CN110562265B - Vehicle driving control system and control method thereof - Google Patents
Vehicle driving control system and control method thereof Download PDFInfo
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- CN110562265B CN110562265B CN201910765310.5A CN201910765310A CN110562265B CN 110562265 B CN110562265 B CN 110562265B CN 201910765310 A CN201910765310 A CN 201910765310A CN 110562265 B CN110562265 B CN 110562265B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
Abstract
The invention relates to the field of vehicles, and discloses a vehicle driving control system and a control method thereof. According to the vehicle driving control system provided by the invention, a user can input a manual intervention instruction through the mobile control terminal or the vehicle-mounted man-machine communication device, then the manual intervention instruction and the driving instruction are fused by the automatic driving control module to generate a fusion instruction, and finally the chassis domain control module controls the vehicle to run according to the fusion instruction. The user can input corresponding manual intervention instructions according to requirements, the manual intervention instructions are not limited to execution instructions such as acceleration, deceleration and steering, but also can be decision instructions such as path planning, and the like, and the instructions such as steering and lane changing can be input through sensing the external environment manually to realize sensing layer control, so that the problem that the existing vehicle driving control system cannot intervene in environment sensing of a sensing layer and route planning of a planning decision layer is solved.
Description
Technical Field
The invention relates to the field of vehicles, in particular to a vehicle driving control system and a control method thereof.
Background
With the continuous development of the automatic driving technology, people are gradually released from a fatigue driving task, therefore, an automatic driving mode is provided, an external environment is sensed by a sensing layer, a path planning layer carries out path planning according to the external environment, and a control execution layer executes the path planning, namely the path planning is completely finished by a vehicle, but because the automatic driving technology at the present stage is not mature enough, the automatic driving vehicle completely separated from people has some problems in the actual use process, and the automatic driving mode is as follows:
(1) the positioning sensing sensor cannot realize full coverage of obstacle identification, the detection distance is limited, and the remote road condition cannot be sensed and pre-judged in advance;
(2) the local path planned by the system may be theoretically optimal, but not necessarily actually optimal, or not in accordance with the intention of the passengers;
(3) the vehicle control effect does not meet the requirements of the passengers, such as the passengers think that the vehicle runs too fast, runs too slow, and does not change lanes.
Aiming at the problems, the concept of man-machine driving is introduced in the prior art, and the current man-machine driving mode mainly comprises the following two modes: firstly, a target instruction sent by a person and an automatic driving controller is in a superposition relationship, and specifically, in the man-machine driving process, the target instruction finally responded by an actuator/the realized control effect is the sum of the actions of the person and the automatic driving controller; and secondly, a target instruction sent by the human and the automatic driving controller is in a weight distribution relation, and specifically, in the man-machine driving process, the target instruction finally responded by the actuator/the realized control effect is the sum of the actions of the human and the automatic driving controller after the weight distribution.
The two human-machine co-driving modes are researched and found in detail according to the currently disclosed technical scheme, and both belong to human-machine co-driving on a control execution level, namely, the human intervention can only influence the horizontal and vertical control effect of the bottom layer, but cannot influence the environmental perception of the perception layer and the route planning of the planning decision layer.
Disclosure of Invention
The invention aims to provide a vehicle driving control system and a control method thereof, which can solve the problem that the existing vehicle driving control system cannot intervene in the environment perception of a perception layer and the route planning of a planning decision layer.
In order to achieve the purpose, the invention adopts the following technical scheme:
a vehicle driving control system comprising:
the automatic driving control module is used for generating a driving instruction according to the measurement signal of the positioning perception sensor;
the chassis domain control module is used for receiving the driving instruction sent by the automatic driving control module and controlling the vehicle according to the driving instruction;
the manual intervention instruction acquisition module is used for acquiring a manual intervention instruction sent by a user in the process that the chassis domain control module controls the vehicle according to the driving instruction; the vehicle is provided with a vehicle-mounted man-machine communication device capable of communicating with the automatic driving control module, and the vehicle-mounted man-machine communication device is provided with the manual intervention instruction acquisition module; and/or a vehicle is provided with a mobile control terminal capable of communicating with an automatic driving control module, and the mobile control terminal is provided with the manual intervention instruction acquisition module;
the automatic driving control module fuses the manual intervention instruction and the driving instruction to generate a fusion instruction; and the chassis domain control module is also used for controlling the vehicle to run according to the fusion instruction.
As a preferable aspect of the above vehicle driving control system, the automatic driving control module includes:
an arbitration unit for determining whether the manual intervention instruction can be executed;
and the fusion module is used for fusing the human intervention instruction capable of being executed with the driving instruction to generate the fusion instruction.
As a preferred technical solution of the vehicle driving control system, the manual intervention instruction acquisition module includes a speed instruction acquisition unit, a steering instruction acquisition unit, a lane change instruction acquisition unit, and a cancellation instruction acquisition unit;
the cancellation instruction acquisition unit is used for acquiring a cancellation instruction for enabling the chassis domain control module to control the vehicle to run according to default automatic driving parameters.
As a preferable technical solution of the above vehicle driving control system, the manual intervention instruction acquisition module includes:
the parking instruction acquisition unit is used for acquiring a parking instruction for parking the vehicle and simultaneously enabling the automatic driving control module to record the current driving parameters of the vehicle;
and the recovery instruction acquisition unit is used for acquiring a recovery instruction for enabling the automatic driving control module to control the chassis area control module to control the vehicle to run according to the recorded driving parameters after the vehicle stops according to the parking instruction.
As a preferable technical solution of the above vehicle driving control system, the manual intervention instruction acquisition module includes:
and the path planning unit is used for acquiring a path planning instruction, forming path information according to the path planning instruction and sending the path information to the automatic driving control module.
As a preferable technical solution of the above vehicle driving control system, the vehicle driving control system further includes an event recorder, configured to record the manual intervention command acquired by the manual intervention command acquisition module.
The invention also provides a control method of the vehicle driving control system, which comprises the following steps:
generating a driving instruction according to a measurement signal of the positioning sensing sensor through the automatic driving control module, and sending the driving instruction to the chassis domain control module;
controlling the vehicle to run through a chassis domain control module according to the driving instruction;
in the process of controlling the vehicle to run according to the driving instruction by the chassis domain control module, acquiring a manual intervention instruction by the manual intervention instruction acquisition module;
fusing the manual intervention instruction with the driving instruction through the automatic driving control module to generate a fusion instruction, and sending the fusion instruction to the chassis domain control module;
and controlling the vehicle to run through the chassis domain control module according to the fusion instruction.
As a preferable technical solution of the above control method, before the automatic driving control module fuses the manual intervention command and the driving command, the method further includes:
and confirming whether the manual intervention instruction can be executed or not, and fusing the manual intervention instruction which can be executed with the driving instruction when the manual intervention instruction can be executed.
As a preferred technical solution of the above control method, when the chassis domain control module receives a parking instruction, the vehicle is controlled to stop, and at the same time, the automatic driving control module records the current driving parameters of the vehicle, and after the automatic driving control module receives a recovery instruction, the automatic driving control module sends the recorded driving parameters to the chassis domain control module, so that the chassis domain control module controls the vehicle to run according to the recorded driving parameters.
As a preferred technical scheme of the control method, path information is formed by a path planning instruction acquisition unit according to a path planning instruction acquired by a manual intervention instruction acquisition module, and the path information is sent to an automatic driving control module;
determining that the path information can be executed by the automatic driving control module, and controlling the vehicle to travel according to the path information that can be executed by controlling the chassis domain control module.
The invention has the beneficial effects that: the invention adds a manual intervention mode, a mobile control terminal or a vehicle-mounted man-machine communication device which can be communicated with an automatic driving control module is arranged on the vehicle, and a manual intervention instruction acquisition module is arranged on the mobile control terminal or the vehicle-mounted man-machine communication device. All passengers can participate in path setting and manual intervention on the vehicle through the mobile control terminal or the vehicle-mounted man-machine communication device, and are not limited to passengers sitting at specified positions; and personnel outside the vehicle can also set the path of the vehicle and intervene manually through the mobile control terminal.
Through the vehicle driving control system provided by the invention, a user can input a manual intervention instruction through the mobile control terminal or the vehicle-mounted man-machine communication device, then the manual intervention instruction and the driving instruction are fused by the automatic driving control module to generate a fusion instruction, and finally the chassis domain control module controls the vehicle to run. The user can input corresponding manual intervention instructions according to requirements, the manual intervention instructions are not limited to execution instructions such as acceleration, deceleration and steering, but also can be decision instructions such as path planning, and the like, and the instructions such as steering and lane changing can be input through sensing the external environment manually to realize sensing layer control, so that the problem that the existing vehicle driving control system cannot intervene in environment sensing of a sensing layer and route planning of a planning decision layer is solved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a vehicle driving control system provided by an embodiment of the invention;
fig. 2 is a first display interface diagram of the mobile control terminal according to the embodiment of the present invention;
fig. 3 is a second display interface diagram of the mobile control terminal according to the embodiment of the present invention;
FIG. 4 is a first flowchart of a vehicle driving control system according to an embodiment of the present invention;
fig. 5 is a second flowchart of the vehicle driving control system according to the embodiment of the present invention.
Detailed Description
In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the elements associated with the present invention are shown in the drawings.
As shown in fig. 1, the present embodiment provides a vehicle driving control system, which includes an automatic driving control module and a chassis area control module, wherein the automatic driving control module is configured to generate a driving instruction according to a measurement signal of a positioning sensing sensor; and the chassis domain control module is used for receiving the driving instruction sent by the automatic driving control module and controlling the vehicle according to the driving instruction. The chassis area control module is connected with a vehicle control unit, and the positioning sensing sensor mainly refers to a sensor used in an automatic driving process in the prior art, such as a laser radar, a camera, a millimeter wave radar, an inertial navigation system and the like.
The vehicle driving control system adopts three main control modes, namely an automatic driving mode, a traditional man-machine common driving mode and a manual intervention mode. The automatic driving starting button is arranged on the vehicle, and the automatic driving mode can be executed by pressing the automatic driving starting button. Specifically, the autopilot control module will initiate autopilot upon receiving an autopilot command. In the automatic driving mode, if a driving command from an accelerator pedal, a brake pedal or a steering wheel is received, a traditional man-machine driving mode is entered.
The vehicle is provided with a mobile control terminal capable of communicating with the automatic driving control module, and the mobile control terminal is provided with a manual intervention instruction acquisition module. All passengers can participate in path setting and manual intervention on the vehicle through the mobile control terminal, and the vehicle is not limited to the passengers sitting at the designated positions; and personnel outside the vehicle can also set the path of the vehicle and intervene manually through the mobile control terminal.
In other embodiments of the invention, a vehicle-mounted man-machine communication device capable of communicating with the automatic driving control module can be arranged on the vehicle only or simultaneously, and a manual intervention instruction acquisition module is arranged on the vehicle-mounted man-machine communication device.
The automatic driving control module fuses the manual intervention instruction and the driving instruction to generate a fusion instruction; and the chassis domain control module is also used for controlling the vehicle to run according to the fusion instruction.
Under the condition that a driver does not perform manual intervention through an accelerator pedal, a brake pedal, a steering wheel and the like, the vehicle can be manually intervened through the vehicle-mounted man-machine communication device or the mobile control terminal. And once the driving instruction input of the driver is monitored in the manual intervention mode, the manual intervention mode is immediately exited, and the traditional man-machine driving mode is switched to, namely the priority of the traditional man-machine driving mode is higher than that of the manual intervention mode.
In the embodiment, a user can input a manual intervention instruction through the mobile control terminal or the vehicle-mounted man-machine communication device, then the manual intervention instruction and the driving instruction are fused by the automatic driving control module to generate a fusion instruction, and finally the chassis domain control module controls the vehicle to run. The user can input corresponding manual intervention instructions according to requirements, the manual intervention instructions are not limited to execution instructions such as acceleration, deceleration and steering, and can also be sensing instructions such as path planning, and the problem that an existing vehicle driving control system cannot intervene in environment sensing of a sensing layer and route planning of a planning decision layer is solved.
The automatic driving control module comprises an arbitration unit and a fusion module, wherein the arbitration unit is used for determining whether a manual intervention instruction can be executed; the fusion module is used for fusing the human intervention command capable of being executed with the driving command to generate a fusion command. When a user inputs a manual intervention instruction through the mobile control terminal, the automatic driving control module judges whether the manual intervention instruction is reasonable and feasible according to external environment information, and sends the manual intervention instruction to the chassis domain control module after the manual intervention instruction passes the verification so as to implement the final control of the vehicle.
The following examples illustrate the nature of the manual intervention instructions and how the arbitration unit determines whether the manual intervention instructions can be executed.
The manual intervention instruction acquisition module is used for acquiring a manual intervention instruction sent by a user in the process that the chassis domain control module controls the vehicle according to the driving instruction. As shown in fig. 2, for example, an acceleration key, a deceleration key, a left turn key, a right lane change key, a left lane change key, a display screen, and the like are provided on the mobile control terminal.
The acceleration key is used for performing acceleration intervention, an acceleration instruction acquisition unit in the speed instruction acquisition unit acquires an acceleration instruction, and when the acceleration key is pressed once, the acceleration instruction is sent once, and a user hopes to increase the speed of the vehicle by a preset speed compared with the current speed of the vehicle. The acceleration effect is influenced by the speed limit of an actual road and the external environment, and the arbitration unit of the automatic driving control module is used for arbitrating, if the highest speed limit of an express way is 80km/h or a positioning sensing sensor detects that the distance of a front vehicle is too close, the speed limit cannot be broken through or the acceleration can be carried out by running the risk of collision with the front vehicle. After the current vehicle speed is superposed with the preset vehicle speed, if the vehicle speed exceeds the highest speed limit, the fusion unit takes the vehicle speed obtained by fusing the current vehicle speed and the preset vehicle speed as the highest speed limit, or takes the current acceleration instruction as an invalid instruction, outputs the invalid instruction after fusing the current vehicle speed and the preset vehicle speed, and the automatic driving control module does not process the invalid instruction. If the distance between the vehicle and the front vehicle is small, when the vehicle is driven at the speed superposed by the current speed and the preset speed, a collision accident occurs in a short time, and the acceleration command is regarded as an invalid command.
The speed reduction key is used for carrying out speed reduction intervention, a speed reduction instruction acquisition unit in the speed instruction acquisition unit acquires a speed reduction instruction, and the speed reduction key is pressed once to send the speed reduction instruction, so that the speed of the vehicle is expected to be reduced by a preset speed compared with the current speed of the vehicle. The speed reduction effect is influenced by the speed limit of an actual road and the external environment, arbitration needs to be carried out by an arbitration unit of the automatic driving control module, and if the lowest speed limit of an expressway is 60km/h or the distance of a rear vehicle detected by a positioning sensing sensor is too short, the speed cannot be reduced by breaking through the speed limit or running the risk of rear-end collision of the rear vehicle. After the current vehicle speed is superposed with the preset vehicle speed and the vehicle speed is lower than the lowest speed limit, the fusion unit takes the vehicle speed obtained by fusing the current vehicle speed and the preset vehicle speed as the lowest speed limit, and can also regard the current deceleration instruction as an invalid instruction, and the automatic driving control module does not process the invalid instruction. If the distance between the vehicle and the rear vehicle is small, when the vehicle is driven at the speed superposed by the current speed and the preset speed, a collision accident occurs in a short time, and the deceleration command is regarded as an invalid command.
And the left turn key is used for performing left turn intervention, a left turn instruction acquisition unit in the steering instruction acquisition unit acquires a left turn instruction, and the left turn instruction is sent once when the left turn key is pressed every time, so that the vehicle is expected to rotate to the left by a preset angle compared with the current motion direction. The left-turn effect is influenced by the external environment, arbitration needs to be carried out by the automatic driving control module, if a vehicle just exists in the left lane, and the distance between the vehicle and the vehicle is detected to be smaller than the safety distance, the left-turn effect indicates that the vehicle collision risk exists in the left lane at the moment, the left-turn operation cannot be carried out, and the current left-turn instruction is regarded as an invalid instruction. If the current lane where the vehicle is located belongs to a non-left-turn lane, the current left-turn instructions are all considered to be invalid instructions.
And the right turn key is used for performing right turn intervention, a right turn instruction acquisition unit in the steering instruction acquisition unit acquires a right turn instruction, and the right turn instruction is sent once when the right turn key is pressed once, so that a user hopes to turn the vehicle to the right by a preset angle compared with the current motion direction. The right-turn effect is influenced by the external environment, arbitration needs to be carried out by the automatic driving control module, if a vehicle is just in the right lane, and the distance between the vehicle and the vehicle is detected to be smaller than the safe distance when the vehicle is in the right lane, the right-turn effect indicates that the vehicle collision risk exists in the right-turn, the right-turn operation cannot be carried out, and the current right-turn instruction is regarded as an invalid instruction. If the lane where the vehicle is located at present belongs to a non-right-turn lane, and the like, the current right-turn instructions are all considered to be invalid instructions. Whether the current lane belongs to a non-left-turn lane or a non-right-turn lane is generally confirmed by taking a picture through a camera or retrieving relevant data from a real-time map.
When the acceleration instruction, the deceleration instruction, the left turn instruction and the right turn instruction are fused with the driving instruction, superposition control is adopted, and finally the chassis domain control module responds to the fusion instruction formed by superposing and fusing the manual intervention instruction and the driving instruction. In other embodiments of the invention, the manual intervention instruction and the driving instruction can be fused in a weight distribution mode.
And the canceling key is used for acquiring canceling instructions by the canceling instruction acquisition unit, and when the canceling key is pressed once, all previous manual intervention instructions are canceled, so that the chassis domain control module controls the vehicle to run according to default automatic driving parameters. The manual intervention instruction at the moment not only comprises a manual intervention instruction in a manual intervention mode, but also comprises a manual intervention instruction in a man-machine co-driving mode, the default automatic driving parameters are stored in the automatic driving control module, and when the automatic driving control module receives the cancellation instruction acquired by the cancellation instruction acquisition unit, the cancellation instruction is directly sent to the chassis domain control module.
And the left lane changing key is used for performing left lane changing intervention, can realize a left lane changing function, and is pressed once to collect a left lane changing instruction by the left lane changing instruction collecting unit. The left lane changing effect is influenced by the external environment, the automatic driving control module is required to arbitrate the left lane changing instruction, if a vehicle is driven from the left rear part, and the distance between the vehicle in the left lane and the vehicle is detected to be smaller than the safe distance, the current left lane changing instruction is considered to be an invalid instruction. If the left lane change instruction can be executed after arbitration, the chassis domain control module controls the vehicle to turn left.
And the right lane changing key is used for performing right lane changing intervention, can realize a right lane changing function, is pressed once and is used for acquiring a right lane changing instruction by the right lane changing instruction acquisition unit. The lane changing effect to the right is influenced by the external environment, the lane changing command to the right needs to be arbitrated by the automatic driving control module, if a vehicle is driven from the right rear side, and the distance between the vehicle in the lane on the right side and the vehicle is detected to be smaller than the safe distance, the current lane changing command to the right is considered to be an invalid command. If the right lane change instruction can be executed after arbitration, the chassis domain control module controls the vehicle to turn right.
And the parking key is used for parking intervention and realizing the parking function. And when the parking key is pressed once, the parking instruction acquisition unit acquires a parking instruction for parking the vehicle and simultaneously enabling the automatic driving control module to record the current driving parameters of the vehicle. The parking effect is influenced by the external environment, the automatic driving control module is required to arbitrate, if the parking road section is forbidden, the parking operation cannot be carried out, and the parking instruction is an invalid instruction.
And the recovery key is used for recovering the state before parking after the vehicle is restarted after parking due to other external factors. And the recovery instruction acquisition unit acquires a recovery instruction for controlling the chassis domain control module to control the vehicle to run according to the recorded driving parameters after the vehicle stops according to the parking instruction. The vehicle is restarted and restored to the state before the vehicle is stopped, which is influenced by the external environment, and the restoration command needs to be arbitrated by the automatic driving control module. If the distance between the vehicle and the front vehicle is smaller than the safety distance, if the front signal lamp is red and cannot walk, the recovery command is an invalid command.
The map touch display screen is used for displaying a map and navigation information in real time, the map can be amplified, and the map can be dragged to select any place.
And the planning key is used for intervening in path planning and realizing the re-planning of the global path. The manual intervention instruction acquisition module comprises a path planning unit used for acquiring a path planning instruction, forming path information according to the path planning instruction and sending the path information to the automatic driving control module. Specifically, for example, the planning key includes a left turn key, a right turn key, and a straight key, and after any road is selected by operating the map touch display screen, the left turn key, the right turn key, or the straight key may be pressed, and the path planning unit includes a path planning instruction acquisition unit and a path information generation unit. The system comprises a path planning instruction acquisition unit, a path information generation unit, an automatic driving control module and a path planning information generation unit, wherein the path planning instruction acquisition unit is used for acquiring a path planning instruction generated after a left-turn key or a right-turn key or a straight key is pressed, the path information generation unit is used for performing fusion planning on a plurality of path planning instructions to form new path information, then the path information is sent to the automatic driving control module, the automatic driving control module performs arbitration to determine whether a starting point of the path information can be executed, and if a next intersection indicated by the path information needs to turn left, but the intersection passes, the path information is invalid path information. When the path information generating unit performs the fusion planning on the plurality of path planning instructions, it is required to ensure that each path planning instruction is feasible, and if an individual path planning instruction is not feasible, the path planning instruction may be regarded as an invalid instruction, and the path information is formed by other path planning instructions.
The scenario of the use of the planning key is illustrated, for example, 1) when a passenger finds or knows in advance that a road section ahead is congested, an accident, blocked and the like, and is forced to change a route, at least one intersection needs to be manually intervened in advance; 2) when the vehicle driving route is not in accordance with the subjective intention of the passengers and the route needs to be changed, manual intervention can be carried out at any intersection until the driving route is in accordance with the subjective intention; 3) when a passenger needs to change a route due to a destination change, the premise of the scene is that the passenger does not want to quit the automatic driving and reset the navigation.
And the emergency stop key is used for performing emergency stop intervention on the vehicle to realize emergency stop. The emergency stop instruction can be generated by pressing the emergency stop button, and the emergency stop instruction is not arbitrated by the automatic driving control module, but directly controls the vehicle body electronic stabilizing system to complete the emergency stop of the vehicle by the chassis domain control module according to the emergency stop instruction.
And the setting key is used for setting the preset speed and the preset rotation angle. As shown in fig. 3, the preset speed or the preset rotation angle is decreased or increased by the pressed "-" or "+".
The operation parameter display screen can be used for displaying real-time vehicle speed information, or displaying the remaining mileage information of the current position from the destination, or displaying the remaining time information of the current position reaching the destination, and the like.
The vehicle driving control system comprises a manual intervention instruction acquisition module, a worker intervention instruction acquisition module and an event recorder, wherein the manual intervention instruction acquisition module is used for acquiring manual intervention signals of a worker, and the worker intervention instruction acquisition module is used for acquiring the manual intervention signals of the worker.
The manual intervention is a non-necessary condition, namely whether the vehicle is manually intervened or not is determined by a user, and when the manual intervention is selected to be performed on the vehicle, the driving process can be safer, and the driving effect can be more accordant with the intention of passengers; when the vehicle is not manually intervened, the vehicle can completely run according to the instruction of the automatic driving controller, namely the vehicle is a common automatic driving vehicle, and the vehicle can also be driven by adopting a traditional man-machine common driving mode.
As shown in fig. 4, the present embodiment further provides a control method of the vehicle driving control system, including the following steps:
s11, acquiring an automatic driving instruction, and executing an automatic driving mode when receiving the automatic driving instruction;
s12, judging whether a driving instruction is received or not, if so, executing a traditional man-machine common driving mode, and executing S13; if not, go to S14;
s13, judging whether a cancel instruction is received or not, and if so, executing an automatic driving mode; if not, continuing to execute the traditional man-machine common driving mode;
s14, judging whether a manual intervention command is received, if so, executing S15, and if not, returning to S14;
s15, judging whether the manual intervention command can be executed, if so, executing S16, and if not, determining the command as an invalid command;
s16, fusing the manual intervention instruction and the driving instruction to form a fusion instruction, and sending the fusion instruction to the chassis domain control module to enable the chassis domain control module to control the vehicle to run according to the fusion instruction; and performs S17;
and S17, executing the automatic driving mode when the cancel instruction is received.
As shown in fig. 5, the control method for switching the vehicle driving control system from the automatic driving mode to the manual intervention mode and driving in the manual intervention mode specifically includes the following steps:
s21, generating a driving instruction according to the measurement signal of the positioning sensing sensor through the automatic driving control module, and sending the driving instruction to the chassis domain control module;
s22, controlling the vehicle to run through the chassis domain control module according to the driving instruction;
s23, acquiring a manual intervention instruction through a manual intervention instruction acquisition module in the process of controlling the vehicle to run according to the driving instruction through the chassis domain control module;
s24, receiving the manual intervention instruction collected by the manual intervention instruction collection module through the automatic driving control module, fusing the manual intervention instruction capable of being executed with the driving instruction to generate a fusion instruction, and sending the fusion instruction to the chassis domain control module;
and S25, controlling the vehicle to run through the chassis domain control module according to the fusion instruction.
Furthermore, default automatic driving parameters are stored in the automatic driving control module, and when a cancel instruction is received, the automatic driving control module sends the default automatic driving parameters to the chassis domain control module, so that the chassis domain control module controls the vehicle to run according to the default automatic driving parameters.
Further, when the chassis domain control module receives a parking instruction, the vehicle is controlled to stop, meanwhile, the automatic driving control module records the current driving parameters of the vehicle, and after the automatic driving control module receives a recovery instruction, the automatic driving control module sends the recorded driving parameters to the chassis domain control module, so that the chassis domain control module controls the vehicle to run according to the recorded driving parameters.
Further, when manual intervention is performed on the path planning, path information is formed through the path planning instruction acquisition unit according to the path planning instruction acquired by the manual intervention instruction acquisition module, and the path information is sent to the automatic driving control module; and controlling the chassis domain control module to control the vehicle to run according to the route information that can be executed when the route information is determined to be executable by the automatic driving control module.
The embodiment realizes that people act as eyes and ears for automatic driving, more obstacles can be identified, wider external environment can be detected, more road condition information can be acquired through information channels such as mobile phones and broadcasting channels, and therefore driving safety is further guaranteed and driving paths are optimized through manual intervention. And the person can also be used as the cerebellum of automatic driving, and a driving route which is more reasonable and more accordant with the intention of a passenger is planned through manual intervention. The method and the system realize manual intervention from a perception layer and a decision planning layer, solve the problem that the traditional man-machine common driving mode only can carry out manual intervention from an execution layer, and ensure that the driving process of the automatic driving vehicle is safer and the driving effect is more in line with the intention of passengers.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Claims (9)
1. A vehicle driving control system, characterized by comprising:
the automatic driving control module is used for generating a driving instruction according to the measurement signal of the positioning perception sensor;
the chassis domain control module is used for receiving the driving instruction sent by the automatic driving control module and controlling the vehicle according to the driving instruction;
the manual intervention instruction acquisition module is used for acquiring a manual intervention instruction sent by a user in the process that the chassis domain control module controls the vehicle according to the driving instruction; the vehicle is provided with a vehicle-mounted man-machine communication device capable of communicating with the automatic driving control module, and the vehicle-mounted man-machine communication device is provided with the manual intervention instruction acquisition module; and/or a vehicle is provided with a mobile control terminal capable of communicating with an automatic driving control module, and the mobile control terminal is provided with the manual intervention instruction acquisition module;
the automatic driving control module fuses the manual intervention instruction and the driving instruction to generate a fusion instruction; the chassis domain control module is also used for controlling the vehicle to run according to the fusion instruction;
the vehicle driving control system has three control modes, namely an automatic driving mode, a traditional man-machine driving mode and a manual intervention mode, wherein the priority of the traditional man-machine driving mode is higher than that of the automatic driving mode, and the priority of the traditional man-machine driving mode is higher than that of the manual intervention mode;
the manual intervention instruction acquisition module comprises:
the route planning unit is used for acquiring a route planning instruction, forming route information according to the route planning instruction and sending the route information to the automatic driving control module;
the planning key is used for intervening in path planning and realizing the re-planning of the global path; the planning key comprises a left-turn key, a right-turn key and a straight key; the path planning unit comprises a path planning instruction acquisition unit and a path information generation unit; the route planning instruction acquisition unit is used for acquiring a route planning instruction generated after a left-turn key or a right-turn key or a straight key is pressed, and the route information generation unit is used for performing fusion planning on a plurality of route planning instructions to form new route information and then sending the route information to the automatic driving control module.
2. The vehicle driving control system of claim 1, wherein the autopilot control module comprises:
an arbitration unit for determining whether the manual intervention instruction can be executed;
and the fusion module is used for fusing the human intervention instruction capable of being executed with the driving instruction to generate the fusion instruction.
3. The vehicle driving control system according to claim 1, wherein the manual intervention instruction acquisition module includes a speed instruction acquisition unit, a steering instruction acquisition unit, a lane change instruction acquisition unit, and a cancellation instruction acquisition unit;
the cancellation instruction acquisition unit is used for acquiring a cancellation instruction for enabling the chassis domain control module to control the vehicle to run according to default automatic driving parameters.
4. The vehicle driving control system of claim 1, wherein the manual intervention instruction collection module comprises:
the parking instruction acquisition unit is used for acquiring a parking instruction for parking the vehicle and simultaneously enabling the automatic driving control module to record the current driving parameters of the vehicle;
and the recovery instruction acquisition unit is used for acquiring a recovery instruction for enabling the automatic driving control module to control the chassis area control module to control the vehicle to run according to the recorded driving parameters after the vehicle stops according to the parking instruction.
5. The vehicle driving control system of claim 1, further comprising an event recorder configured to record the manual intervention command collected by the manual intervention command collection module.
6. A control method of the vehicular drive control system according to any one of claims 1 to 5, characterized by comprising:
generating a driving instruction according to a measurement signal of the positioning sensing sensor through the automatic driving control module, and sending the driving instruction to the chassis domain control module;
controlling the vehicle to run through a chassis domain control module according to the driving instruction;
in the process of controlling the vehicle to run according to the driving instruction by the chassis domain control module, acquiring a manual intervention instruction by the manual intervention instruction acquisition module;
fusing the manual intervention instruction with the driving instruction through the automatic driving control module to generate a fusion instruction, and sending the fusion instruction to the chassis domain control module;
controlling the vehicle to run through the chassis domain control module according to the fusion instruction;
and forming path information according to the path planning instruction acquired by the manual intervention instruction acquisition module through a path planning unit, and sending the path information to the automatic driving control module.
7. The control method of claim 6, further comprising, prior to the automated driving control module fusing the manual intervention command with the driving command:
and confirming whether the manual intervention instruction can be executed or not, and fusing the manual intervention instruction which can be executed with the driving instruction when the manual intervention instruction can be executed.
8. The control method according to claim 6, wherein when the chassis domain control module receives a parking instruction, the vehicle is controlled to stop, the automatic driving control module records current driving parameters of the vehicle, and after the automatic driving control module receives a recovery instruction, the automatic driving control module sends the recorded driving parameters to the chassis domain control module, so that the chassis domain control module controls the vehicle to run according to the recorded driving parameters.
9. The control method according to claim 6, wherein determining that the route information can be executed by the automatic driving control module, and controlling the vehicle to travel according to the route information that can be executed by controlling the chassis domain control module.
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| CN112356833B (en) * | 2021-01-13 | 2021-04-13 | 北京理工大学 | Electric automobile self-adaptive cruise system with cross-domain structure and control and analysis method thereof |
| CN113200056B (en) * | 2021-06-22 | 2022-04-08 | 吉林大学 | Incomplete information non-cooperative game man-machine co-driving control method |
| CN113602284A (en) * | 2021-07-30 | 2021-11-05 | 东风柳州汽车有限公司 | Man-machine common driving mode decision method, device, equipment and storage medium |
| WO2023028830A1 (en) * | 2021-08-31 | 2023-03-09 | 深圳市大疆创新科技有限公司 | Method and device for controlling unmanned aerial vehicle, and unmanned aerial vehicle and storage medium |
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