatively with above-mentioned stop tooth is positioned close to the steering column tube inner surface of steering wheel side.It is logical
Cross aforesaid way, under discrete state, by way of controlling stop sliding sleeve pipe the first steering shaft of stop and with first turn to
The steering wheel of axis coupling so that under discrete state, driver has no idea steering wheel rotation.Steering wheel can not arbitrarily be turned
In the case of dynamic, thus the associated vehicle information of middle control instrument board will not be rotated after steering wheel blocked, driver is still
It can check information of vehicles on middle control instrument board.
It will be appreciated by those skilled in the art that being provided with stop tooth in sliding sleeve tube outer surface, there is in steering column tube cooperation
In the case of the scotch used, the steering shaft for connecting steering wheel and turning machine can be set to be a complete steering
Axis, and the steering shaft of separate type provided by the present invention can better ensure that the effect of separation transmission, for more preferably embodiment.
Sliding sleeve pipe is set to exist by the way that the steering shaft and sliding sleeve pipe of separation is arranged according to steering column structure provided by the present invention
Linkage status and discrete state switching so that under discrete state, the steering force from steering wheel is interrupted, driver without
Method controls the steering of vehicle by steering wheel rotation, and then prevents in the case of there is runaway convict in the car, and driver can also
Control vehicle simultaneously helps runaway convict to flee from.
The present invention also provides a kind of controller of vehicle, the vehicle for having automatic Pilot, including processor and coupling
It is bonded to the memory of processor, computer instruction is stored on memory, processor is implemented in computer instructions such as this
Invention provides the step of control method for vehicle.
The present invention also provides a kind of computer readable storage mediums, are stored thereon with computer-readable instruction, the calculating
The step in the above method is realized when machine readable instruction is executed by processor.
Wherein, the specific implementation side of controller of vehicle and computer readable storage medium and specific module therein
Formula and technique effect can be found in the embodiment of above-mentioned controller of vehicle and control method, and details are not described herein.
Those skilled in the art will further appreciate that, the various illustratives described in conjunction with the embodiments described herein
Logic plate, module, circuit and algorithm steps can be realized as electronic hardware, computer software or combination of the two.It is clear
Explain to Chu this interchangeability of hardware and software, various illustrative components, frame, module, circuit and step be above with
Its functional form makees generalization description.Such functionality be implemented as hardware or software depend on concrete application and
It is applied to the design constraint of total system.Technical staff can realize each specific application described with different modes
Functionality, but such realization decision should not be interpreted to cause departing from the scope of the present invention.
Although to simplify explanation to illustrate the above method and being described as a series of actions, it should be understood that and understand,
The order that these methods are not acted is limited, because according to one or more embodiments, some actions can occur in different order
And/or with from it is depicted and described herein or herein it is not shown and describe but it will be appreciated by those skilled in the art that other
Action concomitantly occurs.
In conjunction with presently disclosed embodiment describe various illustrative logic modules and circuit can use general processor,
Digital signal processor (DSP), application-specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic
Device, discrete door or transistor logic, discrete hardware component or its be designed to carry out any group of function described herein
It closes to realize or execute.General processor can be microprocessor, but in alternative, which can be any routine
Processor, controller, microcontroller or state machine.Processor is also implemented as the combination of computing device, such as DSP
With the combination of microprocessor, multi-microprocessor, one or more microprocessors to cooperate with DSP core or any other this
Class configures.
It can be embodied directly in hardware, in by processor in conjunction with the step of method or algorithm that embodiment disclosed herein describes
It is embodied in the software module of execution or in combination of the two.Software module can reside in RAM memory, flash memory, ROM and deposit
Reservoir, eprom memory, eeprom memory, register, hard disk, removable disk, CD-ROM or known in the art appoint
In the storage medium of what other forms.Exemplary storage medium is coupled to processor so that the processor can be from/to the storage
Medium reads and writees information.In alternative, storage medium can be integrated into processor.Pocessor and storage media can
It resides in ASIC.ASIC can reside in user terminal.In alternative, pocessor and storage media can be used as discrete sets
Part is resident in the user terminal.
In one or more exemplary embodiments, described function can be in hardware, software, firmware, or any combination thereof
Middle realization.If being embodied as computer program product in software, each function can be used as the instruction of one or more items or generation
Code may be stored on the computer-readable medium or is transmitted by it.Computer-readable medium includes computer storage media and communication
Both media comprising any medium for facilitating computer program to shift from one place to another.Storage medium can be can quilt
Any usable medium that computer accesses.It is non-limiting as example, such computer-readable medium may include RAM, ROM,
EEPROM, CD-ROM or other optical disc storage, disk storage or other magnetic storage apparatus can be used to carrying or store instruction
Or data structure form desirable program code and any other medium that can be accessed by a computer.Any connection is also by by rights
Referred to as computer-readable medium.For example, if software is using coaxial cable, fiber optic cables, twisted-pair feeder, digital subscriber line
(DSL) or the wireless technology of such as infrared, radio and microwave etc is passed from web site, server or other remote sources
It send, then the coaxial cable, fiber optic cables, twisted-pair feeder, DSL or such as infrared, radio and microwave etc is wireless
Technology is just included among the definition of medium.Disk (disk) and dish (disc) as used herein include compression dish
(CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and blu-ray disc, which disk (disk) are often reproduced in a manner of magnetic
Data, and dish (disc) with laser reproduce data optically.Combinations of the above should also be included in computer-readable medium
In the range of.
Offer is that can make or use this public affairs to make any person skilled in the art all to the previous description of the disclosure
It opens.The various modifications of the disclosure all will be apparent for a person skilled in the art, and as defined herein general
Suitable principle can be applied to spirit or scope of other variants without departing from the disclosure.The disclosure is not intended to be limited as a result,
Due to example described herein and design, but should be awarded and principle disclosed herein and novel features phase one
The widest scope of cause.
Claims (26)
1. a kind of vehicle control system, for the vehicle with automatic Pilot, the vehicle control system includes：
Detection module, the biological characteristic for detecting passenger；
Control module, for determining whether the passenger has illegal identity based on the biological characteristic, if illegal identity, then
The manual drive control unit of vehicle described in locking is simultaneously alarmed.
2. vehicle control system as described in claim 1, which is characterized in that the control module controls the Tbox of the vehicle
The biological characteristic is uploaded to cloud server by module, based on the Tbox modules receive in response to the biological characteristic
Feedback result determine the passenger whether have illegal identity.
3. vehicle control system as described in claim 1, which is characterized in that the passenger includes driver, the detection mould
Block includes the fingerprint identification unit being located on one-key start button, for obtaining the finger print information of the driver as the life
Object feature.
4. vehicle control system as described in claim 1, which is characterized in that the detection module includes image acquisition unit,
For obtaining the face-image of the passenger as the biological characteristic.
5. vehicle control system as described in claim 1, which is characterized in that if illegal identity, the control module control
The Tbox modules of the vehicle send alarm signal to public security alarm system.
6. vehicle control system as claimed in claim 5, which is characterized in that if illegal identity, the control module control
The Tbox modules of the vehicle send the real time position of the vehicle to public security alarm system.
7. vehicle control system as described in claim 1, which is characterized in that if illegal identity, the control module is into one
Step receives take over control instruction described in the take over control instruction from public security department and execution by the Tbox modules of the vehicle
To control the vehicle.
8. vehicle control system as claimed in claim 7, which is characterized in that if illegal identity, the control module is into one
Step is started the Function for Automatic Pilot of the vehicle in response to the take over control instruction and is referred to automatic running to the take over control
Enable specified position.
9. vehicle control system as described in claim 1, which is characterized in that the manual drive control unit includes being connected to
Steering column structure between the steering wheel and turning machine of the vehicle, if illegal identity, described in the control module locking
Steering column structure.
10. vehicle control system as claimed in claim 9, which is characterized in that the steering column structure include steering column tube and
Across the steering shaft of the steering column tube, which is characterized in that the steering shaft surface carries spline structure, and the steering shaft includes
The first steering shaft and the second steering shaft of separation, first steering shaft and the steering wheel couple, second steering shaft with
The turning machine coupling, the steering column tube is interior to be equipped with sliding sleeve pipe, and the inner surface of the sliding sleeve pipe carries and the steering shaft table
The corresponding spline structure in face, the sliding sleeve pipe have first position and the second position in axial direction in the steering column tube,
When the sliding sleeve pipe is located at the first position, the sliding sleeve pipe is turned to described first respectively by the spline structure
Axis is coupled with second steering shaft, and first steering shaft links with second steering shaft to form the connection of steering column structure
Dynamic state,
If not meeting manual drive requirement, the control module controls the sliding sleeve pipe and moves to the second position, the cunning
Casing is coupled by the spline structure and one of first steering shaft and second steering shaft, described first turn
It is detached to axis with second steering shaft to form the discrete state of steering column structure.
11. vehicle control system as described in claim 1, which is characterized in that the manual drive control unit brake pedal
Structure, if illegal identity, brake pedal structure described in the control module locking.
12. vehicle control system as claimed in claim 11, which is characterized in that the brake pedal structure includes pedal arm,
Rotatable block is provided on the pedal arm, the brake pedal structure includes the baffle with through-hole, the through-hole
Shape is consistent with the contour shape of the block, and the brake pedal structure includes unlocked state and lock-out state, when the gear
Block rotate to the through-hole match corresponding precalculated position when, the block is described logical with moving across for the pedal arm
Hole forms the unlocked state,
If not meeting manual drive requirement, the control module controls the block and rotates to deviateing the precalculated position, described
Block forms the lock-out state by the baffle to prevent the pedal arm from moving.
13. a kind of control method for vehicle, the vehicle for having automatic Pilot, the vehicle include detection module, the vehicle
Control method includes：
Detect the biological characteristic of passenger；And
Determine whether the passenger has illegal identity based on the biological characteristic, if illegal identity, then vehicle described in locking
Manual drive control unit and alarm.
14. control method for vehicle as claimed in claim 13, which is characterized in that it is illegal whether the determination passenger has
Identity includes：
The biological characteristic is uploaded to cloud server；
Determine whether the passenger has based on the feedback result in response to the biological characteristic from the cloud server
Illegal identity.
15. control method for vehicle as claimed in claim 13, which is characterized in that the biological characteristic of the detection passenger includes profit
Fingerprint identification unit on the one-key start button of the vehicle is used to obtain the finger print information of driver as the biological characteristic.
16. control method for vehicle as claimed in claim 13, which is characterized in that the biological characteristic of the detection passenger includes obtaining
Take the face-image of the passenger as the biological characteristic.
17. control method for vehicle as claimed in claim 13, which is characterized in that the alarm includes the control vehicle
Tbox modules send alarm signal to public security alarm system.
18. control method for vehicle as claimed in claim 17, which is characterized in that further include to described in the transmission of public security alarm system
The real time position of vehicle.
19. control method for vehicle as claimed in claim 13, which is characterized in that further include：
If illegal identity, further receives take over control instruction described in the take over control instruction from public security department and execution and come
Control the vehicle.
20. control method for vehicle as claimed in claim 19, which is characterized in that further include：
If illegal identity, start the Function for Automatic Pilot of the vehicle further in response to the take over control instruction with automatic
Travel the position specified to the take over control instruction.
21. control method for vehicle as claimed in claim 13, which is characterized in that the manual drive control unit includes connection
Steering column structure between the steering wheel and turning machine of the vehicle, the manual drive control unit of vehicle described in the locking
Part includes steering column structure described in locking.
22. control method for vehicle as claimed in claim 21, which is characterized in that the steering column structure include steering column tube and
Across the steering shaft of the steering column tube, which is characterized in that the steering shaft surface carries spline structure, and the steering shaft includes
The first steering shaft and the second steering shaft of separation, first steering shaft and the steering wheel couple, second steering shaft with
The turning machine coupling, the steering column tube is interior to be equipped with sliding sleeve pipe, and the inner surface of the sliding sleeve pipe carries and the steering shaft table
The corresponding spline structure in face, the sliding sleeve pipe is in the steering column tube with the first position and the second position in axial direction, institute
When stating sliding sleeve pipe and being located at the first position, the sliding sleeve pipe by the spline structure respectively with first steering shaft and institute
The coupling of the second steering shaft is stated, first steering shaft links with second steering shaft to form the linkage shape of steering column structure
State,
Steering column structure described in the locking includes controlling the sliding sleeve pipe to move to the second position, and the sliding sleeve pipe is logical
The spline structure and one of first steering shaft and second steering shaft is crossed to couple, first steering shaft with
The second steering shaft separation is to form the discrete state of steering column structure.
23. control method for vehicle as claimed in claim 13, which is characterized in that the manual drive control unit brake pedal
The manual drive control unit of structure, vehicle described in the locking includes brake pedal structure described in locking.
24. control method for vehicle as claimed in claim 23, which is characterized in that the brake pedal structure includes pedal arm,
Rotatable block is provided on the pedal arm, the brake pedal structure includes the baffle with through-hole, the through-hole
Shape is consistent with the contour shape of the block, and the brake pedal structure includes unlocked state and lock-out state, when the gear
Block rotate to the through-hole match corresponding precalculated position when, the block is described logical with moving across for the pedal arm
Hole forms the unlocked state,
Brake pedal structure described in the locking includes controlling the block to rotate to deviateing the precalculated position, the block quilt
The baffle forms the lock-out state to prevent the pedal arm from moving.
25. a kind of controller of vehicle, the vehicle for having automatic Pilot, including processor and being coupled to the processor
Memory, computer instruction is stored on the memory, and the processor is implemented when executing the computer instruction as weighed
Profit requires the step of method described in any one of 13-24.
26. a kind of computer-readable medium is stored thereon with computer-readable instruction, the computer-readable instruction is by handling
The step of implementing the method described in any one of claim 13-24 when device executes.
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| CN201810620174.6A CN108791191B (en) | 2018-06-15 | 2018-06-15 | Vehicle control system and vehicle control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810620174.6A CN108791191B (en) | 2018-06-15 | 2018-06-15 | Vehicle control system and vehicle control method |
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| CN111597866A (en) * | 2019-09-04 | 2020-08-28 | 张冬梅 | Wireless data field transmitting and receiving system, method and storage medium |
| CN111741252A (en) * | 2019-12-17 | 2020-10-02 | 陈久全 | Vehicle intelligent movement skynet system |
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| CN108791191B (en) | 2020-08-18 |
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