CN111959524A - Man-machine interaction control system and method for automatic driving vehicle - Google Patents
Man-machine interaction control system and method for automatic driving vehicle Download PDFInfo
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- CN111959524A CN111959524A CN202010844741.3A CN202010844741A CN111959524A CN 111959524 A CN111959524 A CN 111959524A CN 202010844741 A CN202010844741 A CN 202010844741A CN 111959524 A CN111959524 A CN 111959524A
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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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
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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
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
Abstract
The embodiment of the application provides a human-computer interaction control system and a human-computer interaction control method for an automatic driving vehicle, which comprise a control module, a vision module and an auxiliary module, wherein the control module is respectively connected with the vision module and the auxiliary module, the vision module and the auxiliary module respectively comprise a human-computer interaction unit, when the automatic driving vehicle needs to be taken over by the driver, the control module generates a visual reminding instruction and an auxiliary reminding instruction, the human-computer interaction unit in the visual module carries out visual reminding on the driver according to the visual reminding instruction, and the human-computer interaction unit in the auxiliary module performs auxiliary reminding on the driver according to the auxiliary reminding instruction, so that the driver is taken over and reminded through the visual module and the auxiliary module together, therefore, the driver can timely take over the vehicle, the working reliability of the automatic driving vehicle is improved, and the safety risk of the automatic driving vehicle is reduced.
Description
Technical Field
The embodiment of the application relates to an automatic driving technology, in particular to a human-computer interaction control system and method for an automatic driving vehicle.
Background
In the L3-level automatic driving, in most cases, the driver does not need to perform driving operation, and only needs to take over the vehicle in time when the automatic driving system encounters an irresponsible condition. The driving connection is realized through a human-computer interaction system, and under some limit working conditions, the time for a driver to take over the vehicle is very short, so that the human-computer interaction system needs to be designed redundantly in order to comprehensively ensure the safety of the vehicle and personnel in the driving process.
In the prior art, a man-machine interaction system is designed to comprise a master man-machine interaction module and a slave man-machine interaction module, alarm prompt is carried out through the master man-machine interaction module under a normal condition, and when the master man-machine interaction module fails, the slave man-machine interaction module takes over the system and carries out alarm prompt.
However, the man-machine interaction system in the prior art has the problem of low reliability when alarming and prompting.
Disclosure of Invention
The application provides a human-computer interaction control system and a human-computer interaction control method for an automatic driving vehicle, which aim to solve the problem that the alarm prompt reliability in the prior art is not high.
In a first aspect, an embodiment of the present application provides a human-computer interaction control system for an autonomous vehicle, including:
the control module is connected with the vision module and the auxiliary module respectively; the visual module and the auxiliary module respectively comprise a human-computer interaction unit;
when the automatic driving vehicle needs to be taken over by a driver, the control module generates a visual reminding instruction and an auxiliary reminding instruction, sends the visual reminding instruction to a human-computer interaction unit in the visual module, and sends the auxiliary reminding instruction to a human-computer interaction unit in the auxiliary module;
and the human-computer interaction unit in the auxiliary module performs auxiliary reminding on the driver according to the auxiliary reminding instruction.
Optionally, the auxiliary module comprises at least one of the following modules: a haptic assist module, an auditory assist module, and a perceptual assist module;
the touch auxiliary module, the hearing auxiliary module and the perception auxiliary module respectively comprise a human-computer interaction unit;
the human-computer interaction unit in the touch auxiliary module is used for performing touch reminding on the driver according to the auxiliary reminding instruction;
the human-computer interaction unit in the hearing auxiliary module is used for carrying out hearing reminding on the driver according to the auxiliary reminding instruction;
and the human-computer interaction unit in the perception auxiliary module is used for carrying out perception reminding on the driver according to the auxiliary reminding instruction.
Optionally, the auxiliary module comprises a master human-computer interaction unit and a slave human-computer interaction unit;
when the main human-computer interaction unit is in a normal state, the control module sends the auxiliary reminding instruction to the main human-computer interaction unit in the auxiliary module so that the main human-computer interaction unit in the auxiliary module carries out auxiliary reminding on a driver according to the auxiliary reminding instruction;
and when the main human-computer interaction unit is in a failure state, the control module sends the auxiliary reminding instruction to the auxiliary human-computer interaction unit in the auxiliary module, so that the auxiliary human-computer interaction unit in the auxiliary module carries out auxiliary reminding on a driver according to the auxiliary reminding instruction.
Optionally, the system further comprises: a state monitoring module;
the state monitoring module is respectively connected with the auxiliary module and the control module;
the state monitoring module is used for monitoring the working state of the man-machine interaction unit in the auxiliary module and generating working state information to be fed back to the control module, and the working state comprises a normal state and a failure state.
Optionally, the visual module comprises at least two of the following human-computer interaction units: the system comprises a combination instrument vision man-machine interaction unit, a center control screen vision man-machine interaction unit and a head-up display HUD vision man-machine interaction unit.
Optionally, the haptic assistance module comprises: the seat vibration man-machine interaction unit and the safety belt electric pre-tightening man-machine interaction unit;
the hearing assistance module includes: the information entertainment system comprises an information entertainment host computer human-computer interaction unit and a power amplifier local backup human-computer interaction unit;
the perceptual assistance module comprises: the system comprises an air conditioning system human-computer interaction unit and a fragrance system human-computer interaction unit.
In a second aspect, an embodiment of the present application provides a human-computer interaction control method for an autonomous vehicle, which is applied to a human-computer interaction control system for an autonomous vehicle, where the human-computer interaction control system for an autonomous vehicle includes: the control module is connected with the vision module and the auxiliary module respectively; the visual module and the auxiliary module respectively comprise a human-computer interaction unit; the method comprises the following steps:
when the automatic driving vehicle needs to be taken over by a driver, the control module generates a visual reminding instruction and an auxiliary reminding instruction, sends the visual reminding instruction to a human-computer interaction unit in the visual module, and sends the auxiliary reminding instruction to a human-computer interaction unit in the auxiliary module;
and the human-computer interaction unit in the auxiliary module performs auxiliary reminding on the driver according to the auxiliary reminding instruction.
Optionally, the auxiliary module includes a master human-computer interaction unit and a slave human-computer interaction unit, and the control module sends the auxiliary reminding instruction to the human-computer interaction unit in the auxiliary module, including:
if the main computer interaction unit is in a normal state, the control module sends the auxiliary reminding instruction to the main computer interaction unit in the auxiliary module;
and if the master human-computer interaction unit is in a failure state, the control module sends the auxiliary reminding instruction to a slave human-computer interaction unit in the auxiliary module.
Optionally, the human-computer interaction control system of the autonomous vehicle further includes: a state monitoring module; the state monitoring module is respectively connected with the auxiliary module and the control module; before the control module sends the auxiliary reminding instruction to the human-computer interaction unit in the auxiliary module, the method further comprises the following steps:
the control module receives the working state information of the man-machine interaction unit in the auxiliary module, which is fed back by the state monitoring module;
and the control module determines the working state of the main computer interaction unit in the auxiliary module according to the working state information, wherein the working state comprises a normal state and a failure state.
Optionally, the vision module comprises: the system comprises a combination instrument vision man-machine interaction unit, a central control screen vision man-machine interaction unit and a head-up display HUD vision man-machine interaction unit; the control module sends the visual reminding instruction to a human-computer interaction unit in the visual module, and the method comprises the following steps:
the control module sends the visual reminding instruction to the combination meter visual man-machine interaction unit, the central control screen visual man-machine interaction unit and the HUD visual man-machine interaction unit.
The man-machine interaction control system of the automatic driving vehicle comprises a control module, a visual module and an auxiliary module through a setting system, wherein the control module is respectively connected with the visual module and the auxiliary module, the visual module and the auxiliary module respectively comprise a man-machine interaction unit, when the automatic driving vehicle needs to be taken over by a driver, the control module generates a visual reminding instruction and an auxiliary reminding instruction, sends the visual reminding instruction to the man-machine interaction unit in the visual module, sends the auxiliary reminding instruction to the man-machine interaction unit in the auxiliary module, the man-machine interaction unit in the visual module carries out visual reminding on the driver according to the visual reminding instruction, and the man-machine interaction unit in the auxiliary module carries out auxiliary reminding on the driver according to the auxiliary reminding instruction and takes the visual module as a main reminding module of the driving taking over, the auxiliary module is used as an auxiliary reminding module for driving the take-over, so that the visual module and the auxiliary module can be used for taking over and reminding the driver together, the reminding module with different sensory dimensions is used for taking over and reminding the driver together, the driver can be ensured to take over the vehicle in time, the working reliability of the automatic driving vehicle is improved, and the safety risk is reduced.
Drawings
FIG. 1 is a schematic structural diagram of a first embodiment of a human-computer interaction control system for an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a first embodiment of a human-computer interaction control system of an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a first exemplary embodiment of a human-computer interaction control system for an autonomous vehicle according to the present disclosure;
FIG. 4 is a schematic structural diagram of a second embodiment of a human-computer interaction control system of an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 5 is a schematic structural diagram of a third embodiment of a human-computer interaction control system of an autonomous vehicle according to an embodiment of the present disclosure;
fig. 6 is a schematic flowchart of a first embodiment of a human-computer interaction control method for an autonomous vehicle according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
The embodiment of the application provides a technical scheme of a redundant human-computer interaction system, which is suitable for a vehicle adopting an L3-level automatic driving technology, and when the driver needs to take over the vehicle, the human-computer interaction control system is used for carrying out multi-dimensional redundant take-over reminding on the driver.
The main ideas of the technical scheme are as follows: in the prior art, a method of setting two human-computer interaction modules is used for taking over reminding, specifically, a master human-computer interaction module is used for alarming and reminding under a normal condition, when the master human-computer interaction module fails, the human-computer interaction module is used for alarming and reminding, so that redundant backup of a human-computer interaction system is realized, but the prior art only considers the problem that the human-computer interaction system can run due to failure, but does not consider the particularity of an automatic driving scene, for example, when a driver sleeps, the driver is difficult to wake up and take over a vehicle in time through the scheme in the prior art, and therefore, the human-computer interaction control system in the prior art has the technical problem of low reliability. Based on this, the technical scheme of the application provides a multi-dimensional redundant man-machine interaction control system, which can use a visual module as a main reminding module for taking over reminding, and at least one of an auditory auxiliary module, a tactile auxiliary module and a perception auxiliary module as an auxiliary reminding module for taking over reminding, wherein the visual module and the auxiliary module both comprise man-machine interaction units, the visual module can be provided with a plurality of man-machine interaction units with complementary scenes, each auxiliary reminding module is provided with a main man-machine interaction unit and a slave man-machine interaction unit which are redundant with each other, when a driver needs to take over a vehicle, the driver is visually reminded through all the man-machine interaction units in the visual module, and the driver is taken over and reminded through the main man-machine interaction unit or the slave man-machine interaction unit in the auxiliary reminding module, so that the driver can be simultaneously reminded through taking over through a plurality of dimensions, and the reliability of the work of each module is ensured, so that a driver can be reminded to take over the vehicle in time even under special conditions, and the safety of the automatic driving vehicle is improved.
Example one
Fig. 1 is a schematic structural diagram of a first embodiment of a human-computer interaction control system of an autonomous vehicle according to an embodiment of the present application, and as shown in fig. 1, a human-computer interaction control system 100 of an autonomous vehicle according to this embodiment includes:
a control module 110, a vision module 120, and an assistance module 130.
In this embodiment, the control module 110 is connected to the vision module 120 and the auxiliary module 130 respectively, so as to ensure signaling interaction between the control module 110 and the vision module 120 and the auxiliary module 130, thereby controlling the vision module 120 and the auxiliary module 130 by the control module 110.
In one possible implementation, the control module 110 is connected to the vision module 120 and the auxiliary module 130 through a Controller Area Network (CAN) bus.
The vision module 120 includes a human-computer interaction unit for realizing the visual interaction between the vehicle and the driver, and is used for visually reminding the driver, since the vision is the most critical factor affecting the driving safety of the vehicle, and has a very important meaning in the driving process of the vehicle, in this embodiment, the vision module 120 is used as a main reminding module for taking over the reminding for the driver, specifically, when the automatic driving vehicle needs the driver to take over, all the human-computer interaction units in the vision module 120 visually remind the driver at the same time.
It can be understood that, in this embodiment, the vision module 120 at least includes two human-computer interaction units capable of visually prompting the driver on the autonomous vehicle, on one hand, at least two vision human-computer interaction units are redundant to each other, and even if one of the human-computer interaction units fails, the vision module 120 is not affected to play a visual prompting role, that is, the operability of the failure of the vision module 120 is ensured, and on the other hand, when the vision human-computer interaction units in the vision module 120 do not have a fault, the vision human-computer interaction units at multiple positions work simultaneously, so that complementarity is formed between the vision human-computer interaction units at different positions, and it is ensured that the driver can receive the takeover prompt sent by the vision module 120 in any scene (the direction the driver currently sees).
Optionally, the vision module 120 comprises at least two of the following human-machine interaction units: a combination meter visual human-computer interaction unit 121, a center control screen visual human-computer interaction unit 122, and a Head Up Display (HUD) visual human-computer interaction unit 123, fig. 2 is another schematic structural diagram of a human-computer interaction control system of an autonomous vehicle according to an embodiment of the present disclosure, and fig. 2 illustrates that the visual module 120 includes the combination meter visual human-computer interaction unit 121, the center control screen visual human-computer interaction unit 122, and the HUD visual human-computer interaction unit 123 at the same time.
The auxiliary module 130 is a module that takes over the driver from other aspects besides the visual module 120, and is used for taking over the driver from different sensory dimensions, such as touch, hearing, perception, and the like. It should be noted that, in this embodiment, the auxiliary module 130 also includes a corresponding human-computer interaction unit.
In one possible implementation, the auxiliary module 130 includes at least one of the following modules: a haptic auxiliary module 131, an auditory auxiliary module 132 and a perceptual auxiliary module 133, fig. 3 is a schematic structural diagram of a first embodiment of a human-computer interaction control system of an autonomous vehicle according to an embodiment of the present application, and fig. 3 illustrates that the auxiliary module 130 includes the haptic auxiliary module 131, the auditory auxiliary module 132 and the perceptual auxiliary module 133 at the same time.
It is understood that the tactile aid module 131, the auditory aid module 132 and the perceptual aid module 133 each include a human-computer interaction unit, and one or more human-computer interaction units may be included in each kind of aid module.
The human-computer interaction unit in the tactile sensation auxiliary module 131 is used for performing tactile sensation reminding on the driver according to the auxiliary reminding instruction, the human-computer interaction unit in the auditory sensation auxiliary module 132 is used for performing auditory sensation reminding on the driver according to the auxiliary reminding instruction, and the human-computer interaction unit in the perception auxiliary module 133 is used for performing perception reminding on the driver according to the auxiliary reminding instruction.
In this implementation, include sense of touch auxiliary module 131 through setting up auxiliary module 130, sense of hearing auxiliary module 132 and perception auxiliary module 133, when driving the warning to the driver through the human-computer interaction unit in vision module 120, through sense of touch auxiliary module 131, one or more modules in sense of hearing auxiliary module 132 and the perception auxiliary module 133 are driven jointly and are taken over the warning to the driver, thereby drive through at least two different sense of hearing dimensions and take over the warning to the driver, guarantee that the driver can in time receive and take over the warning, improve vehicle and personnel's security performance.
The control module 110 is a module for controlling the vehicle to realize automatic driving and switching between automatic driving and driver driving, and it can be understood that in this embodiment, the control module 110 may be an overall controller of the vehicle or an individual controller.
The control module 110 in this embodiment mainly has the following three functions: (1) activating an automatic driving function of the vehicle according to the driver operation; (2) judging whether a driver needs to take over the vehicle according to the running state of the vehicle and the state of the surrounding environment; (3) and when the driver is determined to take over the vehicle, controlling the corresponding human-computer interaction unit to take over and remind the driver.
In particular, in the present embodiment, when the autonomous vehicle requires the driver to take over, the control module 110 generates a visual alert instruction and an auxiliary alert instruction, and sends the visual reminding instruction to the human-computer interaction unit in the visual module 120, sends the auxiliary reminding instruction to the human-computer interaction unit in the auxiliary module 130, the human-computer interaction unit in the visual module 120 visually reminds the driver according to the visual reminding instruction, the human-computer interaction unit in the auxiliary module 130 assists and reminds the driver according to the auxiliary reminding instruction, so that the purpose of taking over and reminding the driver by controlling the visual module 120 and the auxiliary module 130 by the control module 110 together is achieved, the reminding module with different sensory dimensions is designed to jointly take over and remind the driver, so that the reliability of man-machine interaction is improved, the driver can timely take over the vehicle, and the safety risk is reduced.
The human-computer interaction control system of the autonomous vehicle provided by this embodiment includes a control module, a visual module and an auxiliary module, and the control module is connected to the visual module and the auxiliary module, respectively, and both the visual module and the auxiliary module include human-computer interaction units, when the autonomous vehicle needs to take over by the driver, the control module generates a visual reminding instruction and an auxiliary reminding instruction, and sends the visual reminding instruction to the human-computer interaction unit in the visual module, and sends the auxiliary reminding instruction to the human-computer interaction unit in the auxiliary module, the human-computer interaction unit in the visual module visually reminds the driver according to the visual reminding instruction, and the human-computer interaction unit in the auxiliary module assists and reminds the driver according to the auxiliary reminding instruction, so as to realize that the driver can take over and remind by the visual module and the auxiliary module, the reminding module with different sensory dimensions is designed to jointly take over and remind a driver, so that the driver can timely take over a vehicle, the working reliability of the automatic driving vehicle is improved, and the safety risk is reduced.
Example two
On the basis of the first embodiment, in order to avoid single-point failure of the vision module 120 and the auxiliary module 130, the vision module 120 is configured to include at least two human-computer interaction units for visual interaction, and each human-computer interaction unit in the vision module 120 works simultaneously in any scene. The auxiliary module 130 is arranged to include a master human-computer interaction unit and a slave human-computer interaction unit, the master human-computer interaction unit and the slave human-computer interaction unit are redundant to each other, the priority of the master human-computer interaction unit is higher than that of the slave human-computer interaction unit, and when the master human-computer interaction unit is in a normal state, the control module sends an auxiliary reminding instruction to the master human-computer interaction unit in the auxiliary module, so that the master human-computer interaction unit in the auxiliary module carries out auxiliary reminding on a driver according to the auxiliary reminding instruction; when the master human-computer interaction unit is in a failure state, the control module sends the auxiliary reminding instruction to the slave human-computer interaction unit in the auxiliary module, so that the slave human-computer interaction unit in the auxiliary module carries out auxiliary reminding on a driver according to the auxiliary reminding instruction.
It is understood that the auxiliary module 130 may include only one master human-computer interaction unit and only one slave human-computer interaction unit, and may also include multiple master human-computer interaction units and slave human-computer interaction units.
For example, if the auxiliary module 130 includes a haptic auxiliary module 131, an auditory auxiliary module 132, and a perceptual auxiliary module 133, each auxiliary module may include a set of a master human-computer interaction unit and a slave human-computer interaction unit to improve the operational reliability of each auxiliary module. Fig. 4 is a schematic structural diagram of a second embodiment of a human-computer interaction control system of an autonomous vehicle according to an embodiment of the present disclosure, and as shown in fig. 4, the haptic auxiliary module 131 includes a haptic master human-computer interaction unit and a haptic slave human-computer interaction unit, the auditory auxiliary module 132 includes an auditory master human-computer interaction unit and an auditory slave human-computer interaction unit, and the perceptual auxiliary module 133 includes a perceptual master human-computer interaction unit and a perceptual slave human-computer interaction unit.
Optionally, the haptic auxiliary module 131 includes: the safety belt electric pre-tightening human-computer interaction unit comprises a seat vibration human-computer interaction unit and a safety belt electric pre-tightening human-computer interaction unit, wherein one of the seat vibration human-computer interaction unit and the safety belt electric pre-tightening human-computer interaction unit is a touch main human-computer interaction unit, and the other one of the seat vibration human-computer interaction unit and the safety belt electric pre-tightening human-computer interaction unit is a touch auxiliary.
Specifically, if the seat vibration man-machine interaction unit is a touch master man-machine interaction unit, the safety belt electric pre-tightening man-machine interaction unit is a touch slave man-machine interaction unit, and if the safety belt electric pre-tightening man-machine interaction unit is the touch master man-machine interaction unit, the seat vibration man-machine interaction unit is a touch slave man-machine interaction unit.
Optionally, the hearing assistance module 132 comprises: the information entertainment main machine human-computer interaction unit and the power amplifier local backup human-computer interaction unit can be set as a perception main human-computer interaction unit according to actual conditions, and one of the information entertainment main machine human-computer interaction unit and the power amplifier local backup human-computer interaction unit is a hearing auxiliary human-computer interaction unit.
Specifically, if the information entertainment host computer human-computer interaction unit is an auditory master computer interaction unit, the power amplifier local backup human-computer interaction unit is an auditory slave human-computer interaction unit, and if the power amplifier local backup human-computer interaction unit is an auditory master computer interaction unit, the information entertainment host computer human-computer interaction unit is an auditory slave human-computer interaction unit.
Optionally, the perception auxiliary module 133 includes an air conditioning system human-computer interaction unit and a fragrance system human-computer interaction unit, and according to actual situations, one of the air conditioning system human-computer interaction unit and the fragrance system human-computer interaction unit may be set as a perception main human-computer interaction unit, and the other is set as a perception auxiliary human-computer interaction unit.
Specifically, if the air conditioning system human-computer interaction unit is a perception master human-computer interaction unit, the fragrance system human-computer interaction unit is a perception slave human-computer interaction unit, and if the fragrance system human-computer interaction unit is a perception master human-computer interaction unit, the air conditioning system human-computer interaction unit is a perception slave human-computer interaction unit.
In the man-machine interaction control system of the automatic driving vehicle provided by the embodiment, the auxiliary module comprises the main man-machine interaction unit and the auxiliary man-machine interaction unit, when the main man-machine interaction unit is in a normal state, the control module sends the auxiliary reminding instruction to the main man-machine interaction unit in the auxiliary module so that the main man-machine interaction unit in the auxiliary module can carry out auxiliary reminding on the driver according to the auxiliary reminding instruction, when the main man-machine interaction unit is in a failure state, the control module sends the auxiliary reminding instruction to the auxiliary man-machine interaction unit in the auxiliary module so that the auxiliary man-machine interaction unit in the auxiliary module can carry out auxiliary reminding on the driver according to the auxiliary reminding instruction, and through the redundancy design, the situation that the auxiliary module cannot play a role due to single-point failure is avoided, and all the auxiliary modules can timely carry out takeover reminding on the driver, the working reliability of the system is further improved, and the safety of the automatic driving vehicle is improved.
EXAMPLE III
Fig. 5 is a schematic structural diagram of a third embodiment of a human-computer interaction control system of an autonomous vehicle according to an embodiment of the present application, where on the basis of the first embodiment or the second embodiment, as shown in fig. 5, in this embodiment, the human-computer interaction control system 100 of the autonomous vehicle further includes: a condition monitoring module 140.
The state monitoring module 140 is connected to the auxiliary module 130 and the control module 110, respectively, and the state monitoring module 140 is configured to monitor the working state of the human-computer interaction unit in the auxiliary module 130 in real time, generate working state information, and feed the working state information back to the control module 110.
The working state of the human-computer interaction unit comprises a normal state and a failure state, the failure state and the working state that the human-computer interaction unit can not take over for reminding at all, and the normal state comprises the working state that the human-computer interaction unit has no fault or can still take over for reminding even if the human-computer interaction unit has a fault (such as the situation that the human-computer interaction unit degrades).
It can be understood that, in this embodiment, the state monitoring module 140 has a preliminary information processing capability, and after the read working condition of the human-computer interaction unit is read, according to a preset working state classification policy, it determines whether the current working state of the human-computer interaction unit is a normal state or a failure state, and generates corresponding working state information to send to the control module, for example, one-bit binary is used to represent the working state of the human-computer interaction unit, 1 represents the normal state, 0 represents the failure state, and generates the working state information. The control module 110 may determine the working state of the corresponding human-computer interaction unit in the auxiliary module 130 according to the received working state information, and execute a corresponding control strategy according to the working state of the corresponding human-computer interaction unit.
In a possible implementation manner, the auxiliary module 130 includes a haptic auxiliary module, the haptic auxiliary module includes a haptic master human-computer interaction unit and a haptic slave human-computer interaction unit, if the control module 110 determines that the haptic master human-computer interaction unit is in a normal state according to the working state information fed back by the state monitoring module 140, the control module 110 controls the haptic master human-computer interaction unit to perform haptic reminding on the driver, and if the control module 110 determines that the master human-computer interaction unit is in a failure state according to the working state information fed back by the state monitoring module 140, the control module 110 controls the haptic slave human-computer interaction unit to perform haptic reminding on the driver.
In addition, in this embodiment of the application, in order to prevent the complete failure of the auxiliary module 130 caused by multiple faults, if the autopilot function is not activated, when the control module 110 determines that a certain personal computer interaction unit in the auxiliary module 130 is in a failure state according to the working state information, the control module 110 does not allow the driver to activate the autopilot function until the corresponding personal computer interaction unit returns to normal, and if the autopilot function is activated, when the control module 110 determines that a certain personal computer interaction unit in the auxiliary module 130 is in a failure state according to the working state information, the control module 110 controls the vehicle to enter a user takeover reminding process. For example, the auxiliary module 130 includes a haptic auxiliary module, the haptic auxiliary module includes a haptic master human-computer interaction unit and a haptic slave human-computer interaction unit, when the automatic driving function is not activated, if the control module 110 determines that the haptic master human-computer interaction unit is in a failure state according to the working state information fed back by the state monitoring module 140, the control module 110 does not allow the driver to activate the automatic driving function of the vehicle, and when the automatic driving function is activated, if the control module 110 determines that the master human-computer interaction unit is in a failure state according to the working state information fed back by the state monitoring module 140, the control module 110 controls the haptic slave human-computer interaction unit and the visual module to take over the driver for reminding together.
The man-machine interaction control system of the automatic driving vehicle provided in the embodiment is characterized in that the state monitoring module is arranged, the state monitoring module is arranged and is connected with the auxiliary module and the control module respectively, the working state of the man-machine interaction unit in the auxiliary module is monitored in real time through the state monitoring module, working state information is generated and fed back to the control module, the working state comprises a normal state and a failure state, and therefore the control module is guaranteed to execute corresponding decisions according to the working state of the auxiliary module, the working reliability and the scene adaptability of the man-machine interaction control system of the automatic driving vehicle are improved, and the safety of the automatic driving vehicle is further improved.
Example four
Fig. 6 is a schematic flowchart of a first embodiment of a method for controlling human-computer interaction of an autonomous vehicle according to an embodiment of the present application, where the method of the present embodiment may be executed by corresponding systems in the first to third embodiments of the systems, and as shown in fig. 6, the method of the present embodiment includes:
s101, when the automatic driving vehicle needs to be taken over by a driver, the control module generates a visual reminding instruction and an auxiliary reminding instruction, sends the visual reminding instruction to the human-computer interaction unit in the visual module, and sends the auxiliary reminding instruction to the human-computer interaction unit in the auxiliary module.
In the step, when the control module determines that the automatic driving vehicle needs to be taken over by a driver according to the running state of the vehicle, the surrounding environment state and the like, the control module generates a visual reminding instruction and an auxiliary reminding instruction, sends the visual reminding instruction to the human-computer interaction unit in the visual module, and sends the auxiliary reminding instruction to the human-computer interaction unit in the auxiliary module.
The visual reminding instruction and the auxiliary reminding instruction are reminding instructions sent to different modules by the control module, are generated simultaneously and are not in front-back sequence. When the auxiliary module has a plurality of types, the auxiliary reminding instruction also has a plurality of types correspondingly, for example, when the auxiliary module comprises an auditory auxiliary module and a perceptual auxiliary module, the corresponding auxiliary reminding instruction comprises an auditory auxiliary reminding instruction and a perceptual auxiliary reminding instruction, wherein the auditory auxiliary reminding instruction is the auxiliary reminding instruction sent to the auditory auxiliary module, and the perceptual auxiliary reminding instruction is the auxiliary reminding instruction sent to the auditory auxiliary module.
S102, the human-computer interaction unit in the visual module visually reminds the driver according to the visual reminding instruction, and the human-computer interaction unit in the auxiliary module assists and reminds the driver according to the auxiliary reminding instruction.
In the step, after receiving a visual reminding instruction, a human-computer interaction unit in the visual module carries out visual reminding on a driver according to the visual reminding instruction; and after receiving the auxiliary reminding instruction, the man-machine interaction unit in the auxiliary module carries out auxiliary reminding on the driver according to the auxiliary reminding instruction.
In one possible implementation, a vision module includes: the system comprises a combination instrument vision man-machine interaction unit, a central control screen vision man-machine interaction unit and a vision man-machine interaction unit; the control module sends the vision reminding instruction to a man-machine interaction unit in the vision module, and the man-machine interaction unit comprises:
the control module sends the visual reminding instruction to the combination instrument visual man-machine interaction unit, the center control screen visual man-machine interaction unit and the HUD visual man-machine interaction unit;
correspondingly, the man-machine interaction unit in the vision module carries out vision reminding to the driver according to the vision reminding instruction, and the vision reminding method comprises the following steps:
and the combination instrument vision man-machine interaction unit, the central control screen vision man-machine interaction unit and the HUD vision man-machine interaction unit in the vision module perform vision reminding on the driver according to the vision reminding instruction.
In one possible implementation manner, the auxiliary module comprises a touch auxiliary module, an auditory auxiliary module and a perception auxiliary module, wherein the touch auxiliary module, the auditory auxiliary module and the perception auxiliary module respectively comprise a human-computer interaction unit; the control module sends the auxiliary reminding instruction to a man-machine interaction unit in the auxiliary module, and the man-machine interaction unit comprises:
the control module sends the auxiliary tactile reminding instruction to a human-computer interaction unit in the auxiliary tactile module;
the control module sends the hearing auxiliary reminding instruction to a man-machine interaction unit in the hearing auxiliary module;
the control module sends the perception auxiliary reminding instruction to a human-computer interaction unit in the perception auxiliary module;
correspondingly, the man-machine interaction unit in the auxiliary module carries out auxiliary reminding on the driver according to the auxiliary reminding instruction, and the auxiliary reminding method comprises the following steps:
a man-machine interaction unit in the touch auxiliary module performs touch reminding on the driver according to the touch auxiliary reminding instruction;
a human-computer interaction unit in the hearing auxiliary module performs hearing reminding on the driver according to the hearing auxiliary reminding instruction;
and a human-computer interaction unit in the perception auxiliary module performs perception reminding on the driver according to the perception auxiliary reminding instruction.
Optionally, the auxiliary module includes a master human-computer interaction unit and a slave human-computer interaction unit, and the control module sends the auxiliary reminding instruction to the human-computer interaction unit in the auxiliary module, including:
if the main computer interaction unit is in a normal state, the control module sends an auxiliary reminding instruction to the main computer interaction unit in the auxiliary module; and if the master human-computer interaction unit is in a failure state, the control module sends an auxiliary reminding instruction to the slave human-computer interaction unit in the auxiliary module.
In one possible implementation, the auxiliary module comprises a haptic auxiliary module, the haptic auxiliary module comprises a haptic master human-computer interaction unit and a haptic slave human-computer interaction unit; the control module sends the auxiliary reminding instruction to a man-machine interaction unit in the auxiliary module, and the man-machine interaction unit comprises:
if the main tactile man-machine interaction unit is in a normal state, the control module sends an auxiliary reminding instruction to the main tactile man-machine interaction unit in the auxiliary tactile module, and if the main tactile man-machine interaction unit is in a failure state, the control module sends the auxiliary reminding instruction to the auxiliary tactile man-machine interaction unit in the auxiliary tactile module.
Optionally, before the control module sends the auxiliary reminding instruction to the human-computer interaction unit in the auxiliary module, the method of this embodiment further includes:
the control module receives the working state information of the man-machine interaction unit in the auxiliary module fed back by the state monitoring module;
and the control module determines the working state of the main computer interaction unit in the auxiliary module according to the working state information, wherein the working state comprises a normal state and a failure state.
In one possible implementation mode, the auxiliary module comprises a touch auxiliary module, an auditory auxiliary module and a perception auxiliary module, the touch auxiliary module comprises a touch main man-machine interaction unit and a touch auxiliary man-machine interaction unit, the auditory auxiliary module comprises a hearing main man-machine interaction unit and a hearing auxiliary man-machine interaction unit, and the perception auxiliary module comprises a perception main man-machine interaction unit and a perception auxiliary man-machine interaction unit; specifically, the method comprises the following steps:
if the control module determines that the touch master machine interaction unit, the hearing master machine interaction unit and the perception master machine interaction unit are all in normal states, the control module sends auxiliary reminding instructions to the touch master machine interaction unit, the hearing master machine interaction unit and the perception master machine interaction unit so that the touch master machine interaction unit can carry out touch reminding on a driver, the hearing master machine interaction unit can carry out hearing reminding on the driver, and the perception master machine interaction unit can carry out perception reminding on the driver;
if the control module determines that the master touch machine interaction unit is in a failure state and the master auditory sense machine interaction unit and the master perceptual interaction unit are in normal states, the control module sends auxiliary reminding instructions to the slave tactile sense machine interaction unit, the master auditory sense machine interaction unit and the master perceptual interaction unit so that the slave tactile sense machine interaction unit carries out tactile reminding on a driver, the master auditory sense machine interaction unit carries out auditory reminding on the driver, and the master perceptual machine interaction unit carries out perceptual reminding on the driver;
if the control module determines that the master touch man-machine interaction unit, the master auditory sense man-machine interaction unit and the master perception man-machine interaction unit are all in failure states, the control module sends auxiliary reminding instructions to the slave tactile sense man-machine interaction unit, the slave auditory sense man-machine interaction unit and the slave perception man-machine interaction unit so that the slave tactile sense man-machine interaction unit carries out tactile reminding on a driver, the slave auditory sense man-machine interaction unit carries out auditory reminding on the driver, and the slave perceptual man-machine interaction unit carries out perceptual reminding on the driver.
In the man-machine interaction control method for the automatic driving vehicle provided by the embodiment, when the automatic driving vehicle needs to be taken over by a driver, the control module generates a visual reminding instruction and an auxiliary reminding instruction, the visual reminding instruction is sent to the man-machine interaction unit in the visual module, the auxiliary reminding instruction is sent to the man-machine interaction unit in the auxiliary module, the man-machine interaction unit in the visual module carries out visual reminding on the driver according to the visual reminding instruction, and the man-machine interaction unit in the auxiliary module carries out auxiliary reminding on the driver according to the auxiliary reminding instruction, so that the visual module and the auxiliary module can be used for taking over and reminding the driver together, and the reminding modules with different sensory dimensions are designed for carrying out taking over and reminding on the driver together, so that the driver can take over the vehicle in time and the working reliability of the automatic driving vehicle is improved, the safety risk is reduced.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.
Claims (10)
1. A human-computer interaction control system for an autonomous vehicle, comprising:
the control module is connected with the vision module and the auxiliary module respectively; the visual module and the auxiliary module respectively comprise a human-computer interaction unit;
when the automatic driving vehicle needs to be taken over by a driver, the control module generates a visual reminding instruction and an auxiliary reminding instruction, sends the visual reminding instruction to a human-computer interaction unit in the visual module, and sends the auxiliary reminding instruction to a human-computer interaction unit in the auxiliary module;
and the human-computer interaction unit in the auxiliary module performs auxiliary reminding on the driver according to the auxiliary reminding instruction.
2. The system of claim 1, wherein the auxiliary module comprises at least one of: a haptic assist module, an auditory assist module, and a perceptual assist module;
the touch auxiliary module, the hearing auxiliary module and the perception auxiliary module respectively comprise a human-computer interaction unit;
the human-computer interaction unit in the touch auxiliary module is used for performing touch reminding on the driver according to the auxiliary reminding instruction;
the human-computer interaction unit in the hearing auxiliary module is used for carrying out hearing reminding on the driver according to the auxiliary reminding instruction;
and the human-computer interaction unit in the perception auxiliary module is used for carrying out perception reminding on the driver according to the auxiliary reminding instruction.
3. The system according to claim 1, characterized in that said auxiliary module comprises a master human-machine interaction unit and a slave human-machine interaction unit;
when the main human-computer interaction unit is in a normal state, the control module sends the auxiliary reminding instruction to the main human-computer interaction unit in the auxiliary module so that the main human-computer interaction unit in the auxiliary module carries out auxiliary reminding on a driver according to the auxiliary reminding instruction;
and when the main human-computer interaction unit is in a failure state, the control module sends the auxiliary reminding instruction to the auxiliary human-computer interaction unit in the auxiliary module, so that the auxiliary human-computer interaction unit in the auxiliary module carries out auxiliary reminding on a driver according to the auxiliary reminding instruction.
4. The system of claim 3, further comprising: a state monitoring module;
the state monitoring module is respectively connected with the auxiliary module and the control module;
the state monitoring module is used for monitoring the working state of the man-machine interaction unit in the auxiliary module and generating working state information to be fed back to the control module, and the working state comprises a normal state and a failure state.
5. The system according to any of claims 1-4, wherein the vision module comprises at least two of the following human-machine interaction units: the system comprises a combination instrument vision man-machine interaction unit, a center control screen vision man-machine interaction unit and a head-up display HUD vision man-machine interaction unit.
6. The system of claim 2, wherein the haptic assistance module comprises: the seat vibration man-machine interaction unit and the safety belt electric pre-tightening man-machine interaction unit;
the hearing assistance module includes: the information entertainment system comprises an information entertainment host computer human-computer interaction unit and a power amplifier local backup human-computer interaction unit;
the perceptual assistance module comprises: the system comprises an air conditioning system human-computer interaction unit and a fragrance system human-computer interaction unit.
7. A human-computer interaction control method of an automatic driving vehicle is characterized by being applied to a human-computer interaction control system of the automatic driving vehicle, and the human-computer interaction control system of the automatic driving vehicle comprises the following steps: the control module is connected with the vision module and the auxiliary module respectively; the visual module and the auxiliary module respectively comprise a human-computer interaction unit; the method comprises the following steps:
when the automatic driving vehicle needs to be taken over by a driver, the control module generates a visual reminding instruction and an auxiliary reminding instruction, sends the visual reminding instruction to a human-computer interaction unit in the visual module, and sends the auxiliary reminding instruction to a human-computer interaction unit in the auxiliary module;
and the human-computer interaction unit in the auxiliary module performs auxiliary reminding on the driver according to the auxiliary reminding instruction.
8. The method of claim 7, wherein the auxiliary module comprises a master human-computer interaction unit and a slave human-computer interaction unit, and the control module sends the auxiliary reminding instruction to the human-computer interaction unit in the auxiliary module, and the method comprises the following steps:
if the main computer interaction unit is in a normal state, the control module sends the auxiliary reminding instruction to the main computer interaction unit in the auxiliary module;
and if the master human-computer interaction unit is in a failure state, the control module sends the auxiliary reminding instruction to a slave human-computer interaction unit in the auxiliary module.
9. The method of claim 8, wherein the human-machine interaction control system of the autonomous vehicle further comprises: a state monitoring module; the state monitoring module is respectively connected with the auxiliary module and the control module; before the control module sends the auxiliary reminding instruction to the human-computer interaction unit in the auxiliary module, the method further comprises the following steps:
the control module receives the working state information of the man-machine interaction unit in the auxiliary module, which is fed back by the state monitoring module;
and the control module determines the working state of the main computer interaction unit in the auxiliary module according to the working state information, wherein the working state comprises a normal state and a failure state.
10. The method of any of claims 7-9, wherein the vision module comprises: the system comprises a combination instrument vision man-machine interaction unit, a central control screen vision man-machine interaction unit and a head-up display HUD vision man-machine interaction unit; the control module sends the visual reminding instruction to a human-computer interaction unit in the visual module, and the method comprises the following steps:
the control module sends the visual reminding instruction to the combination meter visual man-machine interaction unit, the central control screen visual man-machine interaction unit and the HUD visual man-machine interaction unit.
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Application publication date: 20201120 |