CN111959606A

CN111959606A - Automatic vehicle driving lateral control method and device

Info

Publication number: CN111959606A
Application number: CN202010902836.6A
Authority: CN
Inventors: 李卫兵; 徐春梅; 时利; 张一营; 岳丽姣; 高波; 刘法勇; 吴琼
Original assignee: Anhui Jianghuai Automobile Group Corp
Current assignee: Anhui Jianghuai Automobile Group Corp
Priority date: 2020-08-31
Filing date: 2020-08-31
Publication date: 2020-11-20

Abstract

The invention relates to the technical field of vehicles, and discloses a method and a device for controlling the transverse direction of automatic driving of a vehicle, wherein the method comprises the following steps: acquiring a current capacitance value acquired by a preset capacitance sensor, wherein the preset capacitance sensor is arranged on a steering wheel of a vehicle; determining a hand state result of the driver according to the current capacitance value; judging whether the hand state result of the driver meets a preset hand state condition or not; and when the hand state result of the driver does not meet the preset hand state condition, carrying out vehicle hand-off early warning prompt according to the hand state result of the driver. In the prior art, the driver constantly controls the vehicle to drive, so that a fatigue state can occur, and accidents can be caused.

Description

Automatic vehicle driving lateral control method and device

Technical Field

The invention relates to the technical field of vehicles, in particular to a method and a device for controlling the transverse direction of automatic driving of a vehicle.

Background

With the rapid development of social economy, people pay more and more attention to the vehicle function because automobiles facilitate the life of people in daily life. The control strategy of the automatic driving function of the expressway mainly comprises a transverse control function and a longitudinal control function. The transverse control function realizes the transverse motion of the vehicle through an Electronic Power Steering (EPS) system, in the prior art, the method for the transverse control of the vehicle is not perfect, a driver controls the vehicle to drive constantly to generate fatigue state, and accidents can be caused.

The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.

Disclosure of Invention

The invention mainly aims to provide a method and a device for automatically controlling the transverse driving of a vehicle, and aims to solve the technical problem of how to realize the transverse control safety of the vehicle and perform early warning prompt according to the hand state of a driver.

In order to achieve the above object, the present invention provides a vehicle automatic driving lateral control method including the steps of:

acquiring a current capacitance value acquired by a preset capacitance sensor, wherein the preset capacitance sensor is arranged on a steering wheel of a vehicle;

determining a hand state result of the driver according to the current capacitance value;

judging whether the hand state result of the driver meets a preset hand state condition or not;

and when the driver hand state result does not meet the preset hand state condition, carrying out vehicle hand-off early warning prompt according to the driver hand state result.

Preferably, after the step of determining whether the driver's hand state result satisfies a preset hand state condition, the method further includes:

if the driver hand state result meets the preset hand state condition, acquiring a torque value and an operation duration corresponding to the vehicle steering wheel;

judging whether the torque value is larger than a preset torque threshold value or not and whether the operation time length is larger than or equal to a preset time length threshold value or not;

when the torque value is larger than the preset torque threshold value and the operation time length is larger than or equal to the preset time length threshold value, adjusting the current state of the vehicle transverse control function from an exit state to a suppression state;

and when the torque value is smaller than or equal to the preset torque threshold and the operation time length is smaller than the preset time length threshold, adjusting the current state of the vehicle transverse control function from an exit state to a take-over state.

and when the torque value is greater than the preset torque threshold value and the operation time length is greater than or equal to the preset time length threshold value, adjusting the current state of the vehicle transverse control function from a suppression state to an exit state.

Preferably, after the step of determining whether the torque value is greater than a preset torque threshold and the operation duration is greater than or equal to a preset duration threshold, the method further includes:

and when the torque value is smaller than or equal to the preset torque threshold and the operation time length is smaller than the preset time length threshold, adjusting the current state of the vehicle transverse control function from a suppression state to a take-over state.

Preferably, when the driver hand state result does not satisfy the preset hand state condition, after the step of performing a vehicle hands-off warning prompt according to the driver hand state result, the method further includes:

acquiring a torque value and an operation duration corresponding to the vehicle steering wheel;

judging whether the torque value is smaller than or equal to a preset torque threshold value and whether the operation time length is smaller than a preset time length threshold value;

and when the torque value is smaller than or equal to the preset torque threshold and the operation time length is smaller than the preset time length threshold, adjusting the current state of the vehicle transverse control function from a take-over state to a suppression state.

Preferably, before the step of acquiring the current capacitance value acquired by the preset capacitance sensor, the method further includes:

acquiring the current speed and the steering signal state of the vehicle;

judging whether the current vehicle speed is smaller than a preset speed threshold value or not and whether the steering signal state meets a preset state condition or not;

and when the current vehicle speed is less than the preset speed threshold and the steering signal state does not meet the preset state condition, adjusting the current state of the vehicle transverse control function from an activated state to a take-over state, and executing the step of acquiring the current capacitance value acquired by the preset capacitance sensor.

and when the torque value is greater than the preset torque threshold value and the operation time length is greater than or equal to the preset time length threshold value, adjusting the current state of the vehicle transverse control function from a take-over state to a suppression state.

acquiring steering function information of the vehicle;

judging whether the steering function information meets a preset steering condition or not;

and when the steering function information meets the preset steering condition, adjusting the current state of the vehicle transverse control function from an activated state to a take-over state, and executing the step of acquiring the current capacitance value acquired by the preset capacitance sensor.

and when the torque value is greater than the preset torque threshold value and the operation time length is greater than or equal to the preset time length threshold value, adjusting the current state of the vehicle transverse control function from a take-over state to an exit state.

Further, in order to achieve the above object, the present invention also proposes a vehicle automatic driving lateral control device including:

the acquisition module is used for acquiring a current capacitance value acquired by a preset capacitance sensor, and the preset capacitance sensor is arranged on a steering wheel of a vehicle;

the determining module is used for determining a hand state result of the driver according to the current capacitance value;

the judging module is used for judging whether the hand state result of the driver meets a preset hand state condition or not;

and the early warning module is used for carrying out vehicle hand-off early warning prompt according to the hand state result of the driver when the hand state result of the driver does not meet the preset hand state condition.

The method comprises the steps of firstly, obtaining a current capacitance value acquired by a preset capacitance sensor, arranging the preset capacitance sensor on a steering wheel of a vehicle, and then determining a hand state result of a driver according to the current capacitance value; and judging whether the hand state result of the driver meets the preset hand state condition, and when the hand state result of the driver does not meet the preset hand state condition, performing vehicle hand-off early warning prompt according to the hand state result of the driver. In the prior art, the driver constantly controls the vehicle to drive, so that a fatigue state can occur, and accidents can be caused, and the invention can carry out early warning prompt according to the hand state of the driver while ensuring the safety and the integrity of the transverse control of the vehicle by judging the state of the hand of the driver on the steering wheel of the vehicle and then carrying out early warning prompt according to the hand state of the driver, thereby carrying out intelligent control on the vehicle.

Drawings

FIG. 1 is a schematic flow chart of a first embodiment of a method for automatic lateral control of vehicle driving according to the present invention;

FIG. 2 is a schematic flow chart of a second embodiment of the automatic lateral control method for vehicle driving according to the present invention;

fig. 3 is a block diagram showing the configuration of the first embodiment of the automatic driving lateral control apparatus for a vehicle of the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, fig. 1 is a schematic flow chart of a first embodiment of a vehicle automatic driving lateral control method, and proposes the first embodiment of the vehicle automatic driving lateral control method.

In a first embodiment, the vehicle autopilot lateral control method includes the steps of:

step S10: the method comprises the steps of obtaining a current capacitance value collected by a preset capacitance sensor, wherein the preset capacitance sensor is arranged on a steering wheel of the vehicle.

It should be noted that the execution subject of the present embodiment is a vehicle automatic driving lateral control device, wherein the device is a vehicle automatic driving lateral control device having functions of data processing, data communication, program operation, and the like, and may be other devices, which is not limited in this embodiment.

The EPS system is internally provided with a torque sensor, and sends a steering torque signal to an automatic Driving Unit (automatic Driving Unit ADU) in a Controller Area Network (CAN) signal mode for steering detection, wherein in order to detect the hand state of a driver, a capacitance sensor is additionally arranged on a steering wheel, whether the hand of the driver is placed on the steering wheel is judged through detecting the change of the capacitance value, and then the detection result is sent to the ADU in a CAN signal mode.

The CAN signal may be represented by EPS _ handles _ status, where EPS _ handles _ status is 0 indicating that a hand is not detected, EPS _ handles _ status is 1 indicating that a hand is detected on the left side, EPS _ handles _ status is 2 indicating that a hand is detected on the right side, and EPS _ handles _ status is 3 indicating that a hand is detected on both sides, and the embodiment is not limited.

Step S20: and determining the hand state result of the driver according to the current capacitance value.

It is understood that the hand state result of the driver may be hand not detected, hand left detected, hand right detected, hand both detected, etc., and the embodiment is not limited thereto.

When assuming that the current capacitance value is 0, it can be determined that the hand state result of the current driver is that no hand is detected, when the current capacitance value is 1, it can be determined that the hand state result of the current driver is that a hand is detected on the left side, when the current capacitance value is 2, it can be determined that the hand state result of the current driver is that a hand is detected on the right side, and when the current capacitance value is 3, it can be determined that the hand state result of the current driver is that hands and the like are detected on both sides.

Step S30: and judging whether the hand state result of the driver meets a preset hand state condition or not.

The controller interacted by the transverse control system comprises an upper layer controller ADU and an actuator EPS, the upper layer controller sends four signals to the lower layer, namely a transverse Torque control state (LCC _ Torque _ Req _ Sts), a transverse Torque control value (LCC _ Torque _ Req), a cycle count (LCC _ Counter) and a count check (LCC _ Checksum), the signals sent to the upper layer by the EPS are an EPS fault (EleStreilFlag), a Torque signal valid bit (EPS _ Driver _ Torvd), a Driver Torque value (EPS _ Driver _ Torque), a cycle count (EPS _ Counter), a count check (EPS _ CheckSum), an EPS _ hands-state (EPS _ hands _ status), and the interaction signal of the upper layer controller and a human is a take-over Request (LCC _ Takeover _ Request), a take-off alarm (C _ Handoff _ Warng), and the like.

In a function entering stage, in an initial state, the EPS is in an epsControlStatus-0 response forbidding state, the ADU is in an LCC _ Torque _ Req _ St-0/1 function suspension or closing state, the EPS actively detects whether the LCC meets a handshake condition, if the handshake condition is met, namely the LCC is in the suspension state and a sending Torque value is 0, the EPS enters handshake successfully, and when an ADU lateral control state is met, the ADU sends the LCC _ Torque _ Req _ St-2, lateral control is activated, and the EPS enters a function activation response Torque instruction. After the EPS finishes handshaking, continuously monitoring a boundary and an error state, entering error suppression by the EPS when a control signal does not meet requirements, not allowing starting to ensure the safety of transverse control in the current ignition period, and re-performing logic detection of function entry after the vehicle is re-ignited.

Wherein the handshake condition may be LCC _ Torque _ Req _ Sts 0/1& & LCC _ Torque _ Req ═ 0, the control condition may be LCC _ Torque _ Req _ Sts 2 lateral control active, the boundary and error status check may be LCC _ Torque _ Req _ Sts 0/1& & LCC _ Torque _ Req |. 0; security check signals LCC _ Counter (cycle count), LCC _ Checksum (count check), error; the LCC _ Torque _ Req value exceeds the threshold, the change slope of the LCC _ Torque _ Req is too large, and the like, and the embodiment is not limited.

In the function quitting stage, judging whether the hand state result of the driver meets the preset hand state condition or not when the driver is in the function quitting state, if the hand state result of the driver meets the preset hand state condition, acquiring a torque value and an operation duration corresponding to the vehicle steering wheel, judging whether the torque value is greater than a preset torque threshold value and whether the operation duration is greater than or equal to a preset duration threshold value, when the torque value is greater than the preset torque threshold and the operating duration is greater than or equal to the preset duration threshold, adjusting a current state of the vehicle lateral control function from an exited state to a suppressed state, when the torque value is less than or equal to the preset torque threshold and the operating duration is less than the preset duration threshold, and adjusting the current state of the vehicle transverse control function from the quitting state to the taking-over state.

Further, when the vehicle transverse control function is in a function suppression state, if the driver hand state result meets the preset hand state condition, acquiring a torque value and an operation duration corresponding to the vehicle steering wheel, judging whether the torque value is greater than a preset torque threshold and whether the operation duration is greater than or equal to a preset duration threshold, adjusting the current state of the vehicle transverse control function from the suppression state to a quit state when the torque value is greater than the preset torque threshold and the operation duration is greater than or equal to the preset duration threshold, and adjusting the current state of the vehicle transverse control function from the suppression state to a take-over state when the torque value is less than or equal to the preset torque threshold and the operation duration is less than the preset duration threshold.

That is, the lateral control function activation in the initial state is in state 1 (function activation): EPS is in EpsControlStatus ═ 2: the transverse Torque control state of the starting response Torque LCC _ Torque _ Req _ Sts is 2, the transverse control is activated, and when the transverse control function is quitted or the function is inhibited, the state 2 is entered: the LCC is prepared to send out warning signals for taking over and taking off hands and simultaneously carries out state judgment, when the LCC judges that the hand state of a driver meets the condition, hands-off alarming is not carried out, when the LCC judges that the intervention state of the driver meets the condition, taking over alarming is not carried out, then the LCC enters a state 3 (function inhibition) or a state 4 (function quitting), a transverse control function is hung up, and the EPS enters preparation response.

The function activation may be EpsControlStatus ═ 2: in response, LCC _ Torque _ Req _ Sts transverse Torque control state is 2, transverse control is activated; the take-over prompt may be EpsControlStatus ═ 2: starting response, LCC _ Torque _ Req _ Sts transverse Torque control state is 2, transverse control is activated, LCC _ Takeover _ Request and LCC _ HandseOff _ Waring; the functional inhibition may be EpsControlStatus ═ 1: ready to respond, LCC _ Torque _ Req _ Sts lateral Torque control state 1: lateral control function suppression; the function exit may be EpsControlStatus ═ 1: ready to respond, LCC _ Torque _ Req _ Sts transverse Torque control state is 0: the lateral control function exits, etc.

Function exit may be driver active shutdown, function suppression may be LCC control function condition not satisfied, and driver hand state may be EPS _ handles _ status! The Driver intervention control may be EPS _ Driver _ Torque > 0.5Nm (threshold adjustable) & & time 300ms, etc., & gt 3 (double-sided hand control) & hands-off time >10 s.

In an EPS fault stage, before the step of obtaining a current capacitance value collected by a preset capacitance sensor, obtaining the current speed and a steering signal state of the vehicle, judging whether the current speed is less than a preset speed threshold value and whether the steering signal state meets a preset state condition, when the current speed is less than the preset speed threshold value and the steering signal state does not meet the preset state condition, adjusting the current state of a vehicle transverse control function from an activated state to a take-over state, executing the step of obtaining the current capacitance value collected by the preset capacitance sensor, then determining a driver hand state result according to the current capacitance value, judging whether the driver hand state result meets the preset hand state condition, and if the driver hand state result meets the preset hand state condition, obtaining a torque value and an operation duration corresponding to a vehicle steering wheel, and judging whether the torque value is greater than a preset torque threshold value or not and whether the operation time length is greater than or equal to a preset time length threshold value or not, and adjusting the current state of the vehicle transverse control function from a take-over state to a suppression state when the torque value is greater than the preset torque threshold value and the operation time length is greater than or equal to the preset time length threshold value.

Further, steering function information of the vehicle is acquired, whether the steering function information meets a preset steering condition or not is judged, when the steering function information meets the preset steering condition, adjusting the current state of the vehicle transverse control function from an activated state to a take-over state, and executing the step of obtaining the current capacitance value collected by the preset capacitance sensor, if the hand state result of the driver meets the preset hand state condition, acquiring a torque value and an operation duration corresponding to the vehicle steering wheel, judging whether the torque value is greater than a preset torque threshold value and whether the operation duration is greater than or equal to a preset duration threshold value, when the torque value is greater than the preset torque threshold and the operating duration is greater than or equal to the preset duration threshold, and adjusting the current state of the vehicle transverse control function from a take-over state to an exit state.

That is to say, when an EPS breaks down, the step of obtaining the current capacitance value collected by the preset capacitance sensor is performed, then the hand state result of the driver is determined according to the current capacitance value, whether the hand state result of the driver meets the preset hand state condition is judged, if the hand state result of the driver meets the preset hand state condition, the torque value and the operation duration corresponding to the steering wheel of the vehicle are obtained, whether the torque value is greater than the preset torque threshold value or not and whether the operation duration is greater than or equal to the preset duration threshold value or not are judged, and when the torque value is greater than the preset torque threshold value and the operation duration is greater than or equal to the preset duration threshold value, the current state of the lateral control function of the vehicle is adjusted from the takeover state to the exit state.

In the initial state, the lateral control function activation is in state 1 (function activation): EPS is in EpsControlStatus ═ 2: the lateral control is activated, and when the EPS is in a failure state 1 or a failure state 2, the EPS enters a state 2: the LCC is prepared to send out warning signals for taking over and taking off hands and simultaneously carries out state judgment, when the LCC judges that the hand state of a driver meets the condition, hands-off alarming is not carried out, when the LCC judges that the intervention state of the driver meets the condition, taking over alarming is not carried out, then the state 3 (function inhibition) or the state 4 (function quitting) is entered, the transverse control function is hung up or quitted, and the EPS enters preparation response.

In the stage of controller (ADU) failure, the current function is in the activated state, the ADU failure is judged (namely vehicle overspeed, temporary error of check signal), sending an emergency takeover prompt when an ADU fault occurs, acquiring the current capacitance value acquired by a preset capacitance sensor, then determining the hand state result of a driver according to the current capacitance value, and judging whether the hand state result of the driver meets the preset hand state condition, if the hand state result of the driver meets the preset hand state condition, acquiring a torque value and an operation duration corresponding to the vehicle steering wheel, judging whether the torque value is greater than a preset torque threshold value and whether the operation duration is greater than or equal to a preset duration threshold value, when the torque value is greater than the preset torque threshold and the operating duration is greater than or equal to the preset duration threshold, adjusting a current state of the vehicle lateral control function from a take-over state to a suppression state.

That is, in the initial state, the lateral control function activation is in state 1 (function activation): EPS is in EpsControlStatus ═ 2: and starting response Torque LCC _ Torque _ Req _ Sts transverse Torque control state to be 2, enabling transverse control, and entering a state 2 to take over prompt in an emergency mode when the controller ADU fails: the controller is prepared to send out warning signals for taking over and taking off hands and simultaneously carries out state judgment, when the controller judges that the hand state of a driver meets the condition, hands-off alarming is not carried out, when the controller judges that the intervention state of the driver meets the condition, taking over alarming is not carried out, then the controller enters a state 3 (function quitting), a transverse control function is suspended or quitted, and the EPS enters a preparation response. In the process, when the hands of a driver do not take over the steering wheel continuously, the controller ADU can assist in carrying out a longitudinal deceleration parking strategy, and the safety of the vehicle is ensured.

When entering the driver intervention phase, the controller lateral control function activation in the initial state is in state 1 (function activation): EPS is in EpsControlStatus ═ 2: the controller ADU and EPS simultaneously monitor conditions when driving intervention occurs in response to the Torque LCC _ Torque _ Req _ Sts lateral Torque control condition 2. The controller ADU judges that the direction of the torque of the driver hand is opposite to the request direction and the torque value is larger than 1.5, the ADU enters a man-machine common driving function, the transverse control function fades out, the state 3 function inhibition is entered, and if the controller wants to enter the transverse control again, manual key activation is needed. From the consideration of safety, in order to ensure the initiative of a person for controlling the vehicle, the EPS also monitors the upper layer, and if the ADU function of the controller is still in a function activation state and is continuously intervened manually, the EPS enters a state 2 to actively inhibit the function, so that the safety of the vehicle is ensured. And when the EPS detects that the upper layer function is inhibited or withdrawn and the steering hand moment is reduced, the inhibiting function is recovered, and the vehicle can enter the transverse control again.

The Driver intervention can be that the EPS _ Driver _ Torque Driver hand Torque direction is opposite to the request direction and the Torque value is over-adjusted; ADU monitoring and EPS monitoring can be that the absolute value of EPS _ Driver _ Torque is more than 1.5 Nm; the man-machine common driving can fade out for the ADU transverse control function and enter a suppression state 3; the continuous intervention judgment can be that LCC _ Torque _ Req _ Sts transverse Torque control state is 2 transverse control activation, EPS _ Driver _ Torque is more than 1.8Nm and the time length is more than 1.8 s; the intervention exit determination may be that LCC _ Torque _ Req _ Sts transverse Torque control state 0/1 transverse control function exit/inhibit, EPS _ Driver _ Torque < 1.5Nm and duration > 0.3s, etc.

Step S40: and when the driver hand state result does not meet the preset hand state condition, carrying out vehicle hand-off early warning prompt according to the driver hand state result.

When the driver is in the hands-off stage, the driver hand state result is not satisfied the preset hand state condition, according to after the step of vehicle hands-off early warning prompt is carried out to the driver hand state result, the torque value and the operation duration corresponding to the vehicle steering wheel are obtained, whether the torque value is less than or equal to the preset torque threshold value or not is judged, whether the operation duration is less than the preset duration threshold value or not is smaller than the preset torque threshold value or not, the operation duration is less than when the preset duration threshold value is smaller than, the current state of the vehicle transverse control function is adjusted to the inhibition state from the takeover state.

That is, in the initial state, the lateral control function activation is in state 1 (function activation): EPS is in EpsControlStatus ═ 2: starting response Torque LCC _ Torque _ Req _ Sts lateral Torque control state of 2 lateral control activation, if the driver is in hands-off behavior, EPS _ handles _ status of 0 (no hand control), entering driver hand state detection by the controller, if EPS _ handles _ status of 3 (double-sided hand control) considers that the driver is resuming vehicle control, lateral control function resuming, if EPS _ handles _ status | is in hands-on control! If the driver recovers the two-hand control and generates steering torque, the driver is considered to recover the vehicle control, the transverse control function is recovered, and otherwise, the function enters the suppression and sends a take-over request. Then state 3 is entered (function suppression), the lateral control function is suspended, and the EPS enters ready to respond.

When a controller (ADU) is in a fault stage, the current function is in an activated state, ADU faults (namely vehicle overspeed and temporary error of a check signal) are judged, an emergency takeover prompt is sent out when the ADU faults occur, a current capacitance value acquired by a preset capacitance sensor is obtained, then a driver hand state result is determined according to the current capacitance value, whether the driver hand state result meets a preset hand state condition or not is judged, the driver hand state result does not meet the preset hand state condition, when the early warning duration is longer than the preset early warning duration, a driver does not actively control a steering wheel, and the vehicle is actively decelerated until stopping.

That is, in the initial state, the lateral control function activation is in state 1 (function activation): EPS is in EpsControlStatus ═ 2: and starting response Torque LCC _ Torque _ Req _ Sts transverse Torque control state to be 2, enabling transverse control, and entering a state 2 to take over prompt in an emergency mode when the controller ADU fails: the controller prepares to send out the warning signal of taking over and taking off one's hand and carries out state judgement simultaneously, and in-process, when driver's hand does not continue to take over the steering wheel, controller ADU can assist and carry out fore-and-aft speed reduction parking strategy, guarantees the security of vehicle.

In this example, at first, obtain the current capacitance value that preset capacitive sensor gathered, preset capacitive sensor sets up on the vehicle steering wheel, then confirms driver hand state result according to current capacitance value, judges whether driver hand state result satisfies preset hand state condition, when driver hand state result does not satisfy preset hand state condition, carries out vehicle hands-off early warning suggestion according to driver hand state result. In the prior art, the driver constantly controls the vehicle to drive, so that a fatigue state can occur, and accidents can be caused, and the invention can carry out early warning prompt according to the hand state of the driver while ensuring the safety and the integrity of the transverse control of the vehicle by judging the state of the hand of the driver on the steering wheel of the vehicle and then carrying out early warning prompt according to the hand state of the driver, thereby carrying out intelligent control on the vehicle.

In addition, referring to fig. 2, fig. 2 is a diagram illustrating a second embodiment of the automatic lateral control method for vehicle driving according to the present invention, based on the first embodiment of the automatic lateral control method for vehicle driving.

In the second embodiment, the method for controlling the automatic driving lateral direction of the vehicle further includes, after the step S40:

step S50: and acquiring a torque value and an operation duration corresponding to the vehicle steering wheel.

The torque value corresponding to the vehicle steering wheel is a torque value generated when a driver places a hand on the steering wheel, and the operation duration is the operation duration of the driver actively controlling the steering wheel while the driver maintains the corresponding torque value.

Step S60: and judging whether the torque value is smaller than or equal to a preset torque threshold value or not and whether the operation time length is smaller than a preset time length threshold value or not.

The preset torque threshold is set by a user in a self-defined manner, and may be 2 or 4, and the like, and the preset operation time may be 30s, and may also be 40s, and the like.

Further, when the vehicle transverse control function is in a function inhibition state, if the hand state result of the driver meets the preset hand state condition, a torque value and an operation duration corresponding to the vehicle steering wheel are obtained, whether the torque value is larger than a preset torque threshold value or not and whether the operation duration is larger than or equal to a preset duration threshold value or not are judged, and when the torque value is larger than the preset torque threshold value and the operation duration is larger than or equal to the preset duration threshold value, the current state of the vehicle transverse control function is adjusted from the inhibition state to a quitting state.

In the function quitting stage, when the vehicle transverse control function is in the function quitting state, whether the hand state result of the driver meets the step of presetting the hand state condition is judged, if the hand state result of the driver meets the preset hand state condition, the torque value and the operation time length corresponding to the vehicle steering wheel are acquired, whether the torque value is larger than the preset torque threshold value or not is judged, whether the operation time length is larger than or equal to the preset time length threshold value or not is judged, and when the torque value is larger than the preset torque threshold value and the operation time length is larger than or equal to the preset time length threshold value, the current state of the vehicle transverse control function is adjusted to the inhibiting state from the quitting state.

In the stage of controller (ADU) failure, the current function is in the activated state, the ADU failure is judged (namely vehicle overspeed, temporary error of check signal), sending an emergency takeover prompt when an ADU fault occurs, acquiring the current capacitance value acquired by a preset capacitance sensor, then determining the hand state result of a driver according to the current capacitance value, and judging whether the hand state result of the driver meets the preset hand state condition, if the hand state result of the driver meets the preset hand state condition, acquiring a torque value and an operation duration corresponding to the vehicle steering wheel, judging whether the torque value is greater than a preset torque threshold value and whether the operation duration is greater than or equal to a preset duration threshold value, when the torque value is greater than the preset torque threshold and the operating duration is greater than or equal to the preset duration threshold, adjusting a current state of the vehicle lateral control function from a take-over state to a suppression state, and the like.

Step S70: and when the torque value is smaller than or equal to the preset torque threshold and the operation time length is smaller than the preset time length threshold, adjusting the current state of the vehicle transverse control function from a take-over state to a suppression state.

It should be noted that the take-over state is the driver actively controlling the steering of the steering wheel, and the present embodiment is not limited thereto.

In this embodiment, first, a torque value and an operation duration corresponding to a steering wheel of a vehicle are obtained, then, whether the torque value is smaller than or equal to a preset torque threshold value and whether the operation duration is smaller than a preset duration threshold value is judged, and then, when the torque value is smaller than or equal to the preset torque threshold value and the operation duration is smaller than the preset duration threshold value, a current state of a transverse control function of the vehicle is adjusted from a take-over state to a suppression state, so that the safety of a driver is guaranteed, meanwhile, the vehicle can be intelligently controlled, and user experience is improved.

Furthermore, an embodiment of the present invention further provides a storage medium having a vehicle autopilot lateral control program stored thereon, which when executed by a processor implements the steps of the vehicle autopilot lateral control method as described above.

Further, referring to fig. 3, an embodiment of the present invention further provides a vehicle automatic driving lateral control device, including:

an obtaining module 3001, configured to obtain a current capacitance value acquired by a preset capacitance sensor, where the preset capacitance sensor is disposed on a steering wheel of a vehicle;

The EPS system is provided with a torque sensor and sends a steering torque signal to an automatic Driving Unit (automatic Driving Unit ADU) in a CAN signal mode for steering detection, wherein a capacitance sensor is additionally arranged on a steering wheel for detecting the hand state of a driver, whether the hand of the driver is placed on the steering wheel is judged through detecting the change of the capacitance value, and then a detection result is sent to the ADU in the CAN signal mode.

A determining module 3002, configured to determine a driver hand state result according to the current capacitance value;

A determining module 3003, configured to determine whether the hand state result of the driver meets a preset hand state condition;

And the early warning module 3004 is used for carrying out vehicle hand-off early warning prompt according to the driver hand state result when the driver hand state result does not satisfy the preset hand state condition.

In this example, at first, obtain the current capacitance value that preset capacitive sensor gathered, preset capacitive sensor sets up on the vehicle steering wheel, then confirms driver hand state result according to current capacitance value, judges whether driver hand state result satisfies preset hand state condition, when driver hand state result does not satisfy preset hand state condition, carries out vehicle hands-off early warning suggestion according to driver hand state result. In the prior art, the driver constantly controls the vehicle to drive, so that a fatigue state can occur, and accidents can be caused, and the invention judges the state of the hand of the driver on the steering wheel of the vehicle, and then carries out early warning prompt of the hands of the vehicle getting out of the way according to the state result of the hand of the driver, thereby realizing the early warning prompt according to the state of the hand of the driver while ensuring the safety and the integrity of the transverse control of the vehicle, and further carrying out intelligent control on the vehicle

Other embodiments or specific implementation manners of the automatic driving lateral control device of the vehicle of the invention can refer to the above method embodiments, and are not described herein again.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order, but rather the words first, second, third, etc. are to be interpreted as names.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., a Read Only Memory (ROM)/Random Access Memory (RAM), a magnetic disk, an optical disk), and includes several instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A vehicle automatic driving lateral control method, characterized by comprising the steps of:

2. The method of claim 1, wherein after the step of determining whether the driver's hand state result satisfies a predetermined hand state condition, the method further comprises:

3. The method of claim 1, wherein after the step of determining whether the driver's hand state result satisfies a predetermined hand state condition, the method further comprises:

4. The method of claim 3, wherein said step of determining whether said torque value is greater than a preset torque threshold and said operating duration is greater than or equal to a preset duration threshold further comprises:

5. The method as claimed in claim 1, wherein after the step of performing a vehicle hands-off warning prompt according to the driver hand state result when the driver hand state result does not satisfy the preset hand state condition, the method further comprises:

6. The method of claim 1, wherein said step of obtaining a current capacitance value collected by a pre-set capacitance sensor is preceded by the steps of:

acquiring the current speed and the steering signal state of the vehicle;

7. The method of claim 6, wherein after the step of determining whether the driver's hand state result satisfies a predetermined hand state condition, the method further comprises:

8. The method of claim 1, wherein said step of obtaining a current capacitance value collected by a pre-set capacitance sensor is preceded by the steps of:

acquiring steering function information of the vehicle;

9. The method of claim 8, wherein the step of determining whether the driver's hand state result satisfies a predetermined hand state condition further comprises:

10. A vehicle automatic driving lateral control apparatus, characterized by comprising: