CN108791191B

CN108791191B - Vehicle control system and vehicle control method

Info

Publication number: CN108791191B
Application number: CN201810620174.6A
Authority: CN
Inventors: 徐少阳
Original assignee: WM Smart Mobility Shanghai Co Ltd
Current assignee: WM Smart Mobility Shanghai Co Ltd
Priority date: 2018-06-15
Filing date: 2018-06-15
Publication date: 2020-08-18
Anticipated expiration: 2038-06-15
Also published as: CN108791191A

Abstract

The invention provides a vehicle control system and a vehicle control method, which are used for a vehicle with automatic driving, and the vehicle control system comprises: a detection module for detecting a biometric characteristic of a passenger; and the control module is used for determining whether the passenger has an illegal identity based on the biological characteristics, and if the passenger has the illegal identity, locking the manual driving control part of the vehicle and giving an alarm. The control mode of timely adjusting the vehicle is automatic driving by judging whether the passenger has an illegal identity or not, so that the vehicle can not be controlled by the passenger with the illegal identity, and an alarm is given to assist the police to catch the passenger with the illegal identity.

Description

Vehicle control system and vehicle control method

Technical Field

The present invention relates to the field of vehicle control, and more particularly to the field of vehicle control with an autopilot function.

Background

With the progress of technology, unmanned vehicles are rapidly developed. In 2013, the National Highway Traffic Safety Administration (NHTSA, National Highway Traffic Safety Administration) issued a five-level standard for automotive automation to cope with the explosive growth of active Safety technologies of automobiles, specifically: level 0: no automatic driving: the driver can control the running of the automobile at all times, including braking, steering, throttle and power transmission. Any driving assistance technology, as long as a person is still required to control the automobile, belongs to Level 0.

Level 1: with automatic driving with specific functions, the driver is still responsible for driving safety, but some functions have been performed automatically, such as common Adaptive Cruise Control (ACC), Emergency Brake Assist (EBA), Lane Keeping (LKS). The method is characterized in that the Level 1 has only a single function, and a driver cannot control hands and feet simultaneously.

Level 2: in the automatic driving with the composite function, a driver can not operate the automobile under certain preset environments, namely hands and feet leave the control at the same time, but the driver still needs to be responsible for driving safety and is ready to take over the driving right of the automobile in a short time at any time. Such as a car following function combining ACC and LKS. The core of Level 2 is not to have more than two functions, but rather that the driver can no longer be the primary operator.

Level 3: unmanned driving with limited conditions, vehicles automatically drive and bear the responsibility of building safety in a preset Road section (such as a high-speed urban Road section with less people flow), and drivers still need to take over the vehicles at some time, but have enough early warning time, such as a Road work ahead (Road work ahead) to enter a Road repair. Level3 will liberate the driver, i.e. no longer be responsible for driving safety, and it is not necessary to monitor the road conditions.

Level 4: and (4) unmanned driving under all working conditions. The automobile does not have a driver any more, only needs the information of a starting point and an end point, is in charge of driving safety in the whole process, and does not depend on the interference of the driver at all. When the vehicle is driven, no one can ride the vehicle (such as empty freight).

The Society of Automotive Engineers (SAE) published similar standards for Automotive automation in 2013, which details the state between Level3 and Level4 published by NHTSA, specifically: level0 (without automation): the car is operated by a human driver in full authority, and can be assisted by a warning and protection system during driving.

Level 1 (driving support): the driving assistance is provided for one of the operation of the steering wheel and the acceleration/deceleration by the driving environment, and the operation of the other driving operation is performed by the human driver.

Level 2 (partially automated): the driving support is provided for a plurality of operations in the steering wheel and acceleration/deceleration by the driving environment, and other driving actions are operated by the human driver.

Level3 (conditional automation): all driving operations are completed by the unmanned system. Upon request by the system, the human driver provides an appropriate response.

Level4 (highly automated): all driving operations are completed by the unmanned system. Depending on the system request, the human driver does not necessarily need to respond to all system requests, define road and environmental conditions, etc.

Level 5 (fully automated): all driving operations are completed by the unmanned system. The human driver takes over when possible. Driving under all road and environmental conditions.

In the using process of the vehicle, especially the shared vehicle and the robbed and stolen vehicle are easily utilized by the criminal suspects to enable the criminal suspects to escape. When the vehicle is an unmanned vehicle, if the vehicle is provided with an unmanned function, particularly the vehicle provided with the unmanned function of L3 or L4 or even above, in the using process, personnel in the vehicle can be identified, if a criminal suspect or a real evasion is found in the vehicle, the vehicle is controlled to be in an unmanned mode, the driver is not allowed to participate in vehicle control, and the evasion information is reported to a public security department in time, so that the public security department can conveniently catch the evasion. Therefore, a vehicle control system and a control method capable of realizing the above functions are demanded.

Disclosure of Invention

The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.

In order to achieve the above object, to prevent evasion by a shared car or robbed and stolen vehicles, the present invention provides a vehicle control system for a vehicle having an automatic driving, the vehicle control system comprising: a detection module for detecting a biometric characteristic of a passenger; and the control module is used for determining whether the passenger has an illegal identity based on the biological characteristics, and if the passenger has the illegal identity, locking the manual driving control part of the vehicle and giving an alarm.

In the vehicle control system, optionally, the control module controls a Tbox module of the vehicle to upload the biometric feature to a cloud server, and determines whether the passenger has an illegal identity based on a feedback result received by the Tbox module in response to the biometric feature.

In the vehicle control system as described above, optionally, the passenger includes a driver, and the detection module includes a fingerprint identification unit located on a one-touch start button, and is configured to acquire fingerprint information of the driver as the biometric feature.

In the vehicle control system as described above, optionally, the detection module includes an image acquisition unit configured to acquire a facial image of the passenger as the biometric feature.

Optionally, if the vehicle control system is an illegal identity, the control module controls the Tbox module of the vehicle to send an alarm signal to a public security alarm system.

Optionally, if the vehicle control system is an illegal identity, the control module controls the Tbox module of the vehicle to send the real-time position of the vehicle to the public security alarm system.

Optionally, in the vehicle control system, if the vehicle is an illegal identity, the control module further receives a take-over control instruction from a public security department through a Tbox module of the vehicle and executes the take-over control instruction to control the vehicle.

In the vehicle control system, optionally, if the vehicle is illegal, the control module further starts an automatic driving function of the vehicle in response to the takeover control instruction to automatically drive to a position specified by the takeover control instruction.

In the vehicle control system, optionally, the manual driving control component includes a steering column structure connected between a steering wheel and a steering engine of the vehicle, and the control module locks the steering column structure if the steering column structure is illegal.

In the vehicle control system as described above, optionally, the steering column structure includes a steering column tube and a steering shaft penetrating through the steering column tube, the surface of the steering shaft has a spline structure, the steering shaft includes a first steering shaft and a second steering shaft which are separated, the first steering shaft is coupled with the steering wheel, the second steering shaft is coupled with the steering machine, a sliding sleeve is arranged in the steering column tube, an inner surface of the sliding sleeve has a spline structure corresponding to the surface of the steering shaft, the sliding sleeve has a first position and a second position in an axial direction in the steering column tube, when the sliding sleeve is located in the first position, the sliding sleeve is respectively coupled with the first steering shaft and the second steering shaft through the spline structure, and the first steering shaft and the second steering shaft are interlocked to form an interlocked state of the steering column structure, if the manual driving requirement is not met, the control module controls the sliding sleeve to move to the second position, the sliding sleeve is coupled with one of the first steering shaft and the second steering shaft through the spline structure, and the first steering shaft is separated from the second steering shaft to form a separated state of the steering column structure.

In the vehicle control system, optionally, the manual driving control component is configured to brake the pedal structure, and if the manual driving control component is illegal, the control module locks the brake pedal structure.

According to the vehicle control system, optionally, the brake pedal structure comprises a pedal arm, a rotatable stop block is arranged on the pedal arm, the brake pedal structure comprises a baffle plate with a through hole, the shape of the through hole is consistent with the outline shape of the stop block, the brake pedal structure comprises an unlocking state and a locking state, when the stop block rotates to a preset position corresponding to the through hole in a matched mode, the stop block penetrates through the through hole along with the movement of the pedal arm to form the unlocking state, and if the manual driving requirement is not met, the control module controls the stop block to rotate to deviate from the preset position, and the stop block is blocked by the baffle plate, so that the pedal arm is prevented from moving to form the locking state.

The invention also provides a vehicle control method for a vehicle with automatic driving, the vehicle comprises a detection module, and the vehicle control method comprises the following steps: detecting a biometric characteristic of the passenger; and determining whether the passenger has an illegal identity based on the biological characteristics, and if the passenger has the illegal identity, locking a manual driving control part of the vehicle and giving an alarm.

The vehicle control method as described above, optionally, the determining whether the passenger has an illegal identity comprises: uploading the biological characteristics to a cloud server; determining whether the passenger has an illegal identity based on a feedback result from the cloud server in response to the biometric.

As the vehicle control method described above, optionally, the detecting the biometric characteristic of the passenger includes acquiring fingerprint information of the driver as the biometric characteristic using a fingerprint recognition unit on a one-key-on button of the vehicle.

As the vehicle control method described above, optionally, the detecting the biometric characteristic of the passenger includes acquiring a face image of the passenger as the biometric characteristic.

In the vehicle control method, optionally, the warning includes controlling a Tbox module of the vehicle to send a warning signal to a public security warning system.

The vehicle control method optionally further comprises sending the real-time position of the vehicle to a public security alarm system.

The vehicle control method as described above, optionally, further includes: and if the vehicle is illegal, further receiving a takeover control instruction from a public security department and executing the takeover control instruction to control the vehicle.

The vehicle control method as described above, optionally, further includes: and if the vehicle is illegal, further responding to the takeover control instruction to start the automatic driving function of the vehicle so as to automatically drive to the position specified by the takeover control instruction.

As the vehicle control method described above, optionally, the manual driving control means includes a steering column structure connected between a steering wheel and a steering machine of the vehicle, and the locking the manual driving control means of the vehicle includes locking the steering column structure.

In the vehicle control method, optionally, the steering column structure includes a steering column tube and a steering shaft penetrating through the steering column tube, the surface of the steering shaft has a spline structure, the steering shaft includes a first steering shaft and a second steering shaft which are separated, the first steering shaft is coupled with the steering wheel, the second steering shaft is coupled with the steering engine, a sliding sleeve is arranged in the steering column tube, the inner surface of the sliding sleeve has a spline structure corresponding to the surface of the steering shaft, the sliding sleeve has a first position and a second position in the axial direction in the steering column tube, when the sliding sleeve is located in the first position, the sliding sleeve is respectively coupled with the first steering shaft and the second steering shaft through the spline structure, and the first steering shaft and the second steering shaft are interlocked to form an interlocked state of the steering column structure, the locking the steering column structure includes controlling the sliding sleeve to move to the second position, the sliding sleeve being coupled with one of the first steering shaft and the second steering shaft through the spline structure, the first steering shaft being separated from the second steering shaft to form a separated state of the steering column structure.

In the vehicle control method described above, optionally, the manual driving control part brakes a pedal structure, and locking the manual driving control part of the vehicle includes locking the brake pedal structure.

In the vehicle control method, optionally, the brake pedal structure includes a pedal arm, a rotatable stopper is disposed on the pedal arm, the brake pedal structure includes a baffle plate with a through hole, the through hole has a shape corresponding to a contour of the stopper, the brake pedal structure includes an unlocked state and a locked state, when the stopper rotates to a predetermined position corresponding to the through hole, the stopper passes through the through hole along with the movement of the pedal arm to form the unlocked state, and the locking the brake pedal structure includes controlling the stopper to rotate to deviate from the predetermined position, and the stopper is blocked by the baffle plate to prevent the movement of the pedal arm to form the locked state.

The invention also provides a vehicle control device for a vehicle with autonomous driving, comprising a processor and a memory coupled to the processor, the memory having stored thereon computer instructions, the processor, when executing the computer instructions, performing the steps of the vehicle control method as described above.

The invention also provides a computer readable medium having stored thereon computer readable instructions which, when executed by a processor, implement the steps of the vehicle control method as described above.

According to the vehicle control system and the vehicle control method provided by the invention, in the using process, personnel in the vehicle can be identified, if a criminal suspect or real evasion is found in the vehicle, the vehicle is controlled to be in an unmanned mode, a driver is not allowed to participate in vehicle control, and evasion information is reported to a public security department in time, so that the public security department can conveniently capture evasion.

Drawings

The above features and advantages of the present disclosure will be better understood upon reading the detailed description of embodiments of the disclosure in conjunction with the following drawings. In the drawings, components are not necessarily drawn to scale, and components having similar relative characteristics or features may have the same or similar reference numerals.

FIG. 1A shows a schematic diagram of a vehicle control system provided by the present invention.

FIG. 1B is a flow chart illustrating a vehicle control method provided by the present invention.

Fig. 2 is a schematic diagram of an embodiment of a detection module provided by the present invention.

Fig. 3 is a schematic diagram of an embodiment of a control module provided by the present invention.

Fig. 4 is a schematic diagram of an embodiment of a manual driving component provided by the invention.

Fig. 5 shows a front view of a brake pedal provided by the present invention.

Fig. 6A is a partially enlarged schematic view showing an unlocked state of the first embodiment of the brake pedal provided by the present invention.

Fig. 6B is a partially enlarged schematic view showing a locked state of the first embodiment of the brake pedal according to the present invention.

Fig. 7A is a partially enlarged schematic view illustrating an unlocked state of a second embodiment of the brake pedal according to the present invention.

Fig. 7B is a partially enlarged schematic view showing a locked state of the second embodiment of the brake pedal according to the present invention.

Fig. 8A is a partially enlarged schematic view showing an unlocked state of the third embodiment of the brake pedal provided by the present invention.

Fig. 8B is a partially enlarged schematic view showing a locked state of the third embodiment of the brake pedal according to the present invention.

Fig. 9A is a partially enlarged schematic view showing an unlocked state of the fourth embodiment of the brake pedal provided by the present invention.

Fig. 9B is a partially enlarged schematic view showing a locked state of the fourth embodiment of the brake pedal according to the present invention.

Fig. 10A is a partially enlarged schematic view showing an unlocked state of the fifth embodiment of the brake pedal provided by the present invention.

Fig. 10B is a partially enlarged schematic view showing a locked state of the fifth embodiment of the brake pedal according to the present invention.

Fig. 11 is a schematic structural view showing a separated state of a steering column structure provided by the present invention.

Fig. 12 is a schematic structural view showing a linkage state of a steering column structure provided by the present invention.

Fig. 13A shows a schematic structural diagram of an embodiment of the sliding sleeve provided by the present invention.

FIG. 13B shows a close-up view of an embodiment of a slip sleeve provided by the present invention.

Reference numerals

Detection module 100

Fingerprint identification unit 110

Image acquisition unit 120

Control module 200

TBox Module 210

Manual steering component 300

Brake pedal 400

Brake pedal base 411

Pedal arm 412

Stoppers

413, 423, 433, 443, 453, 463

Main body 4231

Stop block 4232

Baffles

414, 424, 434, 444, 454, 464

Through

holes

4241, 4341, 4441, 4541, 4641

Dog shaft 425

Rotating electric machine 426

Steering column 500

First steering shaft 511

Second steering shaft 512

Steering column tube 520

Stop block 521

Sliding sleeve 530

Sliding sleeve inner tube 531

Sliding sleeve outer tube 532

Bearing 533

Stop tooth 534

Drive mechanism 540

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments. It is noted that the aspects described below in connection with the figures and the specific embodiments are only exemplary and should not be construed as imposing any limitation on the scope of the present invention.

As described above, the present invention provides a vehicle control system for a vehicle equipped with automatic driving. FIG. 1A shows a schematic diagram of a vehicle control system provided by the present invention, the vehicle control system comprising: a detection module 100 for detecting a biometric characteristic of a passenger; and a control module 200 for judging whether the passenger has an illegal identity based on the detected biometric characteristic, and locking the manual driving control part 300 of the vehicle and alarming if the passenger has an illegal identity.

FIG. 1B is a flow chart illustrating a vehicle control method provided by the present invention. In case the vehicle is ready at step S101, step S102 is performed, the control detection module detects the biometric characteristic of the passenger and transmits the detection result to the control module, step S103 is then performed, the control module determines whether the passenger has an illegal identity based on the detected biometric characteristic, and if the passenger has an illegal identity, step S104 is performed, the control module controls the manual driving control part of the locked vehicle and gives an alarm.

Specifically, the detection module 100 provided by the present invention may include a fingerprint recognition unit 110 and/or an image acquisition unit 120 located on a one-touch start button, as shown in fig. 2.

In an embodiment where the detection module 100 includes the fingerprint recognition unit 110, the control module 200 controls the detection module 100 to detect whether the passenger has an illegal identity includes controlling the fingerprint recognition unit 110 to acquire fingerprint information of the driver as the biometric characteristic in step S102. More specifically, the fingerprint recognition unit 110 provided by the present invention is provided on a one-key start button of a vehicle, and thus, in order to start the vehicle, fingerprint information of a driver must be entered. So that the driver with the evasion identity can not utilize the automobile as an escape tool by not starting the automobile; or the automobile is selected to be started, the identity and the position information of the automobile are exposed according to the system and the method provided by the invention, and convenience is provided for arresting the evasion by a public security department. It will be appreciated by those skilled in the art that the fingerprint identification unit 110 may be implemented by currently preferred radio frequency fingerprint identification technology, or by optical fingerprint identification systems, capacitive sensors, etc., or by future fingerprint identification technology and corresponding devices.

In the embodiment where the detection module 100 includes the image acquisition unit 120, in step S102, the control module 200 controls the detection module 100 to detect whether the passenger has an illegal identity includes controlling the image acquisition unit 120 to acquire a facial image of the passenger as a biometric feature. More specifically, the image capturing unit 120 may be a camera, and the angle of view of the camera is set to cover the front and rear seats in the vehicle interior, so as to perform facial image recognition on the person in the vehicle interior. Those skilled in the art should appreciate that the camera may be a digital camera, an analog camera, a monocular camera, or a binocular camera. The visual angle of the camera provided by the invention can cover the front and rear seats in the vehicle to identify the facial images of passengers in the whole vehicle, and a person skilled in the art can understand that a fixed-focus lens, such as a short-focus wide-angle or ultra-wide-angle fixed-focus lens, can be selected; or a zoom lens is selected.

As shown in fig. 3, the control module 200 of the present invention controls the TBox module 210 of the vehicle to upload the biometric features detected by the detection module 100 to the cloud server, and determines whether the passenger has an illegal identity based on the feedback result received by the TBox module 210 in response to the biometric features. The cloud server stores the information of the evasion of the public security department and can update the information of the evasion of the public security department in real time. The stored evasion information may include facial image information of evasion, fingerprint information of evasion, and the like, which include biological characteristics of evasion, and a feedback result of whether the passenger in the vehicle is an evasion issued by the public security department can be obtained through a process of comparing and discriminating the biological characteristics of the passenger in the vehicle detected by the in-vehicle detection unit 100 with the evasion information stored in the cloud server. The control module 200 confirms whether the in-vehicle passenger has an illegal identity based on the feedback result received by the TBox module 210 in response to the biometrics, and locks a manual control part of the vehicle in the case where the in-vehicle passenger has an illegal identity.

The control module 200 can further send alarm information to a public security alarm system and receive a takeover control instruction from a public security department under the condition that the passenger in the vehicle is confirmed to have illegal identity by controlling the TBox module 210. The control module 200 controls the automatic driving of the vehicle according to the take-over control instruction of the public security department, so that the vehicle carrying the escaped is controlled by the public security department, and the public security department can catch the escaped. Further, since the vehicle control system and the vehicle control method provided by the present invention are used for a vehicle with an automatic driving function, the receiving of the take-over control command from the public security department may be receiving position information from the public security department, the control module 200 automatically drives the vehicle with a fleeing person to a position designated by the public security department by controlling the automatic driving of the vehicle, and in the process, once the fleeing person is found in the vehicle, the control module 200 locks the door of the vehicle, the passenger in the vehicle cannot open the getting-off door, thereby preventing the fleeing person from opening the door to jump the vehicle and escaping when the fleeing person finds that the vehicle cannot be controlled by the person.

As shown in FIG. 4, the manual steering component 300 provided by the present invention may include a brake pedal 400 and/or a steering column 500. The brake pedal 400 has an unlocked state corresponding to a state in which no violation is present in the vehicle and manual driving is permitted, and a locked state corresponding to a state in which violation is present in the vehicle and manual driving is not permitted. The steering column 500 has a linkage state corresponding to a state in which no escapement exists in the vehicle and manual driving is permitted, and a separation state corresponding to a state in which there is an escapement in the vehicle and manual driving is not permitted.

Please refer to fig. 5-10B to understand the details of the brake pedal 400 provided by the present invention. Fig. 5 shows a front view of a brake pedal provided by the present invention. As shown in fig. 5, a brake pedal structure is provided on the brake pedal base 411, and the brake pedal arm 412 reciprocates in response to the stepping of the driver, and according to the degree of the movement, converts into the friction force of the wheel against the ground, thereby performing a braking function. A rotatable stopper 413 is provided on the pedal arm 412 to reciprocate together with the pedal arm 412 in response to the stepping of the driver, and at the same time, the stopper 413 is rotatable within a plane in which the stopper 413 is located. The brake pedal structure comprises a baffle 414 with a through hole, and the shape of the through hole arranged on the baffle 414 is consistent with the contour shape of the stop 413. The brake pedal structure comprises an unlocking state and a locking state, when the stop piece 413 rotates to a preset position corresponding to the through hole, the stop piece 413 penetrates through the through hole along with the movement of the pedal arm 412 to form the unlocking state; when the stopper 413 rotates to deviate from a predetermined position, the stopper 413 is stopped by the stopper 414, thereby preventing the pedal arm 412 from moving, resulting in a locked state.

The above-described unlocked state corresponds to a state in which the driver is allowed to intervene in the drive-controlled vehicle as described above, and the above-described locked state corresponds to a state in which the passenger in the vehicle is found to have the information of the evasion as described above, and the driver is not allowed to intervene in the drive-controlled vehicle.

When the stopper 413 is at the predetermined position, the shape of the stopper 413 projected in the plane of the baffle 414 can be completely covered by the shape of the through hole provided in the baffle 414, and thus, at the predetermined position, the stopper 413 is aligned to match the position of the through hole, so that at the predetermined position, the stopper 413 can smoothly pass through the through hole by the pedal arm 412. In the unlocked state, the stop 413 does not act to block the movement of the pedal arm 412. When the stopper 413 deviates from the above-mentioned predetermined position, the shape of the stopper 413 projected in the plane of the shutter 414 cannot be completely covered by the through-hole shape provided on the shutter 414, and thus, in the case of deviating from the above-mentioned predetermined position, the part of the stopper 413 which is not covered by the through-hole shape is blocked by the shutter 414, thereby preventing the movement of the pedal arm 412.

Fig. 6A and 6B are partially enlarged schematic views of the brake pedal structure according to the first embodiment of the present invention in an unlocked state and a locked state, respectively. In the first embodiment of the brake pedal structure shown in fig. 6A and 6B, the stopper 423 is shaped to include a main body portion 4231 and two stopper pieces 4232, and the stopper pieces 4232 are provided on the main body portion 4231 and extend outward along the main body portion 4231.

As shown in fig. 6A, the through hole 4241 provided on the stopper 424 has a shape conforming to the contour of the stopper 423, and in the unlocked state, the stopper 423 smoothly passes through the through hole 4241 at a predetermined position as shown in the drawing with the movement of the pedal arm 412.

As shown in fig. 6B, when the stopper 423 is deviated from the predetermined position, the stopper 4232 abuts against the stopper 424 at the through hole 4241, thereby preventing the stopper 423 from passing through the through hole 4241 and preventing the movement of the pedal arm 412.

It should be understood by those skilled in the art that the number of the stoppers 4232 is not limited to two in the embodiment, and at least one brake block 4232 may be provided as needed to enable the stopper 4232 to abut against the stopper 424 at the through hole 4241 when the stopper 423 is rotated to deviate from a predetermined position. It should also be understood by those skilled in the art that when there are two stop blocks 4232, the positions and extending directions thereof are not limited to being on a straight line as shown in fig. 6A or 6B. When the number of the stoppers 4232 is not 2, the positions where the stoppers 4232 are provided and the extending direction may be provided as needed.

In the embodiment shown in fig. 6A and 6B, the stopper 423 is shown connected to the rotary motor 426 through the stopper rotation shaft 425 so as to be disposed on the pedal arm 412. The rotary motor 426 controls the rotation of the stopper rotating shaft 425 to rotate the stopper 423 to a predetermined position or deviate from the predetermined position in the plane of the stopper 423, so that the movement of the brake pedal arm 412 is locked under a specific condition, and dangerous driving is prevented.

Specifically, the rotating electric machine 426 is connected to the control module 200 by a cable. The control module 200 determines whether the passenger in the vehicle has an illegal identity through the sensing signal of the detection module 100, and outputs the result to the rotating motor 426 to control the rotating motor 426 to rotate the stopper 423 to a corresponding predetermined position or deviate from the predetermined position, so as to form an unlocked or locked state of the brake pedal.

Fig. 7A and 7B are partially enlarged schematic views respectively illustrating an unlocked state and a locked state of a second embodiment of the brake pedal structure provided by the present invention. In the present embodiment, the baffle 434 is provided with an oval through hole 4341, and the shape of the stopper 433 is oval, corresponding to the shape of the through hole 4341.

Fig. 8A and 8B are partially enlarged schematic views respectively illustrating an unlocked state and a locked state of a third embodiment of a brake pedal structure provided by the present invention. In the present embodiment, the baffle 444 is provided with a triangular through hole 4441, and the stopper 443 has a triangular shape corresponding to the shape of the through hole 4441.

Fig. 9A and 9B are partially enlarged schematic views respectively illustrating an unlocked state and a locked state of a fourth embodiment of the brake pedal structure provided by the present invention. In the present embodiment, the blocking plate 454 is provided with a rectangular through hole 4541, and the stopper 453 has a rectangular shape corresponding to the shape of the through hole 4541.

Fig. 10A and 10B are partially enlarged schematic views respectively illustrating an unlocked state and a locked state of a fifth embodiment of a brake pedal structure provided by the present invention. In this embodiment, the blocking plate 464 is provided with a diamond-shaped through hole 4641, and the shape of the block 463 is a diamond shape corresponding to the shape of the through hole 4641.

It will be appreciated by those skilled in the art that the shape of the stopper can be arbitrarily set according to actual needs, other than the perfect circle shape, and is not limited to the shape mentioned in the above-listed embodiments. Because the shape of the through hole of the baffle is consistent with the outline shape of the stop block, a preset position is always present, and the stop block penetrates through the through hole along with the movement of the pedal arm. Meanwhile, the stop block can rotate, when the stop block deviates from the preset position, the stop block is staggered with the through hole, so that the stop block is abutted to the baffle plate at the through hole, and the stop block is blocked by the baffle plate to prevent the pedal arm from moving. The shape of the stop block can be set according to the requirement, so that convenience is brought to the manufacturing process.

With reference to fig. 11-13B, the present invention provides more details of a steering column 500. As shown in fig. 11, the steering column structure is connected between a steering wheel and a steering machine of an automobile, and includes a steering column tube 520 and a steering shaft that rotates within the steering column tube 520 to transmit a steering force from the steering wheel to the steering machine to control the steering of the wheels.

In the present invention, the steering shafts are provided as a first steering shaft 511 and a second steering shaft 512 which are separated, and the surfaces of the first steering shaft 511 and the second steering shaft 512 are provided with spline structures. Wherein the first steering shaft 511 is coupled to a steering wheel and the second steering shaft 512 is coupled to a steering machine, it should be understood by those skilled in the art that the connection between the first steering shaft 511 and the steering wheel and the connection between the second steering shaft 512 and the steering machine include, but are not limited to, spline or bearing connections, and the connection between the first steering shaft 511 and the steering wheel and the connection between the second steering shaft 512 and the steering machine include, but are not limited to, direct connections.

A sliding sleeve 530 is provided in the steering column tube 520, and the inner surface of the sliding sleeve 530 is provided with a spline structure corresponding to the surface of the steering shaft. The sliding sleeve 530 is axially movable within the steering column 520, and fig. 11 shows the sliding sleeve 530 moved within the steering column 520 to a second position of a disengaged state by the drive mechanism 540. As shown in fig. 11, the sliding sleeve 530 is coupled to the first steering shaft 511 by the spline structure of the inner surface, and is disconnected from the second steering shaft 512, so that the first steering shaft 511 is separated from the second steering shaft 512, and the transmission of the steering force from the steering wheel is stopped.

Fig. 12 is a schematic structural view showing a linkage state of a steering column structure provided by the present invention. In the steering column structure shown in fig. 12, the sliding sleeve 530 is moved to the first position of the interlocked state within the steering column tube 520 by the driving mechanism 540, the sliding sleeve 530 is coupled to the first steering shaft 511 and the second steering shaft 512 by a spline structure of an inner surface, respectively, so that the steering force from the steering wheel is transmitted to the second steering shaft 512 through the sliding sleeve 530 via the first steering shaft 511, and the first steering shaft 511 is interlocked with the second steering shaft 512 through the sliding sleeve 530.

The above-described linked state corresponds to the state in which the driver is permitted to intervene in the drive-controlled vehicle as described above, and the above-described separated state corresponds to the state in which the passenger in the vehicle has an illegal identity and the driver is not permitted to intervene in the drive-controlled vehicle as described above.

Specifically, the driving mechanism 540 is connected to the control module 200 by a cable. The control module 200 determines whether the state of the driver allows intervention control of the vehicle through the sensing signal of the detection module 100, and outputs the result to the driving mechanism 540, so as to control the driving mechanism 540 to drive the sliding sleeve to the corresponding first position or second position, thereby forming a linkage or separation state of the steering column structure. In one embodiment, the drive mechanism 540 is configured to drive the sliding sleeve 530 in an axial direction when the first steering shaft is not rotating.

More specifically, fig. 13A shows a schematic structural diagram of an embodiment of the sliding sleeve provided by the present invention. In the embodiment shown in fig. 13A, the sliding sleeve pipe provided is a double-layer sliding sleeve pipe, and includes a sliding sleeve inner pipe 531 and a sliding sleeve outer pipe 532, the sliding sleeve inner pipe 531 and the sliding sleeve outer pipe 532 are connected by a bearing 533, so that the sliding sleeve inner pipe 531 can rotate in the sliding sleeve outer pipe 532 through the bearing 533 and can simultaneously move axially with the sliding sleeve outer pipe 532.

In the above-mentioned embodiment in which the sliding sleeve is a double-layer sleeve, the driving mechanism is coupled to the sliding sleeve outer tube to drive the sliding sleeve outer tube 532 to move axially, and at the same time, the sliding sleeve inner tube 531 moves axially synchronously with the sliding sleeve outer tube via the bearing 533 as described above. Therefore, in the above-described embodiment, the driving mechanism may be configured to drive the axial movement of the sliding sleeve at any time without distinguishing whether the first steering shaft is in a rotating state.

More specifically, the driving mechanism may include a push-pull servo mechanism having a function of pushing and pulling along an axis, and a driving shaft connected to the push-pull servo mechanism and the outer tube of the sliding sleeve, respectively, so that axial push-pull of the push-pull servo mechanism is converted into axial movement of the outer tube of the sliding sleeve. In the above embodiment, the drive mechanism may be disposed outside the pipeline string, and the drive shaft passes through the steering string to connect the push-pull servo mechanism and the outer tube of the sliding sleeve.

As shown in fig. 13A, the sliding sleeve inner tube 531 is arranged to be longer than the sliding sleeve outer tube 532, and the outer surface of the sliding sleeve inner tube 531A is provided with a stopping tooth at the portion of the sliding sleeve inner tube 531A that is longer than the sliding sleeve outer tube 532, and fig. 13B shows an enlarged structural schematic view of the portion of the sliding sleeve inner tube 531A, and a plurality of stopping teeth 534 are arranged at the outer surface of the sliding sleeve inner tube 531.

In the above embodiment in which the stop tooth 534 is provided, referring to fig. 11 and 12, the inner surface of the steering column 520 is cooperatively provided with at least one stop block 521 engaged with the stop tooth 534. More specifically, in conjunction with fig. 1, in the disengaged state, the stop block 521 is snapped between adjacent stop teeth 534 to prevent the inner tube of the sliding sleeve from rotating; referring to fig. 2, in the linkage state, the stop block 521 and the stop tooth 534 are staggered from each other, and the rotation of the inner tube of the sliding sleeve is not affected.

It should be understood by those skilled in the art that the above-mentioned stop teeth include, but are not limited to, those disposed on the outer surface of the inner tube of the sliding sleeve in the embodiment having the double-layer sliding sleeve, and those disposed on the outer surface of the single-layer sliding sleeve.

In the above-mentioned embodiment in which the sliding sleeve is provided with a stopping tooth on the outer surface, the sliding sleeve is coupled to the first steering shaft in the separated state, and the stopper cooperating with the above-mentioned stopping tooth is provided on the inner surface of the steering column tube on the side close to the steering wheel. In this way, the first steering shaft and the steering wheel coupled thereto are stopped by controlling the stopping slip sleeve in the separated state, so that the driver has no way to rotate the steering wheel in the separated state. Under the condition that the steering wheel cannot be rotated randomly, the related vehicle information of the central control instrument panel cannot be shielded by the rotated steering wheel, and the driver can still see the vehicle information on the central control instrument panel.

It should be understood by those skilled in the art that in the case that the sliding sleeve is provided with the stopping teeth on the outer surface and the steering column is provided with the matched stopping block inside, the steering shaft connecting the steering wheel and the steering machine can be arranged to be a complete steering shaft, and the separated steering shaft provided by the invention can better ensure the effect of separating the transmission, and is a more preferable embodiment.

According to the steering column structure provided by the invention, the sliding sleeve is switched between the linkage state and the separation state by arranging the steering shaft and the sliding sleeve which are separated, so that the steering force from the steering wheel is interrupted in the separation state, a driver cannot control the steering of the vehicle by rotating the steering wheel, and the driver can control the vehicle and help the driver escape under the condition that the driver in the vehicle escapes.

The invention also provides a vehicle control device for a vehicle with autonomous driving, comprising a processor and a memory coupled to the processor, the memory having stored thereon computer instructions, the processor, when executing the computer instructions, performing the steps of the vehicle control method according to the invention.

The present invention also provides a computer readable storage medium having stored thereon computer readable instructions which, when executed by a processor, implement the steps of the above method.

Specific implementation manners and technical effects of the vehicle control device, the computer-readable storage medium, and the specific modules therein can be found in the embodiments of the vehicle control device and the control method, and are not described herein again.

Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one skilled in the art.

The various illustrative logical modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.

In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk (disk) and disc (disc), as used herein, includes Compact Disc (CD), laser disc, optical disc, Digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks (disks) usually reproduce data magnetically, while discs (discs) reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle control system for a vehicle having autonomous driving, the vehicle control system comprising:

the detection module is used for detecting the biological characteristics of passengers and controlling a Tbox module of the vehicle to upload the biological characteristics to the cloud server;

the control module is used for determining whether the passenger has an illegal identity based on a feedback result received by the Tbox module and responding to the biological characteristics, if the passenger has the illegal identity, the manual driving control part of the vehicle is locked, an alarm is given, and furthermore, a takeover control instruction from a public security department is received through the Tbox module of the vehicle and is executed so as to control the vehicle; wherein

The control module further starts an automatic driving function of the vehicle in response to the take-over control instruction to automatically drive to a position specified by the take-over control instruction;

the manual driving control component comprises a steering column structure connected between a steering wheel and a steering engine of the vehicle, and if the steering column structure is illegal, the control module locks the steering column structure; and/or

The manual driving control component comprises a brake pedal structure, and if the manual driving control component is illegal, the control module locks the brake pedal structure.

2. The vehicle control system of claim 1, wherein the passenger comprises a driver, and the detection module comprises a fingerprint identification unit located on a one-touch start button for acquiring fingerprint information of the driver as the biometric characteristic.

3. The vehicle control system according to claim 1, wherein the detection module includes an image acquisition unit that acquires a face image of the passenger as the biometric feature.

4. The vehicle control system of claim 1, wherein the control module controls a Tbox module of the vehicle to send an alarm signal to a public security alarm system if the identity of the violation is illegal.

5. The vehicle control system of claim 4, wherein the control module controls the Tbox module of the vehicle to send the real-time location of the vehicle to a police system if the identity is illegal.

6. The vehicle control system of claim 1, wherein the steering column structure includes a steering column tube and a steering shaft passing through the steering column tube, the steering shaft surface having a splined structure, the steering shaft including first and second separate steering shafts, the first steering shaft being coupled to the steering wheel and the second steering shaft being coupled to the steering engine, a slip sleeve being disposed within the steering column tube, an inner surface of the slip sleeve having a splined structure corresponding to the steering shaft surface, the slip sleeve having first and second positions axially within the steering column tube,

when the sliding sleeve pipe is located at the first position, the sliding sleeve pipe is respectively coupled with the first steering shaft and the second steering shaft through the spline structure, the first steering shaft and the second steering shaft are linked to form a linkage state of a steering column structure,

if the manual driving requirement is not met, the control module controls the sliding sleeve to move to the second position, the sliding sleeve is coupled with one of the first steering shaft and the second steering shaft through the spline structure, and the first steering shaft is separated from the second steering shaft to form a separated state of the steering column structure.

7. The vehicle control system of claim 1, wherein said brake pedal structure includes a pedal arm having a rotatable stop disposed thereon, said brake pedal structure including a baffle having a through hole with a shape conforming to a contour of said stop, said brake pedal structure including an unlocked state and a locked state, said stop passing through said through hole with movement of said pedal arm when said stop is rotated to a predetermined position corresponding to said through hole to establish said unlocked state,

if the manual driving requirement is not met, the control module controls the stop block to rotate to deviate from the preset position, and the stop block is blocked by the stop plate, so that the pedal arm is prevented from moving, and the locking state is formed.

8. A vehicle control method for a vehicle equipped with autonomous driving, the vehicle including a detection module, the vehicle control method comprising:

detecting the biological characteristics of passengers, and uploading the biological characteristics to a cloud server; and

determining whether the passenger has an illegal identity based on a feedback result from the cloud server responding to the biological characteristics, if so, locking a manual driving control part of the vehicle, alarming, further receiving a take-over control instruction from a public security department and executing the take-over control instruction to control the vehicle; wherein

If the vehicle is illegal, further responding to the takeover control instruction to start an automatic driving function of the vehicle so as to automatically drive to a position specified by the takeover control instruction;

the manual driving control component comprises a steering column structure connected between a steering wheel and a steering machine of the vehicle, and the locking the manual driving control component of the vehicle comprises locking the steering column structure; and/or

The manual driving control means includes a brake pedal structure, and the locking the manual driving control means of the vehicle includes locking the brake pedal structure.

9. The vehicle control method according to claim 8, wherein the detecting the biometric characteristic of the passenger includes acquiring fingerprint information of the driver as the biometric characteristic using a fingerprint recognition unit on a one-key-actuated button of the vehicle.

10. The vehicle control method according to claim 8, wherein the detecting the biometric feature of the passenger includes acquiring a face image of the passenger as the biometric feature.

11. The vehicle control method of claim 8, wherein the alerting comprises controlling a Tbox module of the vehicle to send an alert signal to a police alert system.

12. The vehicle control method of claim 11, further comprising transmitting the real-time location of the vehicle to a police alert system.

13. The vehicle control method according to claim 8, wherein the steering column structure includes a steering column tube and a steering shaft penetrating through the steering column tube, the steering shaft has a spline structure on a surface thereof, the steering shaft includes a first steering shaft and a second steering shaft that are separated, the first steering shaft is coupled to the steering wheel, the second steering shaft is coupled to the steering engine, a sliding sleeve is provided in the steering column tube, an inner surface of the sliding sleeve has a spline structure corresponding to the surface of the steering shaft, the sliding sleeve has a first position and a second position in an axial direction in the steering column tube, the sliding sleeve is coupled to the first steering shaft and the second steering shaft by the spline structure when the sliding sleeve is located in the first position, and the first steering shaft and the second steering shaft are interlocked to form an interlocked state of the steering column structure,

the locking the steering column structure includes controlling the sliding sleeve to move to the second position, the sliding sleeve being coupled with one of the first steering shaft and the second steering shaft through the spline structure, the first steering shaft being separated from the second steering shaft to form a separated state of the steering column structure.

14. The vehicle control method according to claim 8, wherein the brake pedal structure includes a pedal arm on which a rotatable stopper is provided, the brake pedal structure includes a stopper plate having a through hole whose shape conforms to a contour shape of the stopper plate, the brake pedal structure includes an unlocked state and a locked state, the stopper plate passes through the through hole with movement of the pedal arm when the stopper plate is rotated to a predetermined position corresponding to the through hole to establish the unlocked state,

the locking the brake pedal structure includes controlling the stopper to rotate away from the predetermined position, the stopper being stopped by the stopper to thereby prevent the pedal arm from moving, resulting in the locked state.

15. A vehicle control apparatus for a vehicle equipped with autonomous driving, comprising a processor and a memory coupled to the processor, the memory having stored thereon computer instructions which, when executed, implement the steps of the method of any of claims 8-14.

16. A computer readable medium having stored thereon computer readable instructions, which when executed by a processor, carry out the steps of the method of any of claims 8-14.