CN110104051A - Automatic Pilot switching method, system, equipment and storage medium based on steering wheel - Google Patents
Automatic Pilot switching method, system, equipment and storage medium based on steering wheel Download PDFInfo
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- CN110104051A CN110104051A CN201910461093.0A CN201910461093A CN110104051A CN 110104051 A CN110104051 A CN 110104051A CN 201910461093 A CN201910461093 A CN 201910461093A CN 110104051 A CN110104051 A CN 110104051A
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- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000003860 storage Methods 0.000 title claims abstract description 27
- 238000003384 imaging method Methods 0.000 claims description 7
- 230000008901 benefit Effects 0.000 claims description 4
- 238000003825 pressing Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
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- 230000004888 barrier function Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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- 230000005291 magnetic effect Effects 0.000 description 2
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- 238000005520 cutting process Methods 0.000 description 1
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- 239000004065 semiconductor Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/60—Instruments characterised by their location or relative disposition in or on vehicles
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0051—Handover processes from occupants to vehicle
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
- B60W60/0054—Selection of occupant to assume driving tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/04—Hand wheels
- B62D1/046—Adaptations on rotatable parts of the steering wheel for accommodation of switches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/77—Instrument locations other than the dashboard
- B60K2360/782—Instrument locations other than the dashboard on the steering wheel
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/215—Selection or confirmation of options
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention provides a kind of automatic Pilot switching method, system, equipment and storage medium based on steering wheel, which comprises receive the switching signal of the driving switching key positioned at steering wheel；Judge that current vehicle is in manual drive state or automatic Pilot state；If vehicle is in manual drive state, judging whether vehicle is in can automatic Pilot region；If vehicle be in can automatic Pilot region, vehicle is switched into automatic Pilot state.It improves automated driving system and driver by the switching for driving switching key and realizing automatic Pilot and manual drive of steering wheel by using the solution of the present invention and is driving the safety in power handshaking.
Description
Technical field
The present invention relates to technical field of automobile control more particularly to a kind of automatic Pilot switching method based on steering wheel,
System, equipment and storage medium.
Background technique
With the continuous development of automobile control technology, automatic Pilot technology is more and more perfect.Automatic Pilot is situated between according to machine
Enter degree and be divided into five grades of L1~L5, wherein L3 grade is conditional automatic Pilot.In the automatic Pilot of practical L3 grade
In the application of control system, need to switch between automatic Pilot state and manual drive state in varied situations.It is existing
Whether the hand that driver is mainly estimated in some switchings by torque sensor has had been detached from steering wheel.However this switching side
There are inaccuracies for formula, once and driver hand departing from steering wheel, in the mistake switched from manual drive to automatic Pilot
Cheng Zhong, vehicle are practically at uncontrolled state, bring some potential safety problems.
Summary of the invention
For the problems of the prior art, the automatic Pilot switching based on steering wheel that the purpose of the present invention is to provide a kind of
Method, system, equipment and storage medium pass through the driving switching key realization automatic Pilot of steering wheel and cutting for manual drive
It changes, improves automated driving system and driver and driving the safety in power handshaking.
The embodiment of the present invention provides a kind of automatic Pilot switching method based on steering wheel, includes the following steps:
Receive the switching signal of the driving switching key positioned at steering wheel；
Judge that current vehicle is in manual drive state or automatic Pilot state；
If vehicle is in manual drive state, judging whether vehicle is in can automatic Pilot region；
If vehicle be in can automatic Pilot region, vehicle is switched into automatic Pilot state.
Optionally, the automatic Pilot switching method based on steering wheel further includes following steps:
When the driving condition switching of vehicle, the first alert notification is sent to the prompt equipment for being set to steering wheel, so that
The prompt equipment is shown and matched prompting message in state switching；
When the driving condition switching of vehicle finishes, the second alert notification is sent to the prompt equipment for being set to steering wheel, with
So that the prompt equipment is shown and the matched prompting message of current driving condition.
Optionally, it is described judge vehicle currently whether in can automatic Pilot region, include the following steps:
Receive the road environment acquisition data of the imaging sensor and radar sensor that are set to vehicle；
According to receive road environment acquisition data and it is preset can automatic Pilot regional determination condition judge that vehicle is worked as
Preceding whether be in can automatic Pilot region.
Optionally, the automatic Pilot switching method based on steering wheel further includes following steps:
Judge vehicle currently whether in manual drive state and in can automatic Pilot region, if it is, to setting
In steering wheel prompt equipment send third alert notification so that the prompt equipment of steering wheel show it is preset with can switch to
The matched prompting message of automatic Pilot state.
Optionally, the judgement current vehicle is in after manual drive state or automatic Pilot state, further include as
Lower step:
If current vehicle is in automatic Pilot state, vehicle is switched into manual drive state.
Optionally, the automatic Pilot switching method based on steering wheel further includes following steps:
Judge vehicle currently whether in automatic Pilot state and vehicle be not in can be in automatic Pilot region；
If it is, the 4th alert notification is sent to the prompt equipment for being set to steering wheel, so that the instruction of steering wheel
Equipment shows the preset and request matched prompting message of driver's adapter tube driving power state.
Optionally, described to after being set to prompt equipment the 4th alert notification of transmission of steering wheel, it further include walking as follows
It is rapid:
Judge whether to receive the switching signal for driving switching key positioned at steering wheel；
If it is, vehicle is switched to manual drive state；
If not receiving switching signal yet by preset interval time, sent to the prompt equipment for being set to steering wheel
5th alert notification, so that the prompt equipment of the steering wheel shows the preset and matched prompting of prompting automatic Pilot failure
Information, and pulling over observing notice is sent to vehicle.
Optionally, steering wheel setting is there are two driving switching key, and the driving received positioned at steering wheel is cut
The switching signal for changing key, includes the following steps:
Judge whether that receiving two driving switching keys simultaneously is pressed and presses the time greater than first time threshold
Signal；
If it is, judgement receives the switching signal for driving switching key；
Otherwise, the signal of pressing for driving switching key is not handled.
Optionally, it is described vehicle is switched into automatic Pilot state after, further include following steps:
When detecting the manual drive operation of driver, vehicle is switched into emergency hand driving condition, to the side of being set to
To the indicating equipment of disk send the 6th alert notification so that the prompt equipment show it is matched with emergency hand driving condition
Prompting message；
Judge whether that receiving two driving switching keys simultaneously is pressed and presses the time greater than second time threshold
Signal, the second time threshold are less than first time threshold；
If it is, vehicle to be switched to automatic Pilot state again in the case where vehicle is in automatic Pilot region；
Otherwise, vehicle remains at emergency hand driving condition.
The embodiment of the present invention also provides a kind of automatic Pilot switching system based on steering wheel, comprising:
Switching signal receiving module, for receiving the switching signal for being located at the driving switching key of steering wheel；
Driving condition judgment module, for judging that current vehicle is in manual drive state or automatic Pilot state；
Driver area judgment module is sentenced when for needing vehicle switching to automatic Pilot state from manual drive state
Whether disconnected vehicle is in can automatic Pilot region；
Driving condition switching module, for by vehicle from manual drive state switch to automatic Pilot state and by vehicle from
Automatic Pilot state switches to manual drive state.
The embodiment of the present invention also provides a kind of automatic Pilot switching equipment based on steering wheel, comprising:
Processor；
Memory, wherein being stored with the executable instruction of the processor；
Wherein, the processor be configured to execute via the executable instruction is executed it is described based on steering wheel from
Dynamic the step of driving switching method.
The embodiment of the present invention also provides a kind of computer readable storage medium, and for storing program, described program is performed
The step of automatic Pilot switching method described in Shi Shixian based on steering wheel.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Under automatic Pilot switching method, system, equipment and storage medium provided by the present invention based on steering wheel has
Column advantage:
The present invention solves the problems of the prior art, increases drive switching key on the steering wheel, driver is facilitated to grasp
Make, and makes the interaction of driver and vehicle more convenient；By the driving switching key of steering wheel realize automatic Pilot and
The switching of manual drive improves automated driving system and driver and is driving the safety in power handshaking.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon.
Fig. 1 is the flow chart of the automatic Pilot switching method based on steering wheel of one embodiment of the invention；
Fig. 2 is the structural schematic diagram of the steering wheel of one embodiment of the invention；
Fig. 3 is the flow chart that the prompting driver of one embodiment of the invention grasps the power of driving in time；
Fig. 4 is the flow chart into emergency hand driving condition of one embodiment of the invention；
Fig. 5 is the structural block diagram of the automatic Pilot switching system based on steering wheel of one embodiment of the invention；
Fig. 6 is the schematic diagram of the automatic Pilot switching equipment based on steering wheel of one embodiment of the invention；
Fig. 7 is the schematic diagram of the computer readable storage medium of one embodiment of the invention.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, thesing embodiments are provided so that the disclosure will more
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.Described feature, knot
Structure or characteristic can be incorporated in any suitable manner in one or more embodiments.
In addition, attached drawing is only the schematic illustrations of the disclosure, it is not necessarily drawn to scale.Identical attached drawing mark in figure
Note indicates same or similar part, thus will omit repetition thereof.Some block diagrams shown in the drawings are function
Energy entity, not necessarily must be corresponding with physically or logically independent entity.These function can be realized using software form
Energy entity, or these functional entitys are realized in one or more hardware modules or integrated circuit, or at heterogeneous networks and/or place
These functional entitys are realized in reason device device and/or microcontroller device.
As shown in Figure 1, in order to solve the above-mentioned technical problem, the embodiment of the present invention provides a kind of driving automatically based on steering wheel
Switching method is sailed, is included the following steps:
S100: the switching signal of the driving switching key positioned at steering wheel is received；
S200: judging that current vehicle is in manual drive state or automatic Pilot state, drives manually if vehicle is in
State is sailed, then continues step S300, if vehicle is in automatic Pilot state, continues step S600；
S300: judge vehicle whether be in can automatic Pilot region, if it is, continue step S400, otherwise continue to walk
Rapid S500；
S400: vehicle is switched into automatic Pilot state from manual drive state；
S500: vehicle stills remain in manual drive state；
S600: vehicle is switched into manual drive state from automatic Pilot state.
Automatic Pilot switching method based on steering wheel of the invention is realized automatic by the driving switching key of steering wheel
The switching with manual drive is driven, is in manual drive state in vehicle, and driver sends switching by driving switching key
When signal, if necessary to switch to automatic Pilot state from manual drive state, before state switching is completed, driver is without pine
Steering wheel is opened, in stateful switchover process, still can grasp control, to eliminate the security risk in handoff procedure.
In this embodiment, the automatic Pilot switching method based on steering wheel further includes following steps:
When the driving condition switching of vehicle, the first alert notification is sent to the prompt equipment for being set to steering wheel, so that
The prompt equipment show with state switching in matched prompting message, with inform driver be at this time driving condition switching
In the process, if driver's request switches to automatic Pilot from manual drive, steering wheel can not be unclamped in this process,
There is still a need for the controls kept to vehicle；
When the driving condition switching of vehicle finishes, the second alert notification is sent to the prompt equipment for being set to steering wheel, with
So that the prompt equipment is shown and the matched prompting message of current driving condition, driver can be directly by steering wheel
Prompt equipment can understand current vehicle state in which, and can frequently watch the instruments disk to avoid driver, reduce driving conditions
In security risk.
In this embodiment, it is provided with two driving switching keys on the steering wheel, is received in place in the step S100
In the switching signal of the driving switching key of steering wheel, include the following steps:
Judge whether that receiving two driving switching keys simultaneously is pressed and presses the time greater than first time threshold
Signal；
If it is, judgement receives the switching signal for driving switching key；
Otherwise, the signal of pressing for driving switching key is not handled.
For example, as shown in Fig. 2, key A210 and key A220 is respectively set in the left and right side in steering wheel A100, when
Then state of activation handoff functionality when key A210 and key A220 presses certain time simultaneously, is used for driver and automatic Pilot system
Driving power between system is delivered.The indicator light A300 for being used as prompt equipment is provided in the middle part of steering wheel A100.
Indicator light A300 can be realized by showing different colors and be shown different prompting messages.For example, driving
In stateful switchover process, indicator light A300 is shown as yellow, and after switching to automatic Pilot state, indicator light A300 is shown as green
Color.Driver's current vehicle is judged from the color of indicator light A300 driving condition with can be convenient in this way.
In this embodiment, the outside of vehicle is provided with imaging sensor and radar sensor to acquire vehicle periphery
Road environment data, radar sensor may include millimetre-wave radar sensor and laser radar sensor, with measure vehicle with
The distance between periphery barrier, imaging sensor can be camera, acquire the image data of vehicle-surroundings.
It is described judge vehicle currently whether in can automatic Pilot region, include the following steps:
Receive the road environment acquisition data of the imaging sensor and radar sensor that are set to vehicle；
According to receive road environment acquisition data and it is preset can automatic Pilot regional determination condition judge that vehicle is worked as
Preceding whether be in can automatic Pilot region.
Can automatic Pilot regional determination condition can have multiple judgement dimensions, for example, meet can automatic Pilot for section
The condition in region includes determining that there is clearly lane line in the section according to the image data of imaging sensor acquisition, is passed according to image
The image data of sensor acquisition determines that accident does not occur or is not in Construction State for the section, according to imaging sensor acquisition
Image data determination is not presently within fork on the road, determines vehicle and periphery barrier according to the detection data of radar sensor
Distance is not less than minimum threshold etc..In addition it is also possible to obtain the current position of vehicle in conjunction with the positioning device of vehicle, navigating
Inquired in system it is current whether be marked in navigation system can automatic Pilot region.
As shown in figure 3, in this embodiment, the automatic Pilot switching method based on steering wheel further includes walking as follows
It is rapid:
Judge vehicle currently whether in manual drive state and in can automatic Pilot region, if it is, to setting
In steering wheel prompt equipment send third alert notification so that the prompt equipment of steering wheel show it is preset with can switch to
The matched prompting message of automatic Pilot state.By the prompting message, driver is known that currently enter and drive automatically
It sails in state.
For example, vehicle is currently at manual drive state, and driven into can be in automatic Pilot region for vehicle, indicator light
A300 is displayed in blue, and Function for Automatic Pilot can be opened to driver by being used to indicate.Meanwhile can by head-up display into
Row text importing reminds driver that can open automatic Pilot control.
As shown in figure 3, in this embodiment, the automatic Pilot switching method based on steering wheel further includes walking as follows
It is rapid:
Judge vehicle currently whether in automatic Pilot state and vehicle be not in can be in automatic Pilot region；
If it is, the 4th alert notification is sent to the prompt equipment for being set to steering wheel, so that the instruction of steering wheel
Equipment shows the preset and request matched prompting message of driver's adapter tube driving power state, so as to remind driver timely
Automatic Pilot state is exited, grasps the power of driving as early as possible.
For example, vehicle is in automatic Pilot state, and vehicle be driven out to can automatic Pilot region when, indicator light A300 is shown as
Yellow for reminding driver to carry out driving condition switching in time, while can carry out text prompt in head-up display, mention
The driver that wakes up takes over the power of driving.
In addition, if automated driving system breaks down in automatic Pilot state procedure, it is also desirable to being set to direction
The indicating equipment of disk sends the 4th alert notification, so that indicating equipment shows that preset take over request driver drives power shape
The matched prompting message of state, so as to remind driver to grasp driving power in time.
It is further, as shown in figure 3, described to after being set to prompt equipment the 4th alert notification of transmission of steering wheel,
Further include following steps:
Judge whether to receive the switching signal for driving switching key positioned at steering wheel；
If it is, vehicle is switched to manual drive state；
If not receiving switching signal yet by preset interval time, sent to the prompt equipment for being set to steering wheel
5th alert notification, so that the prompt equipment of the steering wheel shows the preset and matched prompting of prompting automatic Pilot failure
Information to remind driver currently to need to automatically exit from automatic Pilot state, and sends pulling over observing notice to vehicle, most
Ensure to big degree the safety of driver.
For example, vehicle is in automatic Pilot state, and vehicle be driven out to can behind automatic Pilot region, by indicator light A300 and
Still the state switching request of driver is not received by after head-up display reminds driver to take over the power of driving in a period of time
When, indicator light A300 is shown in red, reminds user's automated driving system that will fail.
As shown in figure 4, in this embodiment, it is described vehicle is switched into automatic Pilot state after, further include walking as follows
It is rapid:
When detecting the manual drive operation of driver, vehicle is switched into emergency hand driving condition；
Judge whether that receiving two driving switching keys simultaneously is pressed and presses the time greater than second time threshold
Signal, the second time threshold are less than first time threshold；
If it is, vehicle to be switched to automatic Pilot state again in the case where vehicle is in automatic Pilot region；
Otherwise, vehicle remains at emergency hand driving condition.
I.e. when vehicle enters automatic Pilot state from manual drive state for the first time, two driving switching key quilts are needed
The time pressed, which is greater than first time threshold (such as 3s), can just send switching signal.And automatic Pilot state is in vehicle
When, if driver temporarily operates vehicle, such as driver accelerates, brakes, turn to when inhibiting, and vehicle is automatically switched to
Emergency hand driving condition.In emergency hand driving condition, the 6th alert notification can be sent to indicator light A300, so that
Indicator light A300 is shown and the matched prompting message of emergency hand driving condition.Indicator light A300 can be shown as orange, to mention
Awake user is now in emergency hand driving condition.In this case, it is again introduced into automatic Pilot state, driver if necessary
The time for needing both hands to press driving switching key can just send switching signal greater than second time threshold (such as 1.5s).
I.e. under emergency hand driving condition, compared to general manual drive state, it is only necessary to meet automatic Pilot condition (at vehicle
In automatic Pilot region), it can more be rapidly introduced into automatic Pilot state.Indicator light A300 becomes yellow from orange
(in driving condition switching) becomes green (driving condition switches to automatic Pilot state) again.
In addition, if vehicle be in automatic Pilot state and vehicle be driven out to can automatic Pilot region when, can also be by state
Switch to emergency hand driving condition, vehicle drive into again can automatic Pilot region when, can be displayed in blue by indicator light
User is reminded, after the switching signal for receiving the transmission of user both hands depresses button, switches to automatic Pilot state.
As shown in figure 5, the embodiment of the present invention also provides a kind of automatic Pilot switching system based on steering wheel, comprising:
Switching signal receiving module M100, for receiving the switching signal for being located at the driving switching key of steering wheel；
Driving condition judgment module M200, for judging that current vehicle is in manual drive state or automatic Pilot shape
State；
Driver area judgment module M300, for needing vehicle switching to automatic Pilot state from manual drive state
When, judging whether vehicle is in can automatic Pilot region；
Driving condition switching module M400, for vehicle to be switched to automatic Pilot state from manual drive state and by vehicle
Manual drive state is switched to from automatic Pilot state.
Automatic Pilot switching system based on steering wheel of the invention is realized automatic by the driving switching key of steering wheel
The switching with manual drive is driven, is in manual drive state in vehicle, and driver sends switching by driving switching key
When signal, if necessary to switch to automatic Pilot state from manual drive state, before state switching is completed, driver is without pine
Steering wheel is opened, in stateful switchover process, still can grasp control, to eliminate the security risk in handoff procedure.
In the embodiment, the function realization of modules can be used upper in the automatic Pilot switching system based on steering wheel
State the embodiment of the automatic Pilot switching method based on steering wheel.For example, switching signal receiving module M100 can use it is upper
The specific embodiment for stating step S100 realizes that driving condition judgment module M200 can use the specific embodiment party of step S300
Formula realization etc., it will not go into details herein.
Further, being somebody's turn to do the automatic Pilot switching system based on steering wheel can also include indicating equipment control module, use
In in driving condition handoff procedure, driving condition switching after the completion of, remind user as early as possible grasps drive temporary when to
Indicating equipment sends corresponding alert notification, so that prompt equipment shows corresponding prompting message, driver is facilitated quickly to slap
The current state of vehicle is held, so that driver be avoided frequently to watch the instruments disk, reduces the security risk in driving conditions.
Switching signal receiving module M100 preferably determines whether to receive according to the operation of two driving condition switching keys
To switching signal, guarantee just to start switching flow when driver's both hands press the button.Avoid the mistake of driver in driving process
Operation improves the accuracy of driving safety and driving condition switching.
The embodiment of the present invention also provides a kind of automatic Pilot switching equipment based on steering wheel, including processor；Memory,
Wherein it is stored with the executable instruction of the processor；Wherein, the processor is configured to via the execution executable instruction
Come the step of executing the automatic Pilot switching method based on steering wheel.
Automatic Pilot switching equipment based on steering wheel of the invention is realized automatic by the driving switching key of steering wheel
The switching with manual drive is driven, is in manual drive state in vehicle, and driver sends switching by driving switching key
When signal, if necessary to switch to automatic Pilot state from manual drive state, before state switching is completed, driver is without pine
Steering wheel is opened, in stateful switchover process, still can grasp control, to eliminate the security risk in handoff procedure.
Person of ordinary skill in the field it is understood that various aspects of the invention can be implemented as system, method or
Program product.Therefore, various aspects of the invention can be embodied in the following forms, it may be assumed that complete hardware embodiment, complete
The embodiment combined in terms of full Software Implementation (including firmware, microcode etc.) or hardware and software, can unite here
Referred to as " circuit ", " module " or " platform ".
The electronic equipment 600 of this embodiment according to the present invention is described referring to Fig. 6.The electronics that Fig. 6 is shown
Equipment 600 is only an example, should not function to the embodiment of the present invention and use scope bring any restrictions.
As shown in fig. 6, electronic equipment 600 is showed in the form of universal computing device.The combination of electronic equipment 600 can wrap
Include but be not limited to: at least one processing unit 610, at least one storage unit 620, connection different platform combination (including storage
Unit 620 and processing unit 610) bus 630, display unit 640 etc..
Wherein, the storage unit is stored with program code, and said program code can be held by the processing unit 610
Row, so that the processing unit 610 executes described in this specification above-mentioned electronic prescription circulation processing method part according to this
The step of inventing various illustrative embodiments.For example, the processing unit 610 can execute step as shown in fig. 1.
The storage unit 620 may include the readable medium of volatile memory cell form, such as random access memory
Unit (RAM) 6201 and/or cache memory unit 6202 can further include read-only memory unit (ROM) 6203.
The storage unit 620 can also include program/practical work with one group of (at least one) program module 6205
Tool 6204, such program module 6205 includes but is not limited to: operating system, one or more application program, other programs
It may include the realization of network environment in module and program data, each of these examples or certain combination.
Bus 630 can be to indicate one of a few class bus structures or a variety of, including storage unit bus or storage
Cell controller, peripheral bus, graphics acceleration port, processing unit use any bus structures in a variety of bus structures
Local bus.
Electronic equipment 600 can also be with one or more external equipments 700 (such as keyboard, sensing equipment, bluetooth equipment
Deng) communication, can also be enabled a user to one or more equipment interact with the electronic equipment 600 communicate, and/or with make
Any equipment (such as the router, modulation /demodulation that the electronic equipment 600 can be communicated with one or more of the other calculating equipment
Device etc.) communication.This communication can be carried out by input/output (I/O) interface 650.Also, electronic equipment 600 can be with
By network adapter 660 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network,
Such as internet) communication.Network adapter 660 can be communicated by bus 630 with other modules of electronic equipment 600.It should
Understand, although not shown in the drawings, other hardware and/or software module can be used in conjunction with electronic equipment 600, including but unlimited
In: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and number
According to backup storage platform etc..
The embodiment of the present invention also provides a kind of computer readable storage medium, and for storing program, described program is performed
The step of automatic Pilot switching method described in Shi Shixian based on steering wheel.In some possible embodiments, of the invention
Various aspects be also implemented as the form of program product a kind of comprising program code, when described program product is in terminal
When running in equipment, said program code is for making the terminal device execute this specification above-mentioned electronic prescription circulation processing side
Described in method part according to the present invention various illustrative embodiments the step of.
Refering to what is shown in Fig. 7, describing the program product for realizing the above method of embodiment according to the present invention
800, can using portable compact disc read only memory (CD-ROM) and including program code, and can in terminal device,
Such as it is run on PC.However, program product of the invention is without being limited thereto, in this document, readable storage medium storing program for executing can be with
To be any include or the tangible medium of storage program, the program can be commanded execution system, device or device use or
It is in connection.
Described program product can be using any combination of one or more readable mediums.Readable medium can be readable letter
Number medium or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can be but be not limited to electricity, magnetic, optical, electromagnetic, infrared ray or
System, device or the device of semiconductor, or any above combination.The more specific example of readable storage medium storing program for executing is (non exhaustive
List) include: electrical connection with one or more conducting wires, portable disc, hard disk, random access memory (RAM), read-only
Memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read only memory
(CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
The computer readable storage medium may include in a base band or the data as the propagation of carrier wave a part are believed
Number, wherein carrying readable program code.The data-signal of this propagation can take various forms, including but not limited to electromagnetism
Signal, optical signal or above-mentioned any appropriate combination.Readable storage medium storing program for executing can also be any other than readable storage medium storing program for executing
Readable medium, the readable medium can send, propagate or transmit for by instruction execution system, device or device use or
Person's program in connection.The program code for including on readable storage medium storing program for executing can transmit with any suitable medium, packet
Include but be not limited to wireless, wired, optical cable, RF etc. or above-mentioned any appropriate combination.
The program for executing operation of the present invention can be write with any combination of one or more programming languages
Code, described program design language include object oriented program language-Java, C++ etc., further include conventional
Procedural programming language-such as " C " language or similar programming language.Program code can be fully in user
It calculates and executes in equipment, partly executes on a user device, being executed as an independent software package, partially in user's calculating
Upper side point is executed on a remote computing or is executed in remote computing device or server completely.It is being related to far
Journey calculates in the situation of equipment, and remote computing device can pass through the network of any kind, including local area network (LAN) or wide area network
(WAN), it is connected to user calculating equipment, or, it may be connected to external computing device (such as utilize ISP
To be connected by internet).
In conclusion compared with prior art, the automatic Pilot switching method provided by the present invention based on steering wheel is
System, equipment and storage medium have the advantage that
The present invention solves the problems of the prior art, increases drive switching key on the steering wheel, driver is facilitated to grasp
Make, and makes the interaction of driver and vehicle more convenient；By the driving switching key of steering wheel realize automatic Pilot and
The switching of manual drive improves automated driving system and driver and is driving the safety in power handshaking.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (12)
1. a kind of automatic Pilot switching method based on steering wheel, which comprises the steps of:
Receive the switching signal of the driving switching key positioned at steering wheel；
Judge that current vehicle is in manual drive state or automatic Pilot state；
If vehicle is in manual drive state, judging whether vehicle is in can automatic Pilot region；
If vehicle be in can automatic Pilot region, vehicle is switched into automatic Pilot state.
2. the automatic Pilot switching method according to claim 1 based on steering wheel, which is characterized in that further include walking as follows
It is rapid:
When the driving condition switching of vehicle, the first alert notification is sent to the prompt equipment for being set to steering wheel, so that described
Prompt equipment is shown and matched prompting message in state switching；
When the driving condition switching of vehicle finishes, the second alert notification is sent to the prompt equipment for being set to steering wheel, so that
The prompt equipment is shown and the matched prompting message of current driving condition.
3. the automatic Pilot switching method according to claim 1 based on steering wheel, which is characterized in that the judgement vehicle
It is current whether in can automatic Pilot region, include the following steps:
Receive the road environment acquisition data of the imaging sensor and radar sensor that are set to vehicle；
According to the road environment acquisition data that receive and it is preset can automatic Pilot regional determination condition judge vehicle currently and be
No be in can automatic Pilot region.
4. the automatic Pilot switching method according to claim 1 based on steering wheel, which is characterized in that the method is also wrapped
Include following steps:
Judge vehicle currently whether in manual drive state and in can automatic Pilot region, if it is, to the side of being set to
Third alert notification is sent to the prompt equipment of disk, so that the prompt equipment of steering wheel shows preset and can switch to automatic
The matched prompting message of driving condition.
5. the automatic Pilot switching method according to claim 1 based on steering wheel, which is characterized in that the judgement is current
Vehicle is in after manual drive state or automatic Pilot state, further includes following steps:
If current vehicle is in automatic Pilot state, vehicle is switched into manual drive state.
6. the automatic Pilot switching method according to claim 1 based on steering wheel, which is characterized in that the method is also wrapped
Include following steps:
Judge vehicle currently whether in automatic Pilot state and vehicle be not in can be in automatic Pilot region；
If it is, the 4th alert notification is sent to the prompt equipment for being set to steering wheel, so that the indicating equipment of steering wheel
Show the preset and request matched prompting message of driver's adapter tube driving power state.
7. the automatic Pilot switching method according to claim 6 based on steering wheel, which is characterized in that described to being set to
Further include following steps after the prompt equipment of steering wheel sends the 4th alert notification:
Judge whether to receive the switching signal for driving switching key positioned at steering wheel；
If it is, vehicle is switched to manual drive state；
If not receiving switching signal yet by preset interval time, the 5th is sent to the prompt equipment for being set to steering wheel
Alert notification, so that the prompt equipment of the steering wheel shows preset and the matched prompting of automatic Pilot failure is reminded to believe
Breath, and pulling over observing notice is sent to vehicle.
8. the automatic Pilot switching method according to claim 1 based on steering wheel, which is characterized in that the steering wheel is set
It sets there are two switching key is driven, described receive drives the switching signal of switching key positioned at steering wheel, including walks as follows
It is rapid:
Judge whether that receiving two simultaneously drives the signal that switching key is pressed and presses the time greater than first time threshold；
If it is, judgement receives the switching signal for driving switching key；
Otherwise, the signal of pressing for driving switching key is not handled.
9. the automatic Pilot switching method according to claim 8 based on steering wheel, which is characterized in that described to cut vehicle
It shifts to after automatic Pilot state, further includes following steps:
When detecting the manual drive operation of driver, vehicle is switched into emergency hand driving condition, to being set to steering wheel
Indicating equipment send the 6th alert notification so that the prompt equipment is shown and the matched prompting of emergency hand driving condition
Information；
Judge whether that receiving two simultaneously drives the signal that switching key is pressed and presses the time greater than second time threshold,
The second time threshold is less than first time threshold；
If it is, vehicle to be switched to automatic Pilot state again in the case where vehicle is in automatic Pilot region；
Otherwise, vehicle remains at emergency hand driving condition.
10. a kind of automatic Pilot switching system based on steering wheel, which is characterized in that be applied to any one of claims 1 to 9
The automatic Pilot switching method based on steering wheel, the system comprises:
Switching signal receiving module, for receiving the switching signal for being located at the driving switching key of steering wheel；
Driving condition judgment module, for judging that current vehicle is in manual drive state or automatic Pilot state；
Driver area judgment module judges vehicle when for needing vehicle switching to automatic Pilot state from manual drive state
Whether in can automatic Pilot region；
Driving condition switching module, for vehicle to be switched to automatic Pilot state and by vehicle from automatic from manual drive state
Driving condition switches to manual drive state.
11. a kind of automatic Pilot switching equipment based on steering wheel characterized by comprising
Processor；
Memory, wherein being stored with the executable instruction of the processor；
Wherein, the processor is configured to come described in any one of perform claim requirement 1 to 9 via the execution executable instruction
The automatic Pilot switching method based on steering wheel the step of.
12. a kind of computer readable storage medium, for storing program, which is characterized in that described program is performed realization power
Benefit require any one of 1 to 9 described in automatic Pilot switching method based on steering wheel the step of.
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| CN201910461093.0A CN110104051A (en) | 2019-05-30 | 2019-05-30 | Automatic Pilot switching method, system, equipment and storage medium based on steering wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910461093.0A CN110104051A (en) | 2019-05-30 | 2019-05-30 | Automatic Pilot switching method, system, equipment and storage medium based on steering wheel |
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| CN110104051A true CN110104051A (en) | 2019-08-09 |
Family
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| CN113353065A (en) * | 2021-05-19 | 2021-09-07 | 广州小鹏汽车科技有限公司 | Interaction method and device based on automatic driving |
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