CN109263650A - Identify the method, apparatus and the vehicles of manpower intervention - Google Patents
Identify the method, apparatus and the vehicles of manpower intervention Download PDFInfo
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- CN109263650A CN109263650A CN201811054695.6A CN201811054695A CN109263650A CN 109263650 A CN109263650 A CN 109263650A CN 201811054695 A CN201811054695 A CN 201811054695A CN 109263650 A CN109263650 A CN 109263650A
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000012545 processing Methods 0.000 claims description 14
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- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 2
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 235000008434 ginseng Nutrition 0.000 claims description 2
- 230000035945 sensitivity Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 11
- 230000006870 function Effects 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 238000012544 monitoring process Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 238000011156 evaluation Methods 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
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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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot 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
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
- B60W2050/0005—Processor details or data handling, e.g. memory registers or chip architecture
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- General Physics & Mathematics (AREA)
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Abstract
The present invention relates to a kind of method, apparatus and the vehicles for identifying manpower intervention, belong to automatic Pilot technical field, this method comprises: the vehicles during automatic Pilot, obtain the related parameter preset of the vehicles；Judge whether the parameter preset is greater than preset threshold；When the parameter preset is greater than the preset threshold, it is determined as manpower intervention.This method counts manpower intervention number by related parameter preset, more objective and be easy to quantify relative to artificial judgment, improves efficiency and sensitivity that identification manpower intervention drives, reduces the workload of staff.
Description
Technical field
The invention belongs to automatic Pilot technical fields, and in particular to a kind of method, apparatus and traffic for identifying manpower intervention
Tool.
Background technique
Currently, for automatic Pilot manpower intervention without explicitly definition and the foundation judged, each manufacturer's test evaluation
The ununified standard of system, causes test result irregular.Manpower intervention number is reflection automatic Pilot technical maturity
A key index.Present inventor has found during invention the application: current test evaluation, which is based on, to be passed through
The driving behavior of video monitoring driver, later period count manpower intervention number by playing back, and this mode increases work people
The workload of member, working efficiency is low, and disconnects with automated driving system.
Summary of the invention
In consideration of it, the purpose of the present invention is to provide a kind of method, apparatus and the vehicles for identifying manpower intervention, to have
Effect ground improves the above problem.
The embodiment of the present invention is achieved in that
In a first aspect, the embodiment of the present invention provides a kind of method for identifying manpower intervention, comprising: the vehicles are being driven automatically
During sailing, the parameter preset of the vehicles is obtained；Judge whether the parameter preset is greater than preset threshold；Described pre-
When setting parameter is greater than the preset threshold, it is determined as manpower intervention.
The technical solution provided with reference to the above first aspect, in some possible implementations, the vehicles
Related parameter preset, comprising: steering wheel angle signal, brake pedal signal and/or the throttle opening amount signal of the vehicles.
The technical solution provided with reference to the above first aspect judges described related pre- in some possible implementations
Whether setting parameter is greater than preset threshold, comprising: to the steering wheel angle signal, the brake pedal signal and/or air throttle
Opening amount signal is filtered, the signal after being filtered；It is pre- whether the signal after judging the filtering processing is greater than
If threshold value.
The technical solution provided with reference to the above first aspect, in some possible implementations, in the parameter preset
When greater than the preset threshold, it is determined as after manpower intervention, the method also includes: count the number of manpower intervention.
The technical solution provided with reference to the above first aspect, in some possible implementations, the statistics is artificial to be situated between
The number entered, comprising: obtain the automatic driving mode select button signal of the vehicles；Count the automatic driving mode selection
The triggering times of button signal；Manpower intervention number is counted based on the triggering times.
Second aspect present embodiments provides a kind of device for identifying manpower intervention, comprising: acquiring unit, judging unit
And recognition unit；Acquiring unit obtains the default ginseng of the vehicles for the vehicles during automatic Pilot
Number；Judging unit, for judging whether the parameter preset is greater than preset threshold；Recognition unit, in the parameter preset
When greater than the preset threshold, it is determined as manpower intervention.
In conjunction with the technical solution that above-mentioned second aspect provides, in some possible implementations, the judging unit is also
For being filtered to the parameter preset, signal after being filtered and the letter after the filtering processing is judged
Number whether be greater than preset threshold.
In conjunction with the technical solution that above-mentioned second aspect provides, in some possible implementations, the identification is artificial
The device of intervention further include: statistic unit, for counting the number of manpower intervention.
In conjunction with the technical solution that above-mentioned second aspect provides, in some possible implementations, the statistic unit is also
For obtaining the automatic driving mode select button signal of the vehicles；And it is also used to count the automatic driving mode selection
The triggering times of button signal；And it is also used to count manpower intervention number based on the triggering times.
The third aspect, the present embodiment provides a kind of vehicles, comprising: processor and memory, the processor and institute
State memory coupling；The memory is for storing program；The processor is used to call the journey of storage in the memory
Sequence executes above-mentioned first aspect embodiment and/or some possible implementations offers under embodiment with reference to first aspect
Identification manpower intervention method.
The beneficial effects of the present invention are:
The method of identification manpower intervention provided by the invention is by obtaining vehicles traffic during automatic Pilot
The related parameter preset (such as steering wheel angle signal, brake pedal signal, throttle opening amount signal) of tool；And judge described pre-
Whether setting parameter is greater than preset threshold；When the parameter preset is greater than the preset threshold, it is determined as manpower intervention.Relative to
Artificial judgment, it is more objective and be easy to quantify, efficiency and sensitivity that identification manpower intervention drives are improved, work people is reduced
The workload of member.
Other features and advantages of the present invention will be illustrated in subsequent specification, also, partly be become from specification
It is clear that being understood by implementing the embodiment of the present invention.The objectives and other advantages of the invention can be by written
Specifically noted structure is achieved and obtained in specification, claims and attached drawing.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural block diagram of the vehicles provided in an embodiment of the present invention；
Fig. 2 is the method flow diagram of the method for identification manpower intervention provided in an embodiment of the present invention；
Fig. 3 is a kind of method flow diagram for obtaining the step S202 in Fig. 2 provided in an embodiment of the present invention；
Fig. 4 is a kind of method flow diagram for obtaining the step S204 in Fig. 2 provided in an embodiment of the present invention；
Fig. 5 is the flow chart of statistics manpower intervention number provided in an embodiment of the present invention；
Fig. 6 is a kind of functional block diagram of device for identifying manpower intervention provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term " first ", " second ", " third " etc. are only used for distinguishing and retouch
It states, is not understood to indicate or imply relative importance.
First embodiment
Referring to FIG. 1, the embodiment of the present invention provides a kind of structural block diagram of vehicles 100.The vehicles 100 wrap
It includes: identifying the device 110 of manpower intervention, memory 120, storage control 130 and processor 140.
The memory 120, storage control 130, each element of processor 140 directly or indirectly electrically connect between each other
It connects, to realize the transmission or interaction of data.For example, these elements can pass through one or more communication bus or signal between each other
Line, which is realized, to be electrically connected.The device 110 of the identification manpower intervention includes at least one can be with software or firmware (firmware)
Form be stored in the memory 120 or be solidificated in the operating system (operating of the vehicles 100
System, OS) in software function module.The processor 140 is used to execute the executable module stored in memory 120,
Such as software function module or computer program that the device 110 of the identification manpower intervention includes.
Wherein, memory 120 may be, but not limited to, random access memory (Random Access Memory,
RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-
Only Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory,
EPROM), electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory,
EEPROM) etc..Wherein, memory 120 is for storing program, and the processor 140 is after receiving and executing instruction, described in execution
Program, method performed by the vehicles 100 for the flow definition that aftermentioned any embodiment of the embodiment of the present invention discloses can answer
It is realized in processor 140, or by processor 140.
Processor 140 may be a kind of IC chip, the processing capacity with signal.Above-mentioned processor 140 can
To be general processor, including central processing unit (Central Processing Unit, CPU), network processing unit (Network
Processor, NP) etc.；It can also be digital signal processor (DSP), specific integrated circuit (ASIC), field-programmable gate array
Arrange (FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components.It may be implemented
Or disclosed each method, step and logic diagram in the execution embodiment of the present invention.General processor can be microprocessor
Or the processor is also possible to any conventional processor etc..
Second embodiment
Currently, for automatic Pilot manpower intervention without explicitly definition and the foundation judged, current test evaluation foundation
Be by the driving behavior of video monitoring driver, the later period counts manpower intervention number by playing back, and this mode increases
The workload of staff, working efficiency is low, and disconnects with automated driving system.
Wherein, it should be noted that be inventor by practice and careful for defect present in above scheme
It is being obtained after research as a result, therefore, the discovery procedure of the above problem and the hereinafter embodiment of the present invention institute regarding to the issue above
The solution of proposition all should be the contribution that inventor makes the present invention in process of the present invention.
In consideration of it, the embodiment of the invention provides a kind of sides of identification manpower intervention applied to the above-mentioned vehicles 100
Method, as shown in Figure 2, wherein Fig. 2 shows it is provided in an embodiment of the present invention it is a kind of identify manpower intervention method flow chart,
It specifically includes: step S201-S204.
Step S201: the vehicles obtain the related parameter preset of the vehicles during automatic Pilot.
The present embodiment is by taking autonomous driving vehicle as an example, during autonomous driving vehicle automatic Pilot, obtains automatic Pilot
The related parameter preset of automobile, the correlation parameter preset include: steering wheel angle signal, the brake pedal signal of the vehicles
And/or corresponding other parameters also can be set in throttle opening amount signal, the different vehicles, specific parameter is according to reality
Situation setting.
Step S202: judge whether the parameter preset is greater than preset threshold.
The parameter preset got according to the first step, as the steering wheel angle signal of the vehicles, brake pedal signal and/
Or throttle opening amount signal, judge whether to be greater than preset threshold, if the parameter preset is greater than preset threshold, then follow the steps
S203, it is on the contrary then do not handle or continue waiting for.
As an alternative embodiment, can be said by step shown in Fig. 3 to (S202) in the above process
It is bright.Step S202 is specifically included: S301-S302.
Step S301: the steering wheel angle signal, the brake pedal signal and/or throttle opening amount signal are carried out
Filtering processing, the signal after being filtered.
In automatic Pilot driving process, it is contemplated that brake pedal, accelerator pedal, direction turntable angular signal have fluctuation and
The small signal of false triggering, takes the mode of filtering, inhibits and prevent this kind of interference signal, in the present embodiment, to these three signals
It is handled respectively with Kalman filtering, the signal after being filtered.
Step S302: whether the signal after judging the filtering processing is greater than preset threshold.
The threshold value of these three pre-set signal parameters is sentenced to carry out logic judgment to the signal after filtering processing
Whether the signal after the filtering processing that breaks is greater than preset threshold.
It under the embodiment, after getting parameter preset, is first filtered, to eliminate interference, then is preset
Accuracy can be improved compared with directly carrying out threshold decision to the parameter preset that gets in threshold decision, and that reduces erroneous judgement can
Energy.
Wherein, it should be noted that above-mentioned preset threshold is previously set, and the corresponding threshold value of unlike signal is different, such as
The corresponding preset threshold of brake pedal signal is different from the preset threshold of accelerator pedal signal.
Step 203: when the parameter preset is greater than the preset threshold, being determined as manpower intervention.
It is determined as manpower intervention when parameter preset is greater than preset threshold according to the judgement of above-mentioned steps, it should be noted that
It is, as long as steering wheel angle signal, brake pedal signal and the throttle opening amount signal of the vehicles can be satisfaction wherein one
The signal of a parameter has been greater than the preset threshold of corresponding parameter, as manpower intervention, and and the non-concurrent side for meeting the vehicles
It has been both greater than to the signal of three disk angular signal, brake pedal signal and throttle opening amount signal parameters corresponding default
Threshold value is just manpower intervention.
Step S204: the number of manpower intervention is counted.
The number for counting the manpower intervention in above-mentioned steps, i.e., when steering wheel angle signal, the brake pedal of the vehicles
Signal and throttle opening amount signal either signal parameter are greater than the preset threshold of corresponding parameter, that is, remember a manpower intervention number.
It is greater than outside number of the number of preset threshold to count manpower intervention except through statistics parameter preset, in the present embodiment, may be used also
To count manpower intervention number by automatic driving mode select button signal triggering times, as a kind of optional embodiment party
Formula can be illustrated above-mentioned (S204) in conjunction with step as shown in Figure 4.Step S204 includes: S401-S403.
Step S401: the automatic driving mode select button signal of the vehicles is obtained.
Due to that can be carried out by triggering automatic driving mode select button signal between automatic Pilot and non-automatic driving
Switching, therefore can be by obtaining the automatic driving mode select button signals of the vehicles, the case where to determine manpower intervention.
Step S402: the triggering times of the automatic driving mode select button signal are counted.
Step S403: manpower intervention number is counted based on the triggering times.
In autonomous driving vehicle driving process, when triggering automatic driving mode select button again, make automatic Pilot vapour
Vehicle exits automatic driving mode, and enters pilot steering state, is denoted as a manpower intervention number.Manpower intervention number is automatic
The half+1 of driving mode select button triggering times, for example, automobile starting is to automatic driving mode is first entered, at this point, people
The number of work intervention is 1, when second of triggering automatic driving mode select button, exits automatic driving mode, at this time manually
Intervening number is 2, remaining situation, and so on.
Wherein, it should be noted that when counting manpower intervention number, in addition to the steering wheel angle letter of the statistics vehicles
Number, brake pedal signal and throttle opening amount signal either signal be greater than outside the number of corresponding preset threshold, also to count and drive
The number that the person of sailing triggers automatic driving mode select button signal counts manpower intervention number, i.e., artificial Jie for finally counting
Indegree is the superposition of the two.
In order to make it easy to understand, illustrating by taking Fig. 5 as an example below, Fig. 5 is statistics manpower intervention provided in this embodiment
Several flow charts.Key: automatic driving mode select button, B: brake pedal signal, S: steering wheel angle signal, T: air throttle
ADModel: automatic driving mode: PDE: opening amount signal is passively exited, ADE: actively being exited.When automobile starting, judgement is automatic
Select button state is driven, when closing then belongs to manpower intervention, if pressing automatic driving mode opening；After opening, automatic Pilot
System detection system whether failure, passively exited if failure, belong to manpower intervention；Enter automatic Pilot mould if fault-free
Formula；
In automatic driving mode: counted in 1. travelings the steering wheel angle signals of the vehicles, brake pedal signal and
Throttle opening amount signal either signal is greater than the number of corresponding preset threshold to determine manpower intervention number, and 2. detections are driven automatically
It sails select button whether to close and (whether actively exit), if closing, belongs to and artificially actively exit, belong to manpower intervention, if
Automatic Pilot select button is still pressed, and the steering wheel angle signal, brake pedal signal and the solar term that count the vehicles are continued
Door opening amount signal either signal is greater than the number of corresponding preset threshold to determine manpower intervention number.
It should be noted that autonomous driving vehicle can be according to car before autonomous driving vehicle enters automatic driving mode
State and vehicle external environment factor judge whether to need manpower intervention, interior state include hardware device and software equipment whether from
It goes wrong in dynamic driving driving process, vehicle external environment factor includes weather conditions if appropriate for automatic Pilot, and road is
No traffic accident etc. occur, if judgement needs manpower intervention, automobile is sounded an alarm, and is artificially responded alarm and is closed and drives automatically
The automatic driving mode select button sailed, triggers automatic Pilot button at this time, and autonomous driving vehicle enters manpower intervention mode.
It is understood that driver can be according to interior state when autonomous driving vehicle is in automatic driving mode
Judge whether actively to exit automatic driving mode whether catastrophic failure or friendship are occurred according to interior hardware with vehicle external environment factor
It is logical whether emergency occur, for example, there are ambulance vehicles, road congestion etc., if driver's judgement needs manpower intervention,
The automatic driving mode select button for closing automatic Pilot, triggers automatic Pilot button, autonomous driving vehicle enters people at this time
Work intervenes state.
Optionally, when closing automatic driving mode, it can store preset time before and after closing the automatic driving mode moment
Driving information in section, driving information can be exported by man-machine interactive interface, and monitoring can also be transferred data to by T-BOX
The safety for driving vehicle is improved for remotely monitoring in center.
It should be noted that the vehicles illustrate by taking autonomous driving vehicle as an example in the present embodiment, correspondingly, being also possible to
Other vehicles, such as motorcycle, steamer etc..
By the above step, the method for identification manpower intervention provided by the invention passes through the steering wheel of the vehicles
Angular signal, brake pedal signal, throttle opening amount signal and/or automatic driving mode select button signal count artificial Jie
Indegree, it is more objective and be easy to quantify relative to artificial judgment, improve efficiency that identification manpower intervention drives and sensitive
Degree, reduces the workload of staff.
3rd embodiment
Referring to Fig. 6, the embodiment of the present invention also provides a kind of device 110 for identifying manpower intervention, the identification manpower intervention
Device include: acquiring unit 111, judging unit 112, recognition unit 113 and statistic unit 114.
Acquiring unit 111 obtains the parameter preset of the vehicles for the vehicles during automatic Pilot.
Judging unit 112, for judging whether the parameter preset is greater than preset threshold.
Recognition unit 113, for being determined as manpower intervention when the parameter preset is greater than the preset threshold.
Statistic unit 114, for counting the number of manpower intervention.
Wherein, the judging unit 112 is also used to be filtered the parameter preset, after being filtered
Signal and judge whether the signal after the filtering processing is greater than preset threshold.
Wherein, the statistic unit 114 is also used to obtain the automatic driving mode select button signal of the vehicles；And
Count the triggering times of the automatic driving mode select button signal；And based on triggering times statistics manpower intervention
Number.
It should be noted that all the embodiments in this specification are described in a progressive manner, each embodiment weight
Point explanation is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
The technical effect of the device 110 of identification manpower intervention provided by the embodiment of the present invention, realization principle and generation
Identical with preceding method embodiment, to briefly describe, Installation practice part does not refer to place, can refer to preceding method embodiment
Middle corresponding contents.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part of the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement
It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access
The various media that can store program code such as memory (RAM, Random Access Memory), magnetic or disk.It needs
It is noted that herein, relational terms such as first and second and the like are used merely to an entity or operation
It is distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation, there are any this
Actual relationship or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, article or equipment for including a series of elements not only includes those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, article or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including described want
There is also other identical elements in the process, method, article or equipment of element.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of method for identifying manpower intervention, which is characterized in that applied to the central control system in the vehicles, the method packet
It includes:
The vehicles obtain the related parameter preset of the vehicles during automatic Pilot；
Judge whether the parameter preset is greater than preset threshold；
When the parameter preset is greater than the preset threshold, it is determined as manpower intervention.
2. the method for identification manpower intervention according to claim 1, which is characterized in that the correlation of the vehicles is default
Parameter, comprising:
Steering wheel angle signal, brake pedal signal and/or the throttle opening amount signal of the vehicles.
3. the method for identification manpower intervention according to claim 2, which is characterized in that judge that the related parameter preset is
It is no to be greater than preset threshold, comprising:
The steering wheel angle signal, the brake pedal signal and/or throttle opening amount signal are filtered, obtained
Signal after filtering processing；
Whether the signal after judging the filtering processing is greater than preset threshold.
4. the method for identification manpower intervention according to claim 1-3, which is characterized in that in the default ginseng
When number is greater than the preset threshold, it is determined as after manpower intervention, the method also includes:
Count the number of manpower intervention.
5. according to the method for the described in any item identification manpower interventions of claim 4, which is characterized in that the statistics manpower intervention
Number, comprising:
Obtain the automatic driving mode select button signal of the vehicles；
Count the triggering times of the automatic driving mode select button signal；
Manpower intervention number is counted based on the triggering times.
6. a kind of device for identifying manpower intervention characterized by comprising
Acquiring unit obtains the parameter preset of the vehicles for the vehicles during automatic Pilot；
Judging unit, for judging whether the parameter preset is greater than preset threshold；
Recognition unit, for being determined as manpower intervention when the parameter preset is greater than the preset threshold.
7. the device of identification manpower intervention according to claim 6, which is characterized in that the judging unit is also used to institute
It states parameter preset to be filtered, signal after being filtered and judges whether the signal after the filtering processing is big
In preset threshold.
8. the device of identification manpower intervention according to claim 6, which is characterized in that the dress of the identification manpower intervention
It sets further include:
Statistic unit, for counting the number of manpower intervention.
9. the device of identification manpower intervention according to claim 8, which is characterized in that the statistic unit is also used to obtain
The automatic driving mode select button signal of the vehicles；And it is also used to count the automatic driving mode select button signal
Triggering times；And it is also used to count the number of manpower intervention based on the triggering times.
10. a kind of vehicles characterized by comprising processor and memory, the processor and the memory coupling
It closes；
The memory is for storing program；
The processor is used to call the program of storage in the memory, executes described in any one of claim 1-5
Identification manpower intervention method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111028384A (en) * | 2019-12-12 | 2020-04-17 | 苏州智加科技有限公司 | Intelligent fault classification method and system for automatic driving vehicle |
| CN113247020A (en) * | 2021-05-12 | 2021-08-13 | 东风汽车集团股份有限公司 | Vehicle take-over control method and system based on L3-level automatic driving |
| CN114291108A (en) * | 2021-11-19 | 2022-04-08 | 仓擎智能科技(上海)有限公司 | Safety control method and device for unmanned guided vehicle in aircraft guiding process |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107797534A (en) * | 2017-09-30 | 2018-03-13 | 安徽江淮汽车集团股份有限公司 | A kind of pure electronic automated driving system |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107797534A (en) * | 2017-09-30 | 2018-03-13 | 安徽江淮汽车集团股份有限公司 | A kind of pure electronic automated driving system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111028384A (en) * | 2019-12-12 | 2020-04-17 | 苏州智加科技有限公司 | Intelligent fault classification method and system for automatic driving vehicle |
| CN113247020A (en) * | 2021-05-12 | 2021-08-13 | 东风汽车集团股份有限公司 | Vehicle take-over control method and system based on L3-level automatic driving |
| CN114291108A (en) * | 2021-11-19 | 2022-04-08 | 仓擎智能科技(上海)有限公司 | Safety control method and device for unmanned guided vehicle in aircraft guiding process |
| CN114291108B (en) * | 2021-11-19 | 2024-05-17 | 仓擎智能科技(上海)有限公司 | Safety control method and device for unmanned guided vehicle in aircraft guiding process |
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