CN110509978B - Driving mode switching method and system - Google Patents
Driving mode switching method and system Download PDFInfo
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- CN110509978B CN110509978B CN201910846924.6A CN201910846924A CN110509978B CN 110509978 B CN110509978 B CN 110509978B CN 201910846924 A CN201910846924 A CN 201910846924A CN 110509978 B CN110509978 B CN 110509978B
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- 238000000034 method Methods 0.000 title claims abstract description 51
- 230000006698 induction Effects 0.000 claims abstract description 37
- 230000035945 sensitivity Effects 0.000 abstract description 9
- 230000001052 transient effect Effects 0.000 abstract description 7
- 238000005259 measurement Methods 0.000 abstract description 4
- 230000007547 defect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 5
- 230000007812 deficiency Effects 0.000 description 3
- 239000002033 PVDF binder Substances 0.000 description 2
- 230000003321 amplification Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 229920002981 polyvinylidene fluoride Polymers 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 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
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
- B62D1/286—Systems for interrupting non-mechanical steering due to driver intervention
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- 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
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Abstract
The invention discloses a method and a system for switching driving modes, wherein the method comprises the following steps: acquiring a first torque value acquired by a steering wheel torque sensor; acquiring a second torque value acquired by the pressure induction sensor; obtaining a first steering wheel intervention judgment result according to the first torque value; obtaining a second steering wheel intervention judgment result according to the second torque value; and determining a driving mode switching result according to the first steering wheel intervention judgment result and the second steering wheel intervention judgment result. On the basis of the steering wheel torque sensor, the pressure sensing sensor is additionally arranged, the pressure sensing sensor has higher sensitivity to the force in a small torque range and the transient force, the defect of measurement of the steering wheel torque sensor is overcome, a first torque value acquired by the steering wheel torque sensor is combined with a second torque value acquired by the pressure sensing sensor, an accurate judgment result can be obtained, a driving mode switching result is accurately determined according to the judgment result, and the driving safety is improved.
Description
Technical Field
The invention relates to the technical field of automobile electronics, in particular to a driving mode switching method and system.
Background
An autonomous vehicle generally has two modes, an autonomous driving mode and a manual driving mode, and when it is determined that the steering wheel is interfered by the driver while the vehicle is in the autonomous driving mode, the autonomous driving mode is switched to the manual driving mode, and the vehicle is manually driven by the driver.
At present, whether a steering wheel is interfered by a driver is judged in a mode of acquiring torque information by a steering wheel torque sensor, however, the zero drift can cause inaccuracy of the torque information acquired by the steering wheel torque sensor due to the fact that the steering wheel torque sensor has the problem of zero drift in a small torque range, and further the obtained judgment result of whether the steering wheel is interfered by the driver is inaccurate, so that the steering wheel is easy to mistakenly quit in an automatic driving mode, and serious driving safety can be caused if the driver does not prepare for manual driving.
Therefore, how to accurately judge whether the steering wheel is interfered by a driver or not and improve driving safety is a technical problem to be solved at present.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and a system for switching a driving mode, which can accurately determine whether a steering wheel is interfered by a driver, so as to improve driving safety.
A driving mode switching method, comprising:
acquiring a first torque value acquired by a steering wheel torque sensor;
acquiring a second torque value acquired by the pressure induction sensor;
obtaining a first steering wheel intervention judgment result according to the first torque value;
obtaining a second steering wheel intervention judgment result according to the second torque value;
and determining a driving mode switching result according to the first steering wheel intervention judgment result and the second steering wheel intervention judgment result.
Preferably, the obtaining of the first steering wheel intervention judgment result according to the first torque value includes:
judging the magnitude relation between the first torque value and a first preset torque value;
obtaining a judgment result of driver intervention on a steering wheel after the duration of the first torque value is greater than or equal to the first preset torque value reaches a first preset duration;
and obtaining a judgment result that the steering wheel is not intervened by the driver after the duration that the first torque value is smaller than the first preset torque value reaches a second preset duration.
Preferably, the step of obtaining the second steering wheel intervention judgment result according to the second torque value includes:
judging the magnitude relation between the second torque value and a second preset torque value;
obtaining a judgment result of driver intervention on the steering wheel after the duration of the second torque value is greater than or equal to the second preset torque value reaches a third preset duration;
and obtaining a judgment result that the steering wheel is not interfered by the driver after the duration that the second torque value is smaller than the second preset torque value reaches a fourth preset duration.
Preferably, the determining the driving mode switching result according to the first steering wheel intervention judgment result and the second steering wheel intervention judgment result includes:
taking the first steering wheel intervention judgment result or the second steering wheel intervention judgment result as a final judgment result under the condition that the first steering wheel intervention judgment result is the same as the second steering wheel intervention judgment result;
and determining a driving mode switching result according to the final judgment result.
Preferably, the determining the driving mode switching result according to the first steering wheel intervention judgment result and the second steering wheel intervention judgment result includes:
judging the magnitude relation between the first torque value and a third preset torque value under the condition that the first steering wheel intervention judgment result is different from the second steering wheel intervention judgment result and the first steering wheel intervention judgment result is a judgment result that the steering wheel is interfered by a driver;
determining a judgment result of the steering wheel interfered by the driver as a final judgment result under the condition that the first torque value is greater than or equal to a third preset torque value;
determining a judgment result that the steering wheel is not interfered by the driver as a final judgment result under the condition that the first torque value is smaller than a third preset torque value;
and determining a driving mode switching result according to the final judgment result.
Preferably, the determining the driving mode switching result according to the first steering wheel intervention judgment result and the second steering wheel intervention judgment result includes:
judging the magnitude relation between the second torque value and a fourth preset torque value under the condition that the first steering wheel intervention judgment result is different from the second steering wheel intervention judgment result and the first steering wheel intervention judgment result is a judgment result that the steering wheel is not subjected to driver intervention;
determining a judgment result of the steering wheel interfered by the driver as a final judgment result under the condition that the second torque value is greater than or equal to a fourth preset torque value;
determining a judgment result that the steering wheel is not interfered by the driver as a final judgment result under the condition that the second torque value is smaller than a fourth preset torque value;
and determining a driving mode switching result according to the final judgment result.
Preferably, in the case that at least two pressure-sensitive sensors are uniformly distributed at the edge of the steering wheel, the method further comprises:
acquiring phase information acquired by the at least two pressure induction sensors;
judging whether the phase information of the at least two pressure induction sensors is consistent;
under the condition that the phase information of the at least two pressure induction sensors is inconsistent, a step of acquiring a first torque value acquired by a steering wheel torque sensor is executed;
and determining that the driving mode is not switched under the condition that the phase information of the at least two pressure induction sensors is consistent.
A driving mode switching system comprising:
the first torque value acquisition module is used for acquiring a first torque value acquired by a steering wheel torque sensor;
the second torque value acquisition module is used for acquiring a second torque value acquired by the pressure induction sensor;
the first steering wheel intervention judgment result acquisition module is used for acquiring a first steering wheel intervention judgment result according to the first torque value;
the second steering wheel intervention judgment result acquisition module is used for acquiring a second steering wheel intervention judgment result according to the second torque value;
and the driving mode switching result determining module is used for determining a driving mode switching result according to the first steering wheel intervention judgment result and the second steering wheel intervention judgment result.
Preferably, the first steering wheel intervention judgment result obtaining module includes:
the first torque value judging module is used for judging the magnitude relation between the first torque value and a first preset torque value;
the first steering wheel intervention judgment result acquisition submodule is used for acquiring a judgment result of the steering wheel interfered by a driver after the first torque value judgment module judges that the duration of the first torque value which is greater than or equal to the first preset torque value reaches a first preset duration; and obtaining a judgment result that the steering wheel is not interfered by the driver after the first torque value judgment module judges that the duration of the first torque value smaller than the first preset torque value reaches a second preset duration.
Preferably, the second steering wheel intervention judgment result obtaining module includes:
the second torque value judging module is used for judging the magnitude relation between the second torque value and a second preset torque value;
the second steering wheel intervention judgment result acquisition submodule is used for acquiring a judgment result of the steering wheel interfered by the driver after the second torque value judgment module judges that the duration of the second torque value which is greater than or equal to the second preset torque value reaches a third preset duration; and obtaining a judgment result that the steering wheel is not interfered by the driver after the second torque value judgment module judges that the duration of the second torque value smaller than the second preset torque value reaches a fourth preset duration.
Based on the technical scheme, the embodiment of the invention discloses a driving mode switching method and a system, wherein a first torque value acquired by a steering wheel torque sensor is acquired; acquiring a second torque value acquired by the pressure induction sensor; obtaining a first steering wheel intervention judgment result according to the first torque value; obtaining a second steering wheel intervention judgment result according to the second torque value; and determining a driving mode switching result according to the first steering wheel intervention judgment result and the second steering wheel intervention judgment result. According to the invention, the pressure sensing sensor is added on the basis of the steering wheel torque sensor, and as the steering wheel torque sensor has higher sensitivity only aiming at the force in a large torque range and the continuous force, and the pressure sensing sensor has higher sensitivity to the force in a small torque range and the transient force, the pressure sensing sensor makes up the measurement deficiency of the steering wheel torque sensor, the invention combines the first torque value acquired by the steering wheel torque sensor and the second torque value acquired by the pressure sensing sensor to judge whether the steering wheel is interfered by a driver, so that an accurate judgment result can be obtained, the driving mode switching result is accurately determined according to the judgment result, and the driving safety is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a structural diagram of a driving mode switching device according to an embodiment of the present invention;
fig. 2 is a flowchart of a driving mode switching method according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a distribution of pressure-sensitive sensors according to an embodiment of the present invention;
FIG. 4 is a flow chart of another driving mode switching method provided by the embodiment of the invention;
fig. 5 is a flowchart illustrating a specific process of determining a driving mode switching result according to a first steering wheel intervention judgment result and a second steering wheel intervention judgment result according to an embodiment of the present invention;
fig. 6 is a flowchart illustrating another specific process of determining a driving mode switching result according to the first steering wheel intervention judgment result and the second steering wheel intervention judgment result according to the embodiment of the present invention;
fig. 7 is a block diagram of a driving mode switching system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The torque information is mainly acquired by a steering wheel torque sensor in the current automatic driving vehicle, so that whether the steering wheel is interfered by a driver or not is judged by utilizing the torque information. The structure of the driving mode switching device shown in the following figure 1 is combined, a section of flexible torsion bar is connected to the middle of a steering column, when the steering column rotates and torque is transmitted in the steering column, the upper end surface and the lower end surface of the flexible torsion bar rotate in opposite directions to generate torque, the upper end surface and the lower end surface of the flexible torsion bar are respectively connected with a metal disc, a hall sensor is connected to the middle of the flexible torsion bar, when the metal disc moves relative to the hall sensor, the generated torque can change the electrical characteristics of the hall sensor, the electrical characteristic change signal of the hall sensor is output to a driving mode switching judgment module after being processed by a sensor signal, and the driving mode switching judgment module determines the driving mode switching result according to the electrical characteristic change signal of the hall sensor.
In the scheme of determining the driving mode switching result by using the steering wheel torque sensor, the flexible torsion bar needs to be displaced to generate torque, and the steering wheel torque sensor has high sensitivity only aiming at the force in a large torque range and the continuous force and is enough to detect the force more than 0.1N. However, the steering wheel torque sensor is not highly sensitive to a small torque range force and a transient force, and is also not highly sensitive to a small amplitude high frequency vibration force, and is difficult to accurately recognize a torque of 0.1Nm or less. In addition, because the steering wheel torque sensor has the problem of zero drift in a small torque range, the problem that whether the steering wheel is interfered by a driver cannot be accurately judged by adopting a scheme that the steering wheel torque sensor is used for determining the switching of the driving modes in the prior art exists, if the judgment result of whether the steering wheel is interfered by the driver is not accurate, the steering wheel is easy to exit by mistake in the automatic driving mode, and if the driver does not prepare for manual driving, serious driving safety is caused.
Based on the above, the invention provides a driving mode switching method for accurately judging whether the steering wheel is interfered by the driver and improving the driving safety. It should be noted that the following driving mode switching method disclosed in the present invention is performed when the vehicle is in an autonomous driving mode.
Fig. 2 shows a flow chart of a driving mode switching method, and referring to fig. 2, the method may include:
s100, acquiring a first torque value acquired by a steering wheel torque sensor;
the method and the device can acquire the first torque value acquired by the steering wheel torque sensor in real time, and can also acquire the first torque value acquired by the steering wheel torque sensor periodically, and the method and the device are not particularly limited.
Optionally, after the first torque value is acquired, a signal processing process may be performed on the first torque value, for example, amplification, filtering and the like of the signal value are performed on the first torque value, and the present invention is not limited in particular.
Step S110, acquiring a second torque value acquired by the pressure induction sensor;
the invention can acquire the second torque value acquired by the pressure sensing sensor in real time, and can also acquire the second torque value acquired by the pressure sensing sensor periodically, which is not limited in particular.
Optionally, after the second torque value is obtained, the present invention may further perform a signal processing process on the second torque value, for example, perform processing such as amplification and filtering on the signal value on the second torque value, and the present invention is not limited in particular.
It should be noted that the characteristics of the pressure-sensitive sensor are as follows: when an elastic body in the pressure sensing sensor encounters force input, an elastic wave is generated and propagated, and the fluctuation characteristic of the elastic wave follows the fluctuation equation (2-order linear partial differential equation: utt ═ A Σ uxx, utt represents the second derivative of displacement with respect to time, uxx represents the second derivative of displacement with respect to the spatial x-axis, and A is the coefficient of the fluctuation equation, which is a constant). The piezoelectric material in the pressure-sensitive sensor can generate an electrical signal according to the elastic wave of the elastic body. If a small force is applied in the longitudinal direction of a piezoelectric film (such as a polyvinylidene fluoride (PVDF) polymer film) in the pressure-sensitive sensor, a large stress is generated in the transverse direction, so that the pressure-sensitive sensor is very sensitive to dynamic stress, and is significantly different from a steering wheel torque sensor, the pressure-sensitive sensor is very sensitive to a small-amplitude high-frequency vibration force, and transient fluctuation is measured, and the sensitivity to a small-torque-range force and a transient force is high.
It should be noted that, the number of the pressure-sensitive sensors in the present invention may be one, or may be multiple, and when the number of the pressure-sensitive sensors is multiple, the pressure-sensitive sensors in the present invention are uniformly distributed on the circumference of the steering wheel in combination with the distribution diagram of the pressure-sensitive sensors shown in fig. 3, the number of the pressure-sensitive sensors in the present invention may be adjusted according to the actual situation, and the number of the pressure-sensitive sensors shown in fig. 3 is four, and the pressure-sensitive sensors are uniformly distributed on the positions of 0 degree, 90 degrees, 180 degrees, and 270 degrees on the circumference of the steering wheel. The number and distribution mode of the pressure-sensitive sensors are not particularly limited, and the pressure-sensitive sensors are uniformly distributed on the circumference of the steering wheel.
Optionally, the pressure-sensitive sensor in the present invention may be a pressure-sensitive sensor sensitive to high-frequency elastic waves, such as a piezoelectric acceleration sensor.
Step S120, obtaining a first steering wheel intervention judgment result according to the first torque value;
the specific process of obtaining the first steering wheel intervention judgment result according to the first torque value comprises the following steps: judging the magnitude relation between the first torque value and a first preset torque value; obtaining a judgment result of driver intervention on a steering wheel after the duration of the first torque value is greater than or equal to a first preset torque value reaches a first preset duration; and obtaining a judgment result that the steering wheel is not intervened by the driver after the duration that the first torque value is less than the first preset torque value reaches a second preset duration.
It should be noted that the magnitude of the first preset torque value is set by a person skilled in the art according to the specific performance of the vehicle, and the invention is not limited in particular.
The first preset duration and the second preset duration are set by a person skilled in the art according to specific performances of a vehicle, and in the setting process, performances such as steering system rigidity, steering wheel rigidity, a signal processing filter circuit, software analog-digital acquisition frequency and the like need to be considered, and the invention is not particularly limited.
Specifically, in order to further improve the accuracy of the judgment result of whether the steering wheel is interfered by the driver, the invention provides another technical scheme for obtaining the first steering wheel interference judgment result: the preset torque threshold 1 and the preset torque threshold 2 are preset, the preset torque threshold 1 is greater than the preset torque threshold 2, and the sizes of the preset torque threshold 1 and the preset torque threshold 2 are set by those skilled in the art according to the specific performance of the vehicle, and the invention is not particularly limited.
The specific process of obtaining the first steering wheel intervention judgment result may further include: judging the magnitude relation between the first torque value and a preset torque threshold value 1; after the duration that the first torque value is greater than or equal to the preset torque threshold value 1 reaches a first preset duration, obtaining a judgment result that the steering wheel is interfered by a driver; and obtaining a judgment result that the steering wheel is not interfered by the driver after the duration that the first torque value is less than or equal to the preset torque threshold value 2 reaches a second preset duration.
For example: a first torque value measured by a steering wheel torque sensor is greater than or equal to 0.5Nm (preset torque threshold value 1), the duration time exceeds 500ms, and a judgment result of driver intervention on the steering wheel is obtained; and a first torque value measured by the steering wheel torque sensor is less than or equal to 0.1Nm (preset torque threshold value 2), the duration time exceeds 500ms, and a judgment result that the steering wheel is not interfered by the driver is obtained.
Step S130, obtaining a second steering wheel intervention judgment result according to the second torque value;
the process of obtaining the second steering wheel intervention judgment result according to the second torque value comprises the following steps: judging the magnitude relation between the second torque value and a second preset torque value; after the duration that the second torque value is greater than or equal to the second preset torque value reaches a third preset duration, obtaining a judgment result that the steering wheel is interfered by the driver; and obtaining a judgment result that the steering wheel is not interfered by the driver after the duration that the second torque value is smaller than the second preset torque value reaches a fourth preset duration.
It should be noted that the magnitude of the second preset torque value is set by those skilled in the art according to the specific performance of the vehicle, and the invention is not limited in particular.
The third preset time and the fourth preset time are set by a person skilled in the art according to specific performances of the vehicle, and in the setting process, performances such as steering system rigidity, steering wheel rigidity, a signal processing filter circuit, software module acquisition frequency and the like need to be considered, and the invention is not particularly limited.
Specifically, in order to further improve the accuracy of the judgment result of whether the steering wheel is interfered by the driver, the invention provides another technical scheme for obtaining the second steering wheel interference judgment result: the preset torque threshold 3 and the preset torque threshold 4 are preset, the preset torque threshold 3 is greater than the preset torque threshold 4, and the sizes of the preset torque threshold 3 and the preset torque threshold 4 are set by those skilled in the art according to the specific performance of the vehicle, and the invention is not particularly limited.
The specific process of obtaining the second steering wheel intervention judgment result may further include: judging the magnitude relation between the second torque value and a preset torque threshold value 3; after the duration that the second torque value is greater than or equal to the preset torque threshold value 3 reaches a third preset duration, obtaining a judgment result that the steering wheel is interfered by the driver; and obtaining a judgment result that the steering wheel is not interfered by the driver after the duration that the second torque value is less than or equal to the preset torque threshold value 4 reaches a fourth preset duration.
For example: the second torque value measured by the pressure induction sensor is greater than or equal to 0.5Nm, the duration time exceeds 500ms, and a judgment result of driver intervention on the steering wheel is obtained; and the second torque value measured by the pressure induction sensor is less than or equal to 0.1Nm, the duration time exceeds 500ms, and a judgment result that the steering wheel is not interfered by the driver is obtained.
And step S140, determining a driving mode switching result according to the first steering wheel intervention judgment result and the second steering wheel intervention judgment result.
According to the invention, a first steering wheel intervention judgment result can be obtained according to the steering wheel torque sensor, and a second steering wheel intervention judgment result can be obtained according to the pressure induction sensor, wherein the first steering wheel intervention judgment result can be that the steering wheel is interfered by a driver or that the steering wheel is not interfered by the driver; the second steering wheel intervention judgment result may be that the steering wheel is subjected to driver intervention or that the steering wheel is not subjected to driver intervention. The final driving mode switching result can be determined according to the first steering wheel intervention judgment result and the second steering wheel intervention judgment result.
Since the following driving mode switching methods disclosed in the present invention are all performed when the vehicle is in an autonomous driving mode, the resulting final driving mode switching result is to switch from the autonomous driving mode to a manual driving mode, or to keep the autonomous driving mode from switching.
According to the invention, the pressure sensing sensor is added on the basis of the steering wheel torque sensor, and as the steering wheel torque sensor has higher sensitivity only aiming at the force in a large torque range and the continuous force, and the pressure sensing sensor has higher sensitivity to the force in a small torque range and the transient force, the pressure sensing sensor makes up the measurement deficiency of the steering wheel torque sensor, the invention combines the first torque value acquired by the steering wheel torque sensor and the second torque value acquired by the pressure sensing sensor to judge whether the steering wheel is interfered by a driver, so that an accurate judgment result can be obtained, the driving mode switching result is accurately determined according to the judgment result, and the driving safety is improved. The steering wheel torque sensor and the pressure induction sensor can be used as backups for each other, and the driving mode switching result can be determined by the other sensor under the condition that one sensor fails, so that the driving safety is further ensured.
It should be noted that, in the real road condition, different road surfaces have different bumping degrees, the environment where the vehicle is running can be different, and the fluctuation of the road surface can make the vehicle self generate vibrations of different degrees, so the vibrations of the vehicle self and the crosswind, etc. can generate interferences of different degrees on the torque values collected by the steering wheel torque sensor and the pressure sensor, which affects the accuracy of the steering wheel intervention judgment result, easily causes the mistaken exit of the automatic driving mode, and affects the driving safety. Therefore, in order to eliminate the vibration of the vehicle itself and the disturbance of the crosswind and the like, the present invention provides the following embodiments:
fig. 4 shows a flowchart of a driving mode switching method, the following embodiments of the present invention are performed in a case where the pressure-sensitive sensors are at least two and the pressure-sensitive sensors are uniformly distributed in the steering wheel, and referring to fig. 4, the method may include:
s200, acquiring phase information acquired by at least two pressure induction sensors;
the phase information acquired by the pressure induction sensor is the phase information of pressure waves acquired by the pressure induction sensor, the phase information can be classified by a software implementation classifier (such as an SVM support vector machine), the software implementation classifier can output two different types of phase information according to the input phase information, the two different types of phase information are distinguished based on the generation reason of the phase information, a type represents the phase information generated by self-road surface shaking or crosswind, and b type represents the phase information generated by manual intervention of a driver.
Step S210, judging whether the phase information of the at least two pressure induction sensors is consistent; if the phase information of the at least two pressure-sensitive sensors is inconsistent, performing step S220; determining that the driving mode is not switched under the condition that the phase information of the at least two pressure induction sensors is consistent;
under the condition that the phase information of at least two pressure induction sensors is inconsistent, indicating that the pressure waves collected by the pressure induction sensors are generated by a driver touching a steering wheel; and under the condition that the phase information of at least two pressure induction sensors is consistent, indicating that the pressure waves collected by the pressure induction sensors are caused by the self vibration of the vehicle body or the environmental reasons such as crosswind and the like, determining to continuously execute the automatic driving mode at the moment, and not executing the switching of the driving mode.
With reference to the schematic distribution diagram of the pressure-sensitive sensors shown in fig. 3, the pressure-sensitive sensors in the present invention are uniformly distributed on the circumference of the steering wheel, the number of the pressure-sensitive sensors can be adjusted according to the actual situation, and the number of the pressure-sensitive sensors shown in fig. 3 is four, and the pressure-sensitive sensors are uniformly distributed on the positions of 0 degree, 90 degrees, 180 degrees and 270 degrees on the circumference of the steering wheel. When the pressure wave collected by the pressure induction sensor is transmitted from the vehicle body, the phases of the four sensors are consistent. When the driver applies a force in the steering wheel, the phases of the four sensors are not uniform, and specifically may be sequentially and equidistantly delayed.
Step S220, acquiring a first torque value acquired by a steering wheel torque sensor;
step S230, obtaining a second torque value collected by the at least two pressure sensing sensors;
the second torque value may be an average value of the torque values collected by the at least two pressure-sensitive sensors, and the present invention is not limited in particular.
Step S240, obtaining a first steering wheel intervention judgment result according to the first torque value;
step S250, obtaining a second steering wheel intervention judgment result according to the second torque value;
and step S260, determining a driving mode switching result according to the first steering wheel intervention judgment result and the second steering wheel intervention judgment result.
It should be noted that, in the above embodiment of the present invention, when the phase information of at least two pressure-sensitive sensors is consistent, it indicates that the pressure wave collected by the pressure-sensitive sensors is caused by an environmental reason such as a vibration of the vehicle body itself or a crosswind, and at this time, it is determined that the automatic driving mode is continuously executed, and the switching of the driving mode is not executed. Only under the condition that the phase information of at least two pressure induction sensors is inconsistent, the pressure wave collected by the pressure induction sensors is generated by the fact that a driver touches a steering wheel, and the driving mode switching result is calculated by utilizing a first torque value collected by a steering wheel torque sensor and a second torque value collected by at least two pressure induction sensors, so that the interference of the vibration of a vehicle, the crosswind and the like to the driving mode is eliminated, the accuracy of the steering wheel intervention judgment result is improved, and the driving safety is improved.
It should be noted that, in a case that the first steering wheel intervention judgment result is the same as the second steering wheel intervention judgment result, the process of determining the driving mode switching result according to the first steering wheel intervention judgment result and the second steering wheel intervention judgment result includes: and taking the first steering wheel intervention judgment result or the second steering wheel intervention judgment result as a final judgment result, and determining a driving mode switching result according to the final judgment result.
In the present invention, when the first steering wheel intervention judgment result is different from the second steering wheel intervention judgment result, the following two embodiments are used to describe in detail a specific process of determining a driving mode switching result according to the first steering wheel intervention judgment result and the second steering wheel intervention judgment result:
fig. 5 is a flowchart illustrating a specific process of determining a driving mode switching result according to the first steering wheel intervention judgment result and the second steering wheel intervention judgment result in the case that the first steering wheel intervention judgment result is different from the second steering wheel intervention judgment result and the first steering wheel intervention judgment result is a judgment result that the steering wheel is subjected to driver intervention, and referring to fig. 5, the method may include:
step S300, judging the magnitude relation between the first torque value and a third preset torque value; if the first torque value is greater than or equal to the third preset torque value, executing step S310; in case the first torque value is smaller than the third preset torque value, performing step S320;
it should be noted that the third preset torque value in the present invention may be calibrated by a person skilled in the art, and the calibration manner may be a maximum torque value that can be collected by the steering wheel torque sensor during the automatic driving of the vehicle on the road with different degrees of jerk.
Step S310, determining a judgment result of the steering wheel interfered by the driver as a final judgment result;
step S320, determining a judgment result that the steering wheel is not interfered by the driver as a final judgment result;
and step S330, determining a driving mode switching result according to the final judgment result.
In the automatic driving process, under the condition that the final judgment result is that the steering wheel is interfered by a driver, the automatic driving mode is switched to the manual switching mode; and under the condition that the steering wheel is not intervened by the driver, continuously keeping the automatic driving mode without switching.
Fig. 6 is a flowchart illustrating a specific process of determining a driving mode switching result according to the first steering wheel intervention judgment result and the second steering wheel intervention judgment result in the case that the first steering wheel intervention judgment result is different from the second steering wheel intervention judgment result and the first steering wheel intervention judgment result is a judgment result that the steering wheel is not subjected to driver intervention, and referring to fig. 6, the method may include:
s400, judging the magnitude relation between the second torque value and a fourth preset torque value; if the second torque value is greater than or equal to the fourth preset torque value, executing step S410; in case the second torque value is smaller than the fourth preset torque value, performing step S420;
it should be noted that the fourth preset torque value in the present invention may be calibrated by a person skilled in the art, the calibration manner may be an amplitude of the torque value that can be measured by the pressure-sensitive sensor when the driver applies a hand force with a preset force (for example, 0.1Nm hand force) to the steering wheel, and the magnitude of the hand force with the preset force may be set by the person skilled in the art, which is not limited in the present invention.
Step S410, determining a judgment result of the steering wheel interfered by the driver as a final judgment result;
step S420, determining a judgment result that the steering wheel is not interfered by the driver as a final judgment result;
and step S430, determining a driving mode switching result according to the final judgment result.
In the automatic driving process, under the condition that the final judgment result is that the steering wheel is interfered by a driver, the automatic driving mode is switched to the manual switching mode; and under the condition that the steering wheel is not intervened by the driver, continuously keeping the automatic driving mode without switching.
In the following, a driving mode switching system according to an embodiment of the present invention is described, and a driving mode switching system described below may be referred to in correspondence with the driving mode switching method described above.
Fig. 7 is a block diagram of a driving mode switching system according to an embodiment of the present invention, and referring to fig. 7, the driving mode switching system may include:
the first torque value acquisition module 100 is configured to acquire a first torque value acquired by a steering wheel torque sensor;
the second torque value acquisition module 110 is configured to acquire a second torque value acquired by the pressure sensing sensor;
a first steering wheel intervention judgment result obtaining module 120, configured to obtain a first steering wheel intervention judgment result according to the first torque value;
a second steering wheel intervention judgment result obtaining module 130, configured to obtain a second steering wheel intervention judgment result according to the second torque value;
and a driving mode switching result determining module 140, configured to determine a driving mode switching result according to the first steering wheel intervention judgment result and the second steering wheel intervention judgment result.
The first steering wheel intervention judgment result acquisition module comprises:
the first torque value judging module is used for judging the magnitude relation between the first torque value and a first preset torque value;
the first steering wheel intervention judgment result acquisition submodule is used for acquiring a judgment result of the steering wheel interfered by the driver after the first torque value judgment module judges that the duration of the first torque value which is greater than or equal to the first preset torque value reaches a first preset duration; and obtaining a judgment result that the steering wheel is not interfered by the driver after the first torque value judgment module judges that the duration of the first torque value smaller than the first preset torque value reaches a second preset duration.
The second steering wheel intervention judgment result acquisition module comprises:
the second torque value judging module is used for judging the magnitude relation between the second torque value and a second preset torque value;
the second steering wheel intervention judgment result acquisition submodule is used for acquiring a judgment result of the steering wheel interfered by the driver after the second torque value judgment module judges that the duration of the second torque value greater than or equal to the second preset torque value reaches a third preset duration; and obtaining a judgment result that the steering wheel is not interfered by the driver after the second torque value judgment module judges that the duration of the second torque value smaller than the second preset torque value reaches a fourth preset duration.
The driving mode switching result determining module includes:
the first driving mode switching result determining submodule is used for taking the first steering wheel intervention judgment result or the second steering wheel intervention judgment result as a final judgment result under the condition that the first steering wheel intervention judgment result is the same as the second steering wheel intervention judgment result; and determining a driving mode switching result according to the final judgment result.
The driving mode switching result determining module further includes: a second driving mode switching result determining submodule, configured to:
judging the magnitude relation between the first torque value and a third preset torque value under the condition that the first steering wheel intervention judgment result is different from the second steering wheel intervention judgment result and the first steering wheel intervention judgment result is a judgment result that the steering wheel is interfered by a driver;
determining a judgment result of the steering wheel interfered by the driver as a final judgment result under the condition that the first torque value is greater than or equal to a third preset torque value;
determining a judgment result that the steering wheel is not interfered by the driver as a final judgment result under the condition that the first torque value is smaller than a third preset torque value;
and determining a driving mode switching result according to the final judgment result.
The driving mode switching result determining module further includes: a third driving mode switching result determining submodule, configured to:
judging the magnitude relation between the second torque value and a fourth preset torque value under the condition that the first steering wheel intervention judgment result is different from the second steering wheel intervention judgment result and the first steering wheel intervention judgment result is a judgment result that the steering wheel is not subjected to driver intervention;
determining a judgment result of the steering wheel interfered by the driver as a final judgment result under the condition that the second torque value is greater than or equal to a fourth preset torque value;
under the condition that the second torque value is smaller than the fourth preset torque value, determining a judgment result that the steering wheel is not interfered by the driver as a final judgment result;
and determining a driving mode switching result according to the final judgment result.
In the case that the number of the pressure-sensitive sensors is at least two, and the pressure-sensitive sensors are uniformly distributed in the steering wheel, before acquiring the first torque value collected by the steering wheel torque sensor, the method further includes:
the phase information acquisition module is used for acquiring the phase information acquired by the at least two pressure induction sensors;
the phase information judging module is used for judging whether the phase information of the at least two pressure induction sensors is consistent or not;
under the condition that the phase information of the at least two pressure induction sensors is inconsistent, acquiring a first torque value acquired by a steering wheel torque sensor;
and determining that the driving mode is not switched under the condition that the phase information of the at least two pressure induction sensors is consistent.
In summary, the following steps:
the embodiment of the invention discloses a method and a system for switching driving modes, wherein a first torque value acquired by a steering wheel torque sensor is acquired; acquiring a second torque value acquired by the pressure induction sensor; obtaining a first steering wheel intervention judgment result according to the first torque value; obtaining a second steering wheel intervention judgment result according to the second torque value; and determining a driving mode switching result according to the first steering wheel intervention judgment result and the second steering wheel intervention judgment result. According to the invention, the pressure sensing sensor is added on the basis of the steering wheel torque sensor, and as the steering wheel torque sensor has higher sensitivity only aiming at the force in a large torque range and the continuous force, and the pressure sensing sensor has higher sensitivity to the force in a small torque range and the transient force, the pressure sensing sensor makes up the measurement deficiency of the steering wheel torque sensor, the invention combines the first torque value acquired by the steering wheel torque sensor and the second torque value acquired by the pressure sensing sensor to judge whether the steering wheel is interfered by a driver, so that an accurate judgment result can be obtained, the driving mode switching result is accurately determined according to the judgment result, and the driving safety is improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A driving mode switching method characterized by comprising:
acquiring a first torque value acquired by a steering wheel torque sensor;
acquiring a second torque value acquired by the pressure induction sensor;
obtaining a first steering wheel intervention judgment result according to the first torque value;
obtaining a second steering wheel intervention judgment result according to the second torque value;
determining a driving mode switching result according to the first steering wheel intervention judgment result and the second steering wheel intervention judgment result, wherein the determining comprises: judging the magnitude relation between the first torque value and a third preset torque value under the condition that the first steering wheel intervention judgment result is different from the second steering wheel intervention judgment result and the first steering wheel intervention judgment result is a judgment result that the steering wheel is interfered by a driver; determining a judgment result of the steering wheel interfered by the driver as a final judgment result under the condition that the first torque value is greater than or equal to a third preset torque value; determining a judgment result that the steering wheel is not interfered by the driver as a final judgment result under the condition that the first torque value is smaller than a third preset torque value; and determining a driving mode switching result according to the final judgment result.
2. The method of claim 1, wherein obtaining a first steering wheel intervention determination based on the first torque value comprises:
judging the magnitude relation between the first torque value and a first preset torque value;
obtaining a judgment result of driver intervention on a steering wheel after the duration of the first torque value is greater than or equal to the first preset torque value reaches a first preset duration;
and obtaining a judgment result that the steering wheel is not intervened by the driver after the duration that the first torque value is smaller than the first preset torque value reaches a second preset duration.
3. The method of claim 1, wherein said deriving a second steering wheel intervention determination based on said second torque value comprises:
judging the magnitude relation between the second torque value and a second preset torque value;
obtaining a judgment result of driver intervention on the steering wheel after the duration of the second torque value is greater than or equal to the second preset torque value reaches a third preset duration;
and obtaining a judgment result that the steering wheel is not interfered by the driver after the duration that the second torque value is smaller than the second preset torque value reaches a fourth preset duration.
4. The method of claim 1, wherein determining a driving mode switch result as a function of the first steering wheel intervention determination and the second steering wheel intervention determination further comprises:
taking the first steering wheel intervention judgment result or the second steering wheel intervention judgment result as a final judgment result under the condition that the first steering wheel intervention judgment result is the same as the second steering wheel intervention judgment result;
and determining a driving mode switching result according to the final judgment result.
5. The method of claim 1, wherein determining a driving mode switch result as a function of the first steering wheel intervention determination and the second steering wheel intervention determination further comprises:
judging the magnitude relation between the second torque value and a fourth preset torque value under the condition that the first steering wheel intervention judgment result is different from the second steering wheel intervention judgment result and the first steering wheel intervention judgment result is a judgment result that the steering wheel is not subjected to driver intervention;
determining a judgment result of the steering wheel interfered by the driver as a final judgment result under the condition that the second torque value is greater than or equal to a fourth preset torque value;
determining a judgment result that the steering wheel is not interfered by the driver as a final judgment result under the condition that the second torque value is smaller than a fourth preset torque value;
and determining a driving mode switching result according to the final judgment result.
6. The method of claim 1, wherein in the event that at least two pressure sensitive sensors are evenly distributed at the rim of the steering wheel, the method further comprises:
acquiring phase information acquired by the at least two pressure induction sensors;
judging whether the phase information of the at least two pressure induction sensors is consistent;
under the condition that the phase information of the at least two pressure induction sensors is inconsistent, a step of acquiring a first torque value acquired by a steering wheel torque sensor is executed;
and determining that the driving mode is not switched under the condition that the phase information of the at least two pressure induction sensors is consistent.
7. A driving mode switching system, characterized by comprising:
the first torque value acquisition module is used for acquiring a first torque value acquired by a steering wheel torque sensor;
the second torque value acquisition module is used for acquiring a second torque value acquired by the pressure induction sensor;
the first steering wheel intervention judgment result acquisition module is used for acquiring a first steering wheel intervention judgment result according to the first torque value;
the second steering wheel intervention judgment result acquisition module is used for acquiring a second steering wheel intervention judgment result according to the second torque value;
a driving mode switching result determining module, configured to determine a driving mode switching result according to the first steering wheel intervention judgment result and the second steering wheel intervention judgment result, where the driving mode switching result determining module includes: judging the magnitude relation between the first torque value and a third preset torque value under the condition that the first steering wheel intervention judgment result is different from the second steering wheel intervention judgment result and the first steering wheel intervention judgment result is a judgment result that the steering wheel is interfered by a driver; determining a judgment result of the steering wheel interfered by the driver as a final judgment result under the condition that the first torque value is greater than or equal to a third preset torque value; determining a judgment result that the steering wheel is not interfered by the driver as a final judgment result under the condition that the first torque value is smaller than a third preset torque value; and determining a driving mode switching result according to the final judgment result.
8. The system of claim 7, wherein the first steering wheel intervention judgment result obtaining module comprises:
the first torque value judging module is used for judging the magnitude relation between the first torque value and a first preset torque value;
the first steering wheel intervention judgment result acquisition submodule is used for acquiring a judgment result of the steering wheel interfered by a driver after the first torque value judgment module judges that the duration of the first torque value which is greater than or equal to the first preset torque value reaches a first preset duration; and obtaining a judgment result that the steering wheel is not interfered by the driver after the first torque value judgment module judges that the duration of the first torque value smaller than the first preset torque value reaches a second preset duration.
9. The system of claim 7, wherein the second steering wheel intervention judgment result obtaining module comprises:
the second torque value judging module is used for judging the magnitude relation between the second torque value and a second preset torque value;
the second steering wheel intervention judgment result acquisition submodule is used for acquiring a judgment result of the steering wheel interfered by the driver after the second torque value judgment module judges that the duration of the second torque value which is greater than or equal to the second preset torque value reaches a third preset duration; and obtaining a judgment result that the steering wheel is not interfered by the driver after the second torque value judgment module judges that the duration of the second torque value smaller than the second preset torque value reaches a fourth preset duration.
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| CN115144028A (en) * | 2022-06-29 | 2022-10-04 | 上海恩威科科技有限公司 | Sensor for vehicle auxiliary driving and sensor measuring method |
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| EP2304511B1 (en) * | 2008-06-20 | 2013-05-22 | Toyota Jidosha Kabushiki Kaisha | Driving assistance apparatus |
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