CN109017807A - A kind of control system control method - Google Patents
A kind of control system control method Download PDFInfo
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- CN109017807A CN109017807A CN201810901929.XA CN201810901929A CN109017807A CN 109017807 A CN109017807 A CN 109017807A CN 201810901929 A CN201810901929 A CN 201810901929A CN 109017807 A CN109017807 A CN 109017807A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
- B60W2050/0095—Automatic control mode change
Abstract
The present embodiments relate to a kind of control system control methods, comprising: vehicle jumps signal according to first state and works；When automated driving system self-detection result code is the first code value, and one or more of longitudinally controlled data or crosswise joint data are that first switch controls data, and pedal force suffered by the brake pedal apparatus in vehicle is zero, and pedal force suffered by the accelerator pedal device in vehicle is zero, and passive force/moment suffered by the steering wheel arrangement in vehicle, when being zero, vehicle works according to the second state transition signal；First switch controls data when being from longitudinally controlled data and crosswise joint data, and when vehicle speed data is zero, vehicle jumps signal according to the third state and works；When one or more of longitudinally controlled data or crosswise joint data do not control data for first switch, vehicle works according to the second state transition signal.
Description
Technical field
The present invention relates to automatic Pilot field more particularly to a kind of control system control methods.
Background technique
With the development of economy and the emergence of artificial intelligence technology, autonomous driving vehicle is also increasingly by the pass in market
Note.Autonomous driving vehicle refers to closing by artificial intelligence, vision calculating, radar, monitoring device and global positioning system collaboration
Make, computer is allowed can to operate motor vehicles to automatic safe under the operation of nobody class active.Market prediction is driven automatically
Sailing the universal of automobile may be implemented to reduce traffic accident incidence, reduces traffic congestion degree, reduces investment traffic infrastructure
Cost and reduce pollution and other effects to environment.
But currently, the relevant technologies in automatic Pilot field are also and immature, so that automatic Pilot vehicle can not be in real road
Middle traveling.Specifically how vehicle cutting between several modes such as manual drive, semi-automatic driving and full-automatic driving is set
It changes, so that the automatic driving vehicle operation of upper road traveling is safer, at current automatic Pilot field urgent problem.
Summary of the invention
It is manual in vehicle the purpose of the present invention is in view of the drawbacks of the prior art, providing a kind of control system control method
Setting jumps condition when jumping between driving condition, semi-automatic driving state and full-automatic driving state, so that vehicle is manual
It is more reasonable when being jumped between driving condition, semi-automatic driving state and full-automatic driving state, so that the behaviour in vehicle
Make system operation more orderly, steadily, so that the automatic driving vehicle operation of upper road traveling is safer.
To achieve the goals above, the embodiment of the invention provides a kind of control system control methods, comprising:
Control unit for vehicle in vehicle receives the enabling signal of user's input, generates the first shape according to the enabling signal
State jumps signal, jumps signal work according to the first state to the vehicle；
The control unit for vehicle receives the second state transition signal of user's input；
Determine whether automated driving system self-detection result code is the first code value according to the second state transition signal, and vertical
It whether is that first switch controls data, and the system in the vehicle to control one or more of data or crosswise joint data
Whether pedal force suffered by dynamic device with pedal is zero, and pedal force suffered by the accelerator pedal device in the vehicle whether
It is zero, and whether passive force/moment suffered by the steering wheel arrangement in the vehicle is zero；
When the automated driving system self-detection result code is first code value, and longitudinally controlled data or crosswise joint number
According to one or more of control data for first switch, and pedal force suffered by the brake pedal apparatus in the vehicle is
Zero, and pedal force suffered by the accelerator pedal device in the vehicle is zero, and suffered by the steering wheel arrangement in the vehicle
To passive force/moment be zero when, the vehicle works according to the second state transition signal；
The third state that the control unit for vehicle receives user's input jumps signal；
Signal, which is jumped, according to the third state determines whether longitudinally controlled data and crosswise joint data are described first
Switch control data, and whether vehicle speed data is zero；
Data, and car speed number are controlled for the first switch from longitudinally controlled data and crosswise joint data when described
When according to being zero, the vehicle jumps signal according to the third state and works；
The control unit for vehicle monitors the longitudinally controlled data and the crosswise joint data；
When one or more of the longitudinally controlled data or the crosswise joint data are not the first switch control
When data processed, the vehicle works according to the second state transition signal；
When the automated driving system self-detection result code is not first code value or the longitudinally controlled data and transverse direction
Control pedal force suffered by the brake pedal apparatus not controlled in data for the first switch in data or the vehicle not
Be zero or the vehicle in accelerator pedal device suffered by pedal force be not zero or the vehicle in steering wheel arrangement
When suffered passive force/moment is not zero, the vehicle jumps signal according to the first state and works.
Preferably, whether the determining automated driving system self-detection result code is the first code value specifically:
The control unit for vehicle determines whether the number of automated driving system self-detection result code is a with default selftest module
Number is identical, and whether each automated driving system self-detection result code is the first code value.
Preferably, after signal work is jumped according to the third state in the vehicle, the method also includes:
When the longitudinally controlled data and crosswise joint data are not in the first switch control data or the vehicle
Brake pedal apparatus suffered by pedal force be not zero or the vehicle in accelerator pedal device suffered by pedal force not
Be zero or the vehicle in steering wheel arrangement suffered by passive force/moment when being not zero, the vehicle is according to first shape
State jumps signal work.
Preferably, after signal work is jumped according to the third state in the vehicle, the method also includes:
When the automated driving system self-detection result code is not first code value, and condition of road surface data are first
When the status data of road, the vehicle works according to the 4th state transition signal.
It is further preferred that the method is also wrapped after the vehicle is according to the 4th state transition signal work
It includes:
The pedal force suffered by the brake pedal apparatus in the vehicle be not zero or the vehicle in accelerator pedal
Pedal force suffered by device be not zero or the vehicle in steering wheel arrangement suffered by passive force/moment when being not zero, institute
It states vehicle and signal work is jumped according to the first state.
Preferably, after signal work is jumped according to the third state in the vehicle, the method also includes:
When the automated driving system self-detection result code is not first code value, and condition of road surface data are not first
When the status data of road, or when the control unit for vehicle receives emergency stop control signal, the vehicle is according to the 5th shape
State jumps signal work.
Preferably, after the vehicle is according to the second state transition signal work, the method also includes:
When the automated driving system self-detection result code is not first code value, and condition of road surface data are not first
When the status data of road, or when the control unit for vehicle receives emergency stop control signal, the vehicle is according to the 5th shape
State jumps signal work.
It is further preferred that the method is also wrapped after the vehicle is according to the 5th state transition signal work
It includes:
When the vehicle speed data is zero, and the control unit for vehicle receives emergency stop release signal, the vehicle
According to the first state jump signal work.
A kind of control system control method provided in an embodiment of the present invention, in vehicle manual drive state, semi-automatic driving
Setting jumps condition when jumping between state and full-automatic driving state, so that vehicle is in manual drive state, semi-automatic driving
It is more reasonable when being jumped between state and full-automatic driving state so that operating system in vehicle more orderly,
Steadily, so that the automatic driving vehicle operation of upper road traveling is safer.
Detailed description of the invention
Fig. 1 is a kind of flow chart of control system control method provided in an embodiment of the present invention.
Specific embodiment
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
A kind of control system control method provided in an embodiment of the present invention, is implemented in automatic driving vehicle, for controlling
Jumping between each state in vehicle.The control system control method that embodiment provides for a better understanding of the present invention, below
Several states in automatic driving vehicle provided in an embodiment of the present invention are illustrated first.
Control system state in automatic driving vehicle provided in an embodiment of the present invention includes manual drive state, semi-automatic
Driving condition, waits adapter tube state and emergency stop state at full-automatic driving state.It is all in vehicle under manual drive state
Control terminal can only be controlled by driver；Under semi-automatic driving state, vehicle power control terminal and control for brake end and gear
A system in control terminal or course changing control end is controlled under line traffic control mode by automated driving system, gear control terminal or steering
Another system in control terminal is controlled by driver；Under full-automatic driving mode, all control terminals in vehicle are by certainly
Dynamic control loop control；In the case where waiting adapter tube state, automated driving system control vehicle deceleration is simultaneously braked, and is controlled at the appropriate time
Vehicle pulling over observing simultaneously reminds driver to take over control vehicle as early as possible by acousto-optic；Under emergency stop state, automated driving system control
Output maximum braking force in control for brake end processed makes vehicle parking, and reminds driver to take over control vehicle as early as possible by acousto-optic.
Its middle gear control terminal and course changing control end are it can be appreciated that longitudinally controlled end and crosswise joint end.
A kind of control system control method provided in an embodiment of the present invention, for controlling vehicle in manual drive state, half
Automatic Pilot state, full-automatic driving state wait reasonable, steady, safety between adapter tube state and emergency stop state to jump.For just
In description, the embodiment of the present invention is provided from the process for becoming full-automatic driving state in manual drive state with vehicle below
Control system control method be illustrated, method flow diagram is as shown in Figure 1, include the following steps:
Step 110, control unit for vehicle receives the enabling signal of user's input, generates first state according to enabling signal and jumps
Rotaring signal；
Specifically, control unit for vehicle, which can be understood as control automatic driving vehicle, executes manual drive state or semi-automatic
Driving condition or full-automatic driving state or the unit for waiting adapter tube state or emergency stop state.First state jumps signal and can manage
Solution jumps to the signal of manual drive state for control vehicle.When control unit for vehicle receive user's input for control point
After the enabling signal that fiery key is opened, control unit for vehicle generates first state according to enabling signal and jumps signal, to vehicle
Signal, which is jumped, according to first state jumps to manual drive state.It should be noted that after vehicle start-up, advanced can only start with
Dynamic driving condition, and cannot directly enter full-automatic driving state or semi-automatic driving state.
Step 120, vehicle jumps signal work according to first state；
Specifically, vehicle, which jumps signal according to first state, jumps to manual drive state.
Step 130, whether monitoring control unit for vehicle receives the second state transition signal of user's input；
Specifically, the second state transition signal can be understood as the signal that control vehicle jumps to semi-automatic driving state.
When control unit for vehicle receives the second state transition signal of user's input, then following step 140 is executed.When vehicle control list
When the second state transition signal that member is inputted without reception user, then 120 are returned to step, that is, continue manual drive shape
State.
Step 140, control unit for vehicle determines whether vehicle meets semi-automatic driving shape according to the second state transition signal
State requirement；
Specifically, control unit for vehicle needs first to determine the shape of current vehicle before vehicle enters semi-automatic driving state
Whether state meets semi-automatic driving conditions dictate.It includes the following that vehicle, which enters semi-automatic driving conditions dictate:
First, control unit for vehicle determines whether the number of automated driving system self-detection result code is a with default selftest module
Number is identical, and whether each automated driving system self-detection result code is to represent successful first code value of self-test.It is driven when automatically
Sail System self-test result code number it is identical as default selftest module number when, illustrate the subsystems in automated driving system
Power on.When whether each automated driving system self-detection result code is the first code value, illustrate the equal self-test of subsystems
Success.This process can be understood as determine automated driving system whether the process of failure.
Second, control unit for vehicle determines whether one or more of longitudinally controlled data or crosswise joint data are
One switch control data.Longitudinally controlled data can be understood as controlling the data of longitudinal switch in above-mentioned gear control terminal.When vertical
It is when representing the enabled first switch of switch to control data, to illustrate that the longitudinal direction in vehicle for automatic Pilot is opened to control data
Pass has enabled, that is, gear control terminal can be controlled by automated driving system.Crosswise joint data can be understood as in control
State the data laterally switched in course changing control end.When crosswise joint data are to represent the enabled first switch of switch to control data
When, illustrate that the lateral switch in vehicle for automatic Pilot has enabled, that is, course changing control end can be by automated driving system
Control.
Third, control unit for vehicle determine whether pedal force suffered by brake pedal apparatus is zero.This process can be with
It is interpreted as determining whether user has the process for trampling the brake pedal in above-mentioned control for brake end.
4th, control unit for vehicle determines whether pedal force suffered by accelerator pedal device is zero.This process can be with
It is interpreted as determining whether user has the process for trampling the accelerator pedal in above-mentioned dynamic Control end.
5th, control unit for vehicle determines whether passive force/moment suffered by steering wheel arrangement is zero.Steering wheel arrangement institute
The passive force/moment being subject to can be understood as torque caused by user's steer direction disk that vehicle is monitored, and non-vehicle is certainly
To torque produced by steering wheel arrangement when dynamic driving.This process can be understood as determining whether user has the above-mentioned steering wheel of control
Process.
To sum up, when control unit for vehicle determines the number and default selftest module number of automated driving system self-detection result code
Identical and each automated driving system self-detection result code is to represent successful first code value of self-test and longitudinally controlled data
Or one or more of crosswise joint data are controlled for first switch suffered by the brake pedal apparatus in data and vehicle
Pedal force be zero and vehicle in accelerator pedal device suffered by pedal force be zero and vehicle in steering wheel arrangement suffered by
To passive force/moment be zero when, illustrate that the state of current vehicle meets above-mentioned 5 semi-automatic driving conditions dictates, execute following
Step 150.And when control unit for vehicle determine automated driving system self-detection result code number and default selftest module number not
Identical or each automated driving system self-detection result code is not to represent successful first code value of self-test or longitudinally controlled number
According to or crosswise joint data in do not control pedal force suffered by the brake pedal apparatus in data or vehicle for first switch
Be not zero or vehicle in accelerator pedal device suffered by pedal force be not zero and the steering wheel arrangement in vehicle suffered by
Passive force/moment when being not zero, illustrate that the state of current vehicle is unsatisfactory for above-mentioned 5 semi-automatic driving conditions dictates, then execute
Following step 151.
Step 151, the information of semi-automatic driving state transition failure is generated, and is exported；
Specifically, control unit for vehicle is raw when the state of vehicle is unsatisfactory for above-mentioned 5 semi-automatic driving conditions dictates
User is prompted in a manner of acousto-optic at the information of semi-automatic driving state transition failure.The failure of semi-automatic driving state transition
Information includes jumping failure cause information, determines that semi-automatic driving state transition loses according to failure cause information is jumped to user
The reason of losing.After executing this step 151, it need to return and execute above-mentioned steps 120, that is to say, that when the state of vehicle is unsatisfactory for
When above-mentioned 5 semi-automatic driving conditions dictates, vehicle can still be in manual drive state.
Step 150, vehicle works according to the second state transition signal；
Specifically, vehicle is according to the second state when the state of vehicle meets above-mentioned 5 semi-automatic driving conditions dictates
It jumps signal and jumps to semi-automatic driving state.
Step 160, the third state that whether monitoring control unit for vehicle receives user's input jumps signal；
Specifically, the third state, which jumps signal, can be understood as the signal that control vehicle jumps to full-automatic driving state.
When the third state that control unit for vehicle receives user's input jumps signal, then following step 170 is executed, when vehicle control list
When member jumps signal without receiving the third state of user's input, then 150 are returned to step, that is, vehicle keeps half
Automatic Pilot state.
Step 170, control unit for vehicle jumps signal according to the third state and determines whether vehicle meets full-automatic driving shape
State requirement；
Specifically, vehicle is other than it should meet above-mentioned semi-automatic driving conditions dictate, also under full-automatic driving state
Control unit for vehicle is needed to further determine that whether vehicle meets following two points requirement:
First, control unit for vehicle determines whether longitudinally controlled data and crosswise joint data are first switch control number
According to.Under semi-automatic driving state, one among longitudinally controlled data or crosswise joint data controls data for first switch
, and under full-automatic driving state, longitudinally controlled data and crosswise joint data need to be first switch control data.
That is, for the longitudinal switch of automatic Pilot and laterally, switch must make in vehicle under full-automatic driving state
Energy, that is, gear control terminal and course changing control end need be controlled by automated driving system.
Second, control unit for vehicle determines whether vehicle speed data is zero.This process can be understood as determining current
Speed whether the process for being zero.
To sum up, when control unit for vehicle determines the number and default self-test in addition to meeting automated driving system self-detection result code
Number of modules is identical and each automated driving system self-detection result code is to represent successful first code value of self-test and vehicle
In brake pedal apparatus suffered by pedal force be zero and vehicle in accelerator pedal device suffered by pedal force be zero,
And the condition that passive force/moment suffered by the steering wheel arrangement in vehicle is zero, also satisfaction and longitudinally controlled data and crosswise joint
Data are first switch control data and control unit for vehicle when determining the condition that vehicle speed data is zero, illustrates currently
The state of vehicle meets full-automatic driving conditions dictate, executes following step 180.And only meet certainly when control unit for vehicle determines
The number automated driving system self-detection result code identical and each with default selftest module number of dynamic control loop self-detection result code
It is pedal force suffered by the brake pedal apparatus that represents in successful first code value of self-test and vehicle is zero and vehicle
In accelerator pedal device suffered by pedal force be zero and vehicle in steering wheel arrangement suffered by passive force/moment be zero
Condition, but be unsatisfactory for longitudinally controlled data and crosswise joint data be first switch control data (in above-mentioned steps 140,
Determine that one in longitudinally controlled data or crosswise joint data controls data for first switch) or control unit for vehicle determine
When the condition that vehicle speed data is zero, illustrates that the state of current vehicle is unsatisfactory for full-automatic driving conditions dictate, execute following
Step 181.
Step 181, the information of full-automatic driving state transition failure is generated, and is exported；
Specifically, control unit for vehicle generates complete when the state of vehicle is unsatisfactory for above-mentioned full-automatic driving conditions dictate
The information of automatic Pilot state transition failure is prompted to user in a manner of acousto-optic.The information of full-automatic driving state transition failure
Including jumping failure cause information, the failure of full-automatic driving state transition is determined according to failure cause information is jumped to user
Reason.After executing this step 171, need to return execute above-mentioned steps 150, that is to say, that when the state of vehicle be unsatisfactory for it is complete from
When dynamic driving condition requires, vehicle can still be in semi-automatic driving state.
Step 180, vehicle jumps signal work according to the third state；
Specifically, vehicle is jumped according to the third state when the state of vehicle meets above-mentioned full-automatic driving conditions dictate
Signal jumps to full-automatic driving state.
According to the above process it is found that vehicle, to the process of full-automatic driving state, must be from manual drive state by
Manual drive state arrives first semi-automatic driving state, then by semi-automatic driving state progress full-automatic driving state, and cannot be straight
It connects from manual drive state and enters full-automatic driving state.
But after vehicle enters full-automatic driving state, according to the variation of vehicle-state, vehicle may be by full-automatic
Driving condition becomes semi-automatic driving state or manual drive state, or waits adapter tube state or emergency stop state.Below to it is complete from
The condition that dynamic driving condition becomes other states is described in detail.
After vehicle enters full-automatic driving state, control unit for vehicle will continue to monitor longitudinally controlled data, cross
To suffered by pedal force suffered by control data, automated driving system self-detection result code, brake pedal apparatus, accelerator pedal device
Passive force/moment suffered by the pedal force and steering wheel arrangement arrived, while control unit for vehicle can also carry out condition of road surface data
Monitoring, and monitor whether to have received emergency stop control signal or emergency stop release signal.Wherein, condition of road surface data can be understood as
The data of the road environment of current vehicle are represented, emergency stop control signal can be understood as the scram button signal that user presses,
Emergency stop release signal can be understood as the signal that user discharges scram button.
When one or more of longitudinally controlled data or crosswise joint data do not control data for first switch, vehicle
According to the second state transition signal from full-automatic driving state transition to semi-automatic driving state.That is, for driving automatically
One in lateral switch or longitudinal switch sailed forbidden energy, one in gear control terminal and course changing control end can be by automatic
Control loop control, and when other states are constant, then vehicle is by full-automatic driving state transition to semi-automatic driving state.
Do not control the brake pedal in data or vehicle for first switch when longitudinally controlled data and crosswise joint data
Pedal force suffered by device be not zero or vehicle in accelerator pedal device suffered by pedal force be not zero or vehicle in
Steering wheel arrangement suffered by passive force/moment when being not zero, vehicle jumps signal from full-automatic driving state according to first state
Jump to manual drive state.That is, when the lateral switch and longitudinal switch that be used for automatic Pilot forbidden energy, gear control
End processed and course changing control end cannot be controlled by automated driving system or user has the brake pedal trampled in control for brake end
Manipulation or user have to trample the manipulation of the accelerator pedal in control terminal or user accelerated to have the movement of steer direction disk device
When, vehicle is by full-automatic driving state transition to manual drive state.
When the number of automated driving system self-detection result code is, and condition of road surface number not identical as default selftest module number
When according to for the first road status data, or when whether each automated driving system self-detection result code is the first code value, and road
When status data is the first road status data, vehicle works according to the 4th state transition signal.4th state transition signal can
Vehicle-state is jumped to the signal for waiting adapter tube state to understand.First road status data can be understood as representing discomfort
The condition of road surface of suitable emergency stop.Those skilled in the art can according to need road included by self-defining the first road status data
Road situation, for example, high speed it is excessively curved when road conditions.That is, working as automated driving system failure, and present road environment does not allow
When vehicle emergency stop, vehicle, which can enter, waits adapter tube state.
When the number of automated driving system self-detection result code is, and condition of road surface number not identical as default selftest module number
When according to for the first road status data, and when condition of road surface data are not the first road status data, or work as control unit for vehicle
When receiving emergency stop control signal, vehicle works according to the 5th state transition signal.5th state transition signal be understood that by
Vehicle-state jumps to the signal of the state of emergency.That is, working as automated driving system failure, and present road environment allows vehicle
When emergency stop, or when scram button is pressed, vehicle may be become emergency stop state from full-automatic driving state.
It should be noted that entering semi-automatic driving state after having executed above-mentioned steps 150, that is, in vehicle
Later, according to the variation of vehicle-state, vehicle may also be become manual drive state or emergency stop state from semi-automatic driving state.
Further specifically, control unit for vehicle is to brake pedal apparatus after vehicle enters semi-automatic driving state
Passive force/moment suffered by pedal force suffered by suffered pedal force, accelerator pedal device and steering wheel arrangement is supervised
Control.The pedal force suffered by the brake pedal apparatus in vehicle be not zero or vehicle in accelerator pedal device suffered by
Pedal force be not zero or vehicle in steering wheel arrangement suffered by passive force/moment when being not zero, vehicle is jumped according to first state
Rotaring signal jumps to manual drive state.That is, after vehicle enters semi-automatic driving state, when user's system of trampling
The manipulation of brake pedal in dynamic control terminal or user, which have to trample, accelerates the manipulation of the accelerator pedal in control terminal or user to have
When the movement of steer direction disk device, vehicle becomes manual drive state.
Meanwhile control unit for vehicle controls signal to automated driving system self-detection result code, condition of road surface data and emergency stop
It is monitored.When automated driving system self-detection result code is not the first code value, and condition of road surface data are not the first condition of road surface
When data, or when control unit for vehicle receives emergency stop control signal, vehicle is jumped to according to the 5th state transition signal
Emergency stop state.That is, working as automated driving system failure, and when present road environment permission vehicle emergency stop, vehicle enters urgency
Stop state.Alternatively, vehicle is also jumped according to the 5th state transition signal when control unit for vehicle receives emergency stop control signal
To emergency stop state.That is, vehicle can also enter emergency stop state when scram button is pressed.
No matter vehicle is vehicle control after entering emergency stop state from semi-automatic driving state or from full-automatic driving state
Unit processed is monitored vehicle speed data, determines whether vehicle speed data is zero.Also, control unit for vehicle also monitors
Whether emergency stop release signal is had received.When vehicle speed data is zero, and control unit for vehicle receives emergency stop release signal
When, vehicle jumps signal by emergency stop state transition to manual drive state according to first state.That is, entering urgency in vehicle
After stopping state, speed has been reduced to zero, and scram button has been released, then vehicle becomes manual drive state.It needs to illustrate
Be, after vehicle enters emergency stop state, can only by emergency stop state transition to manual drive state, and cannot jump directly to it is complete from
Dynamic driving condition or semi-automatic driving state wait adapter tube state.
Correspondingly, control unit for vehicle is to suffered by brake pedal apparatus after vehicle enters and waits adapter tube state
Passive force/moment suffered by pedal force suffered by pedal force, accelerator pedal device and steering wheel arrangement is monitored.Work as vehicle
In brake pedal apparatus suffered by pedal force be not zero or vehicle in accelerator pedal device suffered by pedal force be not
Zero or vehicle in steering wheel arrangement suffered by passive force/moment when being not zero, vehicle is by waiting adapter tube state transition to manual
Driving condition.That is, trampling the braking in control for brake end when user has after vehicle enters and waits adapter tube state and stepping on
The manipulation of plate or user, which have to trample, accelerates the manipulation of the accelerator pedal in control terminal or user to have the dynamic of steer direction disk device
When making, vehicle becomes manual drive state.It should be noted that vehicle enter wait adapter tube state after, can only by etc. it is waiting
Tubulose state jumps to manual drive state, and cannot jump directly to full-automatic driving state or semi-automatic driving state.
A kind of control system control method provided in an embodiment of the present invention, in vehicle manual drive state, semi-automatic driving
Setting jumps condition when jumping between state and full-automatic driving state, so that vehicle is in manual drive state, semi-automatic driving
It is more reasonable when being jumped between state and full-automatic driving state so that operating system in vehicle more orderly,
Steadily, so that the automatic driving vehicle operation of upper road traveling is safer.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, the control of CD-ROM dynamical system
In any other form of storage medium well known in method or technical field.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (8)
1. a kind of control system control method, which is characterized in that the described method includes:
Control unit for vehicle in vehicle receives the enabling signal of user's input, generates first state according to the enabling signal and jumps
Rotaring signal jumps signal work according to the first state to the vehicle；
The control unit for vehicle receives the second state transition signal of user's input；
Determine whether automated driving system self-detection result code is the first code value according to the second state transition signal, and longitudinal control
Whether one or more of data processed or crosswise joint data are first switch control data, and the braking in the vehicle is stepped on
Whether pedal force suffered by panel assembly is zero, and pedal force suffered by the accelerator pedal device in the vehicle whether be
Zero, and whether passive force/moment suffered by the steering wheel arrangement in the vehicle is zero；
When the automated driving system self-detection result code is first code value, and in longitudinally controlled data or crosswise joint data
One or more be that first switch controls data, and pedal force suffered by the brake pedal apparatus in the vehicle is zero,
And pedal force suffered by the accelerator pedal device in the vehicle is zero, and suffered by the steering wheel arrangement in the vehicle
When passive force/moment is zero, the vehicle works according to the second state transition signal；
The third state that the control unit for vehicle receives user's input jumps signal；
Signal, which is jumped, according to the third state determines whether longitudinally controlled data and crosswise joint data are the first switch
Data are controlled, and whether vehicle speed data is zero；
Data are controlled for the first switch from longitudinally controlled data and crosswise joint data when described, and vehicle speed data is
When zero, the vehicle jumps signal according to the third state and works；
The control unit for vehicle monitors the longitudinally controlled data and the crosswise joint data；
When one or more of the longitudinally controlled data or the crosswise joint data do not control number for the first switch
According to when, the vehicle works according to the second state transition signal；
When the automated driving system self-detection result code is not first code value or the longitudinally controlled data and crosswise joint
Not controlling pedal force suffered by the brake pedal apparatus in data or the vehicle in data for the first switch is not
Zero or the vehicle in accelerator pedal device suffered by pedal force be not zero or the vehicle in steering wheel arrangement institute
When the passive force/moment being subject to is not zero, the vehicle jumps signal according to the first state and works.
2. control system control method according to claim 1, which is characterized in that the determining automated driving system self-test
Whether result code is the first code value specifically:
The control unit for vehicle determine automated driving system self-detection result code number whether with default selftest module number phase
Together, and whether each automated driving system self-detection result code is the first code value.
3. control system control method according to claim 1, which is characterized in that in the vehicle according to the third shape
After state jumps signal work, the method also includes:
When the longitudinally controlled data and crosswise joint data are not the system in the first switch control data or the vehicle
Pedal force suffered by dynamic device with pedal be not zero or the vehicle in accelerator pedal device suffered by pedal force be not
Zero or the vehicle in steering wheel arrangement suffered by passive force/moment when being not zero, the vehicle is according to the first state
Jump signal work.
4. control system control method according to claim 1, which is characterized in that in the vehicle according to the third shape
After state jumps signal work, the method also includes:
When the automated driving system self-detection result code is not first code value, and condition of road surface data are the first road like
When condition data, the vehicle works according to the 4th state transition signal.
5. control system control method according to claim 4, which is characterized in that in the vehicle according to the 4th shape
After state jumps signal work, the method also includes:
The pedal force suffered by the brake pedal apparatus in the vehicle be not zero or the vehicle in accelerator pedal device
Suffered pedal force be not zero or the vehicle in steering wheel arrangement suffered by passive force/moment when being not zero, the vehicle
According to the first state jump signal work.
6. control system control method according to claim 1, which is characterized in that in the vehicle according to the third shape
After state jumps signal work, the method also includes:
When the automated driving system self-detection result code is not first code value, and condition of road surface data are not the first road like
When condition data, or when the control unit for vehicle receives emergency stop control signal, the vehicle is jumped according to the 5th state
Rotaring signal work.
7. control system control method according to claim 1, which is characterized in that in the vehicle according to second shape
After state jumps signal work, the method also includes:
When the automated driving system self-detection result code is not first code value, and condition of road surface data are not the first road like
When condition data, or when the control unit for vehicle receives emergency stop control signal, the vehicle is jumped according to the 5th state
Rotaring signal work.
8. control system control method according to claim 6 or 7, which is characterized in that in the vehicle according to described
After the work of five state transition signals, the method also includes:
When the vehicle speed data is zero, and the control unit for vehicle receives emergency stop release signal, the vehicle root
Signal work is jumped according to the first state.
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| US20160082957A1 (en) * | 2014-09-18 | 2016-03-24 | Flextronics Ap, Llc | Vehicle lane departure system based on magnetic field flux detection |
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