CN112078584A - Method, apparatus and storage medium for managing vehicle driving mode - Google Patents
Method, apparatus and storage medium for managing vehicle driving mode Download PDFInfo
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- CN112078584A CN112078584A CN202010919544.3A CN202010919544A CN112078584A CN 112078584 A CN112078584 A CN 112078584A CN 202010919544 A CN202010919544 A CN 202010919544A CN 112078584 A CN112078584 A CN 112078584A
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
Abstract
The invention discloses a management method, equipment and a storage medium of a vehicle driving mode, when a driving mode switching instruction is received, the current driving mode of a vehicle is detected; determining whether current control information of the current driving mode is the same as target control information of a target driving mode; and if the current control information of the current driving mode is the same as the target control information of the target driving mode, switching the current driving mode to the target driving mode. According to the invention, when the driving mode switching instruction is received and the current control information of the current driving mode is the same as the target control information of the target driving mode, the driving modes of the vehicle are switched, so that the damage to a vehicle control system and the occurrence of accidents are avoided, and the safety of the switching of the driving modes of the vehicle is improved.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a method, a device, and a storage medium for managing a vehicle driving mode.
Background
With the rapid development of vehicle technology and wireless network technology, people can automatically control the running of a vehicle through a 5G network at present without the need of people to operate, and especially in a high-speed road section, people can automatically control the running of the vehicle through an automatic driving mode, so that a driver has more time to rest or process other matters.
However, when the current driver switches the driving mode of the driven vehicle, the current driving mode is directly switched to another driving mode through the joystick or the switch button, but since there may be inconsistency of the control states between the two driving modes, in this case, the mode switching is directly performed, which may damage the control system of the vehicle, and even may cause accidents such as the vehicle being out of control, and the safety of the vehicle driving mode switching is low.
Disclosure of Invention
The invention mainly aims to provide a method, equipment and a storage medium for managing a vehicle driving mode, and aims to solve the technical problem that the safety of the current vehicle driving mode switching is low.
In order to achieve the above object, an embodiment of the present invention provides a method for managing a vehicle driving mode, including:
when a driving mode switching instruction is received, detecting the current driving mode of the vehicle;
determining whether current control information of the current driving mode is the same as target control information of a target driving mode;
and if the current control information of the current driving mode is the same as the target control information of the target driving mode, switching the current driving mode to the target driving mode.
Preferably, after the step of determining whether the current control information of the current driving mode is the same as the target control information of the target driving mode, the method further includes:
if the current control information of the current driving mode is different from the target control information of the target driving mode, determining the current driving mode as a pseudo switching driving mode;
adjusting the intermediate control information of the pseudo switching driving mode, and adjusting the target control information according to the adjusted intermediate control information;
and when the adjusted target control information is the same as the current control information of the current driving mode, switching the current driving mode to the target driving mode.
Preferably, the determining whether the current control information of the current driving mode is identical to the target control information of the target driving mode includes:
if the current driving mode is the automatic driving mode, determining whether the automatic control state in the current control information is the same as the remote control state in the target control information;
if the automatic control state in the current control information is the same as the remote control state in the target control information, judging that the current control information is the same as the target control information;
and if the automatic control state in the current control information is different from the remote control state in the target control information, judging that the current control information is different from the target control information.
Preferably, the step of determining whether the automatic control state in the current control information is the same as the remote control state in the target control information includes:
detecting a remote control quantity of a controller in the remote control state and an automatic control quantity of the controller in the automatic control state;
comparing the automatic control quantity with the remote control quantity in a numerical value manner, and if the numerical value of the automatic control quantity is equal to that of the remote control quantity, judging that the remote control state is the same as the automatic control state;
and if the numerical value of the automatic control quantity is not equal to the numerical value of the remote control quantity, judging that the remote control state is different from the automatic control state.
Preferably, the determining whether the current control information of the current driving mode is identical to the target control information of the target driving mode further comprises:
if the current driving mode is a remote driving mode, determining whether a current driving path in the current control information is the same as a predicted driving path in the target control information;
if the current driving path is the same as the predicted driving path, judging that the current control information of the current driving mode is the same as the target control information of the target driving mode;
and if the current driving path is different from the predicted driving path, judging that the current control information of the current driving mode is different from the target control information of the target driving mode.
Preferably, the determining whether the current travel path in the current control information is the same as the predicted travel path in the target control information includes:
acquiring a current running path in the current control information of the vehicle, and acquiring a predicted driving path in target control information generated by an automatic driving mode according to the current position information, the speed information and the environment information of the vehicle;
comparing the current running path with the predicted driving path, and if the current running path is consistent with the predicted driving path, judging that the current running path of the vehicle is the same as the predicted running path;
and if the current running path is not consistent with the predicted driving path, judging that the current running path of the vehicle is not the same as the predicted running path.
Preferably, the step of determining if the current driving mode is the remote driving mode further comprises:
if the current driving mode is the automatic driving mode, determining whether continuous curves of which the number of the curves is larger than a first preset threshold exist in the target driving path of the vehicle or not;
if continuous curves with the number larger than a first preset threshold exist and the distance between the vehicle and the continuous curves is smaller than a second preset threshold, outputting a mode switching request;
and when a confirmation instruction sent based on the mode switching request is received, switching the automatic driving mode to a remote driving mode.
Preferably, if there are consecutive curves of which the number is greater than a first preset threshold and the distance between the vehicle and the consecutive curves is less than a second preset threshold, the step of outputting the mode switching request includes:
if continuous curves with the number larger than a first preset threshold exist, acquiring current position information of the vehicle and initial position information of the continuous curves;
calculating a relative distance of the vehicle from the continuous curve based on the current position information and the start position information;
and if the relative distance is smaller than a second preset threshold value, outputting a mode switching request.
Further, to achieve the above object, the present invention also provides a management device of vehicle driving modes, which includes a memory, a processor and a management program of vehicle driving modes stored in the memory and operable on the processor, wherein the management program of vehicle driving modes realizes the steps of the management method of vehicle driving modes when executed by the processor.
Further, in order to achieve the above object, the present invention further provides a storage medium having a vehicle driving mode management program stored thereon, wherein the vehicle driving mode management program realizes the steps of the above method for managing vehicle driving modes when executed by a processor.
The embodiment of the invention provides a management method, equipment and a storage medium for a vehicle driving mode, wherein when a driving mode switching instruction is received, the current driving mode of a vehicle is detected; determining whether current control information of the current driving mode is the same as target control information of a target driving mode; and if the current control information of the current driving mode is the same as the target control information of the target driving mode, switching the current driving mode to the target driving mode. According to the invention, when the driving mode switching instruction is received and the current control information of the current driving mode is the same as the target control information of the target driving mode, the driving modes of the vehicle are switched, so that the damage to a vehicle control system and the occurrence of accidents are avoided, and the safety of the switching of the driving modes of the vehicle is improved.
Drawings
FIG. 1 is a schematic structural diagram of a hardware operating environment according to an embodiment of a method for managing a driving mode of a vehicle;
FIG. 2 is a schematic flow chart diagram illustrating a first embodiment of a method for managing a driving mode of a vehicle according to the present invention;
fig. 3 is a flowchart illustrating a second embodiment of a method for managing a driving mode of a vehicle according to 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.
The embodiment of the invention provides a management method, equipment and a storage medium for a vehicle driving mode, wherein when a driving mode switching instruction is received, the current driving mode of a vehicle is detected; determining whether current control information of the current driving mode is the same as target control information of a target driving mode; and if the current control information of the current driving mode is the same as the target control information of the target driving mode, switching the current driving mode to the target driving mode. According to the invention, when the driving mode switching instruction is received and the current control information of the current driving mode is the same as the target control information of the target driving mode, the driving modes of the vehicle are switched, so that the damage to a vehicle control system and the occurrence of accidents are avoided, and the safety of the switching of the driving modes of the vehicle is improved.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a management device for a vehicle driving mode of a hardware operating environment according to an embodiment of the present invention.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
The management device of the vehicle driving mode in the embodiment of the invention can be a PC, and can also be a mobile terminal device such as a tablet computer and a portable computer.
As shown in fig. 1, the management apparatus of the driving mode of the vehicle may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the management apparatus for vehicle driving modes shown in fig. 1 does not constitute a limitation of the management apparatus for vehicle driving modes, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a management program of a driving mode of a vehicle.
In the device shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to invoke a management program of the driving mode of the vehicle stored in the memory 1005 and perform the following operations:
when a driving mode switching instruction is received, detecting the current driving mode of the vehicle;
determining whether current control information of the current driving mode is the same as target control information of a target driving mode;
and if the current control information of the current driving mode is the same as the target control information of the target driving mode, switching the current driving mode to the target driving mode.
Further, after the step of determining whether the current control information of the current driving mode is the same as the target control information of the target driving mode, the processor 1001 may be further configured to call a management program of the driving mode of the vehicle stored in the memory 1005, and perform the following operations:
if the current control information of the current driving mode is different from the target control information of the target driving mode, determining the current driving mode as a pseudo switching driving mode;
adjusting the intermediate control information of the pseudo switching driving mode, and adjusting the target control information according to the adjusted intermediate control information;
and when the adjusted target control information is the same as the current control information of the current driving mode, switching the current driving mode to the target driving mode.
Further, the determining whether the current control information of the current driving mode is identical to the target control information of the target driving mode includes:
if the current driving mode is the automatic driving mode, determining whether the automatic control state in the current control information is the same as the remote control state in the target control information;
if the automatic control state in the current control information is the same as the remote control state in the target control information, judging that the current control information is the same as the target control information;
and if the automatic control state in the current control information is different from the remote control state in the target control information, judging that the current control information is different from the target control information.
Further, the step of determining whether the automatic control state in the current control information is the same as the remote control state in the target control information includes:
detecting a remote control quantity of a controller in the remote control state and an automatic control quantity of the controller in the automatic control state;
comparing the automatic control quantity with the remote control quantity in a numerical value manner, and if the numerical value of the automatic control quantity is equal to that of the remote control quantity, judging that the remote control state is the same as the automatic control state;
and if the numerical value of the automatic control quantity is not equal to the numerical value of the remote control quantity, judging that the remote control state is different from the automatic control state.
Further, the determining whether the current control information of the current driving mode is identical to the target control information of the target driving mode further includes:
if the current driving mode is a remote driving mode, determining whether a current driving path in the current control information is the same as a predicted driving path in the target control information;
if the current driving path is the same as the predicted driving path, judging that the current control information of the current driving mode is the same as the target control information of the target driving mode;
and if the current driving path is different from the predicted driving path, judging that the current control information of the current driving mode is different from the target control information of the target driving mode.
Further, the step of determining whether the current travel path in the current control information is the same as the predicted travel path in the target control information includes:
acquiring a current running path in the current control information of the vehicle, and acquiring a predicted driving path in target control information generated by an automatic driving mode according to the current position information, the speed information and the environment information of the vehicle;
comparing the current running path with the predicted driving path, and if the current running path is consistent with the predicted driving path, judging that the current running path of the vehicle is the same as the predicted running path;
and if the current running path is not consistent with the predicted driving path, judging that the current running path of the vehicle is not the same as the predicted running path.
Further, the step of determining if the current driving mode is the remote driving mode further comprises:
if the current driving mode is the automatic driving mode, determining whether continuous curves of which the number of the curves is larger than a first preset threshold exist in the target driving path of the vehicle or not;
if continuous curves with the number larger than a first preset threshold exist and the distance between the vehicle and the continuous curves is smaller than a second preset threshold, outputting a mode switching request;
and when a confirmation instruction sent based on the mode switching request is received, switching the automatic driving mode to a remote driving mode.
Further, if there are consecutive curves of which the number is greater than a first preset threshold and the distance between the vehicle and the consecutive curves is less than a second preset threshold, the step of outputting the mode switching request includes:
if continuous curves with the number larger than a first preset threshold exist, acquiring current position information of the vehicle and initial position information of the continuous curves;
calculating a relative distance of the vehicle from the continuous curve based on the current position information and the start position information;
and if the relative distance is smaller than a second preset threshold value, outputting a mode switching request.
For a better understanding of the above technical solutions, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Referring to fig. 2, a first embodiment of the present invention provides a flow chart illustrating a method for managing a driving mode of a vehicle. In this embodiment, the management method of the vehicle driving mode includes the steps of:
step S10, when receiving the driving mode switching instruction, detecting the current driving mode of the vehicle;
the management method of the vehicle driving mode in this embodiment is applied to a management system of the vehicle driving mode, and the system at least comprises a sensor, a camera, a real-time map, a driving mode switch, a controller and the like, wherein the sensor is a detection device which can sense measured information and convert the sensed information into an electric signal or other information in a required form according to a certain rule for output so as to meet the requirements of information transmission, processing, storage, display, recording, control and the like; the camera is used for monitoring the environment inside or outside the vehicle; the real-time map is used for displaying the specific position of the vehicle in the map in real time, so that a user can know the position information of the user conveniently; the driving mode switch is used for switching the vehicle between an automatic driving mode and a remote driving mode, the automatic driving mode is a mode for controlling the vehicle to automatically run through an automatic driving system of the vehicle without manual operation, the remote driving mode is a mode for remotely controlling the vehicle in a network connection mode through a remote simulation device or a remote control program and other control modes, and the control mode of the remote driving mode is not limited, and all the control modes capable of remotely controlling the vehicle can be applied to the remote driving mode; the controller is used for controlling the state of the vehicle, and can be an accelerator pedal, a brake pedal, a steering wheel and the like.
Further, when the user has a requirement for switching the driving mode, the driving mode switch instruction may be sent by clicking or pressing the driving mode switch, and it may be understood that, in order to make the user touch the driving mode switch by mistake, the application may perform a false touch prevention setting on the driving mode switch, for example: the driving mode switch can be set to be triggered to send the driving mode switching instruction when the user continuously clicks or presses the driving mode switch. Further, when a driving mode switching instruction sent by a user through clicking or pressing a driving mode switching switch is received, the system detects the running vehicle, and determines whether the current driving mode of the vehicle is an automatic driving mode or a remote driving mode, so that control operation corresponding to the driving mode switching instruction is performed on the vehicle according to different driving modes.
Step S20, determining whether the current control information of the current driving mode is the same as the target control information of the target driving mode;
furthermore, the system detects current control information for controlling the vehicle to run in the current driving mode, and detects target control information generated when the target driving mode which the user wants to switch controls the vehicle when the user sends a driving mode switching instruction. Further, the system compares the current control information in the current driving mode with the target control information in the target driving mode to determine whether the current control information is the same as the target control information. If the current control information is the same as the target control information, judging that the current driving mode can be switched to the target driving mode; if the current control information is different from the target control information, the current driving mode cannot be directly switched to the target driving mode, and the control system of the vehicle is prevented from being damaged or accidents are avoided.
Step S30, if the current control information of the current driving mode is the same as the target control information of the target driving mode, switching the current driving mode to the target driving mode.
Further, if it is determined that the current control information of the current driving mode is the same as the target control information of the target driving mode after the comparison is completed, it is indicated that the control state of the current driving mode is the same as or similar to the control state of the target driving mode, and switching the current driving mode to the target driving mode under the current condition does not cause a great change in the control state of the vehicle, thereby avoiding damaging a control system of the vehicle or causing an accident.
The embodiment of the invention provides a management method, equipment and a storage medium for a vehicle driving mode, wherein when a driving mode switching instruction is received, the current driving mode of a vehicle is detected; determining whether current control information of the current driving mode is the same as target control information of a target driving mode; and if the current control information of the current driving mode is the same as the target control information of the target driving mode, switching the current driving mode to the target driving mode. According to the invention, when the driving mode switching instruction is received and the current control information of the current driving mode is the same as the target control information of the target driving mode, the driving modes of the vehicle are switched, so that the damage to a vehicle control system and the occurrence of accidents are avoided, and the safety of the switching of the driving modes of the vehicle is improved.
Further, referring to fig. 3, a second embodiment of the management method of a vehicle driving mode of the present invention is proposed based on the first embodiment of the management method of a vehicle driving mode of the present invention, and in the second embodiment, after the step of determining whether the current control information of the current driving mode is the same as the target control information of the target driving mode, the method further comprises:
step S100, if the current control information of the current driving mode is different from the target control information of the target driving mode, determining the current driving mode as a pseudo switching driving mode;
step S200, adjusting the intermediate control information of the pseudo switching driving mode, and adjusting the target control information according to the adjusted intermediate control information;
step S300, when the adjusted target control information is the same as the current control information of the current driving mode, switching the pseudo-switching driving mode to the target driving mode.
Further, if it is determined after the comparison that the current control information of the current driving mode is different from the target control information of the target driving mode, it indicates that there is a certain deviation between the control state of the current driving mode and the control state of the target driving mode, switching the current driving mode to the target driving mode under the current condition may cause a great change in the control state of the vehicle, which may damage a vehicle control system or cause an accident, the system may not directly switch the current driving mode to the target driving mode, switch the current driving mode to a pseudo-switching driving mode representing an intermediate driving mode, determine whether to perform a switching operation of the driving mode according to the control state of the vehicle in the pseudo-switching driving mode, and display corresponding control information in a display screen of the vehicle, for example, displaying an icon in the display screen in a flashing or half-lit manner, the characterization system has responded to a driving mode switch command, and it will be appreciated that the vehicle is still substantially under the control of the autopilot system when the vehicle is in a pseudo-remote driving mode. Further, the system adjusts the intermediate control information in the current pseudo-switched driving mode, specifically, the system may adjust a duration of switching the driving mode, and may also adjust a frequency of generating the predicted driving path, so as to adjust the target control information by the adjusted intermediate control information, so that the current control information is the same as the target control information. Further, in the process of adjusting the intermediate control information, the system adjusts the target control information through the modified intermediate control information in real time, and determines that the current driving mode can be switched to the target driving mode and the current driving mode is switched to the target driving mode when it is determined that the adjusted target control information is the same as the current control information of the current driving mode, so as to avoid damaging the vehicle control system and avoiding accidents, and improve the safety of switching the vehicle driving modes. For example: for example, the time for originally switching the driving mode is 2 seconds, and in order to make the current driving path the same as the predicted driving path, the time for switching the driving mode can be adjusted to 5 seconds, so as to control the automatic control system to regenerate or update the predicted driving path, and make the current driving path the same as the predicted driving path; the time of generation of the predicted travel path may also be adjusted, specifically, the frequency of generation of the predicted travel path may be increased, for example, the predicted travel path that is originally updated every 3 seconds is adjusted to the predicted travel path that is updated every 1 second, so as to control the automatic driving system to regenerate or update the predicted travel path such that the current travel path is the same as the predicted travel path. Another example is: the acceleration of the vehicle running under the control of the automatic driving mode is 2, and before a driving mode switching instruction is received, a control system of the vehicle is controlled by the automatic driving mode and controls an accelerator pedal to control the vehicle to run at the acceleration 2 according to the predicted running path; if a driving mode switching instruction is detected and a user is detected to control the accelerator pedal to increase the running acceleration to 4 through the remote driving mode, the system switches the current driving mode into the pseudo remote driving mode and monitors the acceleration of the accelerator pedal. Further, when the acceleration of the accelerator pedal is 0-2, the system still controls the vehicle to run by the acceleration 2 according to the predicted running path, when the acceleration of the accelerator pedal reaches 2, the condition that the automatic driving mode can be switched to the remote driving mode is achieved, the system switches the current pseudo remote driving mode to the remote driving mode, and the vehicle is controlled to run according to the controllers of the remote driving mode after the switching.
In the embodiment, the current driving mode is determined as the pseudo switching driving mode, the intermediate control information of the pseudo switching driving mode is adjusted, the target control information is controlled through the adjusted intermediate control information, and when the current control information is the same as the target control information, the pseudo switching driving mode is switched to the target driving mode, so that a vehicle control system is prevented from being damaged, accidents are avoided, and the safety of vehicle driving mode switching is improved.
Further, a third embodiment of the management method of a vehicle driving pattern of the present invention is proposed based on the first embodiment of the management method of a vehicle driving pattern of the present invention, and in the third embodiment, the step of determining whether the current control information of the current driving pattern is identical to the target control information of the target driving pattern includes:
step S21, if the current driving mode is the automatic driving mode, determining whether the automatic control state in the current control information is the same as the remote control state in the target control information;
step S22, if the automatic control state in the current control information is the same as the remote control state in the target control information, determining that the current control information is the same as the target control information;
step S23, if the automatic control state in the current control information is not the same as the remote control state in the target control information, determining that the current control information is not the same as the target control information.
It can be understood that, for objects that can be remotely controlled by a user, such as a steering wheel, an accelerator pedal, a brake pedal, and the like, when the vehicle is in the automatic driving mode, the accelerator pedal and the brake pedal cannot follow the automatic driving mode to perform actions of corresponding magnitude except for emergency braking through the steering wheel. Therefore, in order to enable the current driving mode of the vehicle to be switched from the automatic driving mode to the remote driving mode, when a driving mode switching instruction is detected, the system acquires an automatic control state of current control information in the automatic driving mode and acquires a target control state of target control information in the remote driving mode, wherein the automatic control state and the target control state can be states of control of an accelerator pedal, control of a brake pedal, control of a steering wheel and the like. Further, if the detected current driving mode of the vehicle is the automatic driving mode, in order to enable the control system of the vehicle to smoothly complete the switching process of the driving modes, the system compares the automatic control state of the current control information with the target control state of the target control information to determine whether the current control information is the same as the target control information. Further, if the automatic control state in the current control information is the same as the remote control state in the target control information, the characteristic that a large deviation does not exist between the automatic control state and the target control state, the system judges that the current control information is the same as the target control information, and the current driving mode can be switched to the target driving mode; if the automatic control state in the current control information is different from the remote control state in the target control information, the fact that a large deviation exists between the automatic control state and the target control state is represented, and the system judges that the current control information is different from the target control information, and the current driving mode cannot be switched to the target driving mode, so that the control system of the vehicle is prevented from being damaged or accidents are avoided.
Further, the step of determining whether the automatic control state in the current control information is the same as the remote control state in the target control information includes:
step S211, detecting a remote control amount of the controller in the remote control state and an automatic control amount of the controller in the automatic control state;
step S212, comparing the automatic control quantity with the remote control quantity, and if the numerical value of the automatic control quantity is equal to that of the remote control quantity, judging that the remote control state is the same as the automatic control state;
step S213, if the numerical value of the automatic controlled variable is not equal to the numerical value of the remote controlled variable, determining that the remote control state is different from the automatic control state.
Further, when a driving mode switching instruction is detected and a control quantity of the controller is detected to be changed, the system detects the controller in a remote control state to obtain a control quantity corresponding to the controller in the remote control state, and simultaneously detects the controller in an automatic control state to obtain a control quantity corresponding to the automatic control state, wherein the control quantity can be a rotation angle of a steering wheel, a stretching degree of a brake pedal, a stretching degree of an accelerator pedal and the like, and the stretching amounts of the brake pedal and the accelerator pedal can be described by acceleration. Further, whether the current driving mode is switched is determined according to the control quantity of the controller corresponding to the remote control state, specifically, the system compares the numerical value of the automatic control quantity with the numerical value of the remote control quantity, specifically, the numerical value of the automatic control quantity and the numerical value of the remote control quantity can be subjected to difference operation, if the difference obtained by operation is zero after the difference operation is completed, the remote control state is judged to be the same as the automatic control state, and the automatic driving mode can be switched to the remote driving mode; on the contrary, if the difference obtained by the calculation is not zero after the difference calculation is completed, it is determined that the remote control state is different from the automatic control state, and the automatic driving mode cannot be switched to the remote driving mode. For example: when the vehicle is braked at an acceleration of-4 in the automatic driving mode, the current driving mode is switched to the remote driving mode from the automatic driving mode, and the acceleration gradually changes from 0 to-4 when the brake pedal is stepped in the remote driving mode because the initial value of the acceleration of the brake pedal is 0. Further, the pseudo remote driving mode is entered when the brake pedal is stepped on, the vehicle is in the pseudo remote driving mode before the acceleration is-4, when the acceleration value of the brake pedal reaches-4, the value of the remote control quantity is equal to the value of the automatic control quantity, and the vehicle can be switched from the automatic driving mode to the remote driving mode.
The embodiment detects and compares the automatic control state in the current control information with the remote control state in the target control information, judges that the current control information of the current driving mode is the same as the target control information of the target driving mode when the remote control quantity of the remote control state is the same as the automatic control quantity of the automatic control state, and can switch the vehicle from the automatic driving mode to the remote driving mode, thereby being beneficial to avoiding damaging a vehicle control system and avoiding accidents and improving the safety of vehicle driving mode switching.
Further, a fourth embodiment of the management method of a vehicle driving pattern of the present invention is proposed based on the first embodiment of the management method of a vehicle driving pattern of the present invention, and in the fourth embodiment, the step of determining whether the current control information of the current driving pattern is identical to the target control information of the target driving pattern further includes:
step S24, if the current driving mode is a remote driving mode, determining whether the current driving path in the current control information is the same as the predicted driving path in the target control information;
step S25, if the current driving route is the same as the predicted driving route, determining that current control information of the current driving mode is the same as target control information of a target driving mode;
step S26, if the current driving route is not the same as the predicted driving route, determining that the current control information of the current driving mode is not the same as the target control information of the target driving mode.
It can be understood that when the vehicle is in the remote driving mode, the remote driving device remotely controls the vehicle through a controller such as a steering wheel, an accelerator pedal, a brake pedal, etc., and the display interface of the remote driving device displays parameters such as the current environmental condition of the vehicle, the speed of the vehicle, etc., and displays a path for a future period of time (generally about 3 seconds) when controlling the steering. It can be understood that, after the vehicle is started, the automatic driving system in the vehicle can continuously generate the predicted driving path according to the current position information, the speed information and the environment information of the vehicle in real time or at preset time intervals, so that when a driving mode switching instruction is received, the predicted driving path and the current driving path are quickly compared, whether a condition for switching the driving mode is met or not is quickly determined, and the safety of the driving mode switching process is improved conveniently. Further, if the current driving mode of the detected vehicle is the remote driving mode, the system acquires the current driving path in the current driving mode generated by the remote simulation device and acquires the predicted driving path generated by the automatic driving system. Further, to switch the remote driving mode to the automatic driving mode, the system compares the current travel path in the remote driving mode with the predicted travel path generated by the automatic driving mode, and determines whether the current travel path of the vehicle is the same as the predicted travel path. If the current driving path is the same as the predicted driving path, the current driving path referred by the user in the remote control mode is indicated, no deviation exists between the current driving path and the predicted driving path generated by the automatic control system, the system judges that the current driving path of the vehicle is the same as the predicted driving path, and the current driving mode can be switched from the remote driving mode to the automatic driving mode; if the current driving path is different from the predicted driving path, the fact that a certain deviation exists between the current driving path referred by the user in the remote control mode and the predicted driving path generated by the automatic control system is shown, and the system judges that the current control information of the current driving mode of the vehicle is different from the target control information of the target driving mode.
Further, the step of determining whether the current travel path in the current control information is the same as the predicted travel path in the target control information includes:
step S241, obtaining a current driving path in the current control information of the vehicle, and obtaining a predicted driving path in target control information generated by an automatic driving mode according to the current position information, the speed information and the environment information of the vehicle;
step S242, comparing the current travel path with the predicted driving path, and if the current travel path is consistent with the predicted driving path, determining that the current travel path of the vehicle is the same as the predicted travel path;
in step S243, if the current travel path is not consistent with the predicted driving path, it is determined that the current travel path of the vehicle is not the same as the predicted travel path.
Further, the system acquires a current driving path of the current control information in the current driving mode generated by the remote simulation device, wherein the current driving path may be a driving path generated by the remote simulation device before the vehicle starts to drive according to initial position information, target position information and obstacle information between the initial position and the target position of the vehicle, or a driving path generated by the remote simulation device according to the current position information, the target position information and the obstacle information between the current position and the target position of the vehicle. Further, the system acquires an automatic driving system used in the automatic driving mode, the automatic driving system generates a predicted driving path in the target control information according to the current position information, the speed information and the environment information of the vehicle, and compares the current driving path generated by the remote simulation device with the predicted driving path generated by the automatic driving system to determine whether the current driving path is consistent with the predicted driving path. Further, if the current travel path matches the predicted travel path, it indicates that there is no deviation between the current travel path referred to by the user for traveling in the remote control mode and the predicted travel path generated by the automatic control system, and the system determines that the current travel path of the vehicle is the same as the predicted travel path, and switches the remote driving mode to the automatic driving mode. Further, if the current travel path does not match the predicted travel path, it indicates that there is a deviation between the current travel path referred to by the user for traveling in the remote control mode and the predicted travel path generated by the automatic control system, and the system determines that the current travel path of the vehicle is not the same as the predicted travel path, indicating that the current remote driving mode cannot be directly switched to the automatic control mode. Further, if the current travel path is not consistent with the predicted travel path, the system may invoke an automatic driving system used in the automatic driving mode to update or adjust the predicted travel path, and when the updated or adjusted predicted travel path is consistent with the current travel path, determine that the current travel path of the vehicle is the same as the predicted travel path, so as to switch the remote driving mode to the automatic driving mode.
In an understandable manner, before the step of obtaining the predicted driving path generated according to the current position information, the speed information and the environment information of the vehicle, the system invokes an automatic driving system used in an automatic driving mode, obtains the current position information of the vehicle in real time through a position sensor, obtains the speed information of the vehicle in real time through a speed sensor, obtains the environment information within a preset range of the vehicle in real time through a camera, and obtains target position information representing a destination of the user for the trip, and in an understandable manner, the system further needs to obtain obstacle information between the current position of the vehicle and the target position to be traveled according to a real-time map through a wireless network so as to avoid obstacles. Further, the system acquires a preset path planning algorithm, inputs current position information, speed information, environment information, target position information and obstacle information into the preset path planning algorithm for calculation and analysis, generates a predicted driving path, and switches the current driving mode of the vehicle from a remote driving mode to an automatic driving mode when the current driving path of the vehicle is the same as the predicted driving path, so as to improve the efficiency of switching the driving modes of the vehicle, wherein the preset path planning algorithm may be a Dijkstra algorithm, an optimal priority search, an a-algorithm, a heuristic algorithm and the like, and a specific algorithm of the preset path planning algorithm is not limited in this embodiment.
In the embodiment, the current driving path generated by the remote simulation device is compared with the predicted driving path generated by the automatic driving system, and when the current driving path is consistent with the predicted driving path, the current driving path of the vehicle is judged to be the same as the predicted driving path, so that the current driving mode is switched from the remote driving mode to the automatic driving mode, the vehicle control system is prevented from being damaged, accidents are avoided, and the safety of switching the vehicle driving mode is improved.
Further, a fifth embodiment of the method for managing a driving mode of a vehicle according to the present invention is provided based on the first embodiment of the method for managing a driving mode of a vehicle according to the present invention, wherein in the fifth embodiment, the step of, if the current driving mode is the remote driving mode, further includes:
step S40, if the current driving mode is the automatic driving mode, determining whether the target driving path of the vehicle has continuous curves with the quantity larger than a first preset threshold value;
step S50, if there are continuous curves with the number larger than a first preset threshold and the distance between the vehicle and the continuous curves is smaller than a second preset threshold, outputting a mode switching request;
and step S60, when a confirmation instruction sent based on the mode switching request is received, switching the automatic driving mode to the remote driving mode.
Further, if it is detected that the current driving mode is the automatic driving mode, the system acquires a predicted travel path generated by the automatic driving system based on information such as current position information, speed information, environment information, target position information, and obstacle information, and determines the predicted travel path as the target travel path. Further, the system detects the target driving path and identifies whether continuous curves of which the number of the continuous curves is larger than a preset threshold exist in the target driving path. Further, if it is determined that continuous curves with the number of curves larger than a first preset threshold exist in the target driving path and the distance between the vehicle and the continuous curves is smaller than a second preset threshold, the road section is possibly not suitable for the automatic driving mode, and a mode switching request for requesting to switch the automatic driving mode to the remote driving mode is output, wherein the first preset threshold and the second preset threshold are values set by a user according to actual requirements. Further, when a confirmation instruction sent by the user on the basis of the mode switching request is received, the fact that the user agrees to adopt the remote driving mode in the road section is represented, the system switches the automatic driving mode into the remote driving mode, so that the user can control the vehicle through the remote driving device, and driving safety is guaranteed.
Further, if there are consecutive curves of which the number is greater than a first preset threshold and the distance between the vehicle and the consecutive curves is less than a second preset threshold, the step of outputting the mode switching request includes:
step S51, if there are continuous curves with the number of curves larger than a first preset threshold, acquiring the current position information of the vehicle and the initial position information of the continuous curves;
step S52, calculating a relative distance between the vehicle and the continuous curve based on the current position information and the start position information;
in step S53, if the relative distance is smaller than a second preset threshold, a mode switching request is output.
Further, if it is determined that there are consecutive curves in the target driving path for which the number of curves is greater than the first preset threshold, it is necessary to determine a distance between the current position of the vehicle and the consecutive curves, and to prompt the user to switch the automatic driving mode to the remote driving mode. Further, the system acquires the current position information of the vehicle through the position sensor module, acquires the initial position information of the continuous curve, and calculates the relative distance between the current position of the vehicle and the initial position of the continuous curve according to the relative position relation. Further, if the calculated relative distance between the current position of the vehicle and the starting position of the continuous curve is smaller than a second preset threshold value, the representation that the vehicle is about to reach the starting position of the continuous curve needs to remind a user to switch the automatic driving mode into the remote driving mode, the system automatically triggers the reminding mode, and outputs a mode switching request, wherein the mode switching request can be in a text form, or a voice or video form. For example: if the first preset threshold value is 4 and the second preset threshold value is 1 kilometer, when it is determined that 4 continuous curves exist in the target driving path and the relative distance between the current position of the vehicle and the initial position of the continuous curves is 999 meters, the fact that the vehicle is about to enter the automatic driving mode and a dangerous road section exists is represented, the system triggers the reminding mode, and outputs a mode switching request to a user in a voice or text mode, so that the automatic driving mode is switched to the remote driving mode when a confirmation instruction sent by the user on the basis of the mode switching request is received.
In the embodiment, by judging whether the number of the continuous curves of the target driving path of the vehicle is larger than the first preset threshold value or not, when the number of the continuous curves of the target driving path of the vehicle is larger than the first preset threshold value and the distance between the vehicle and the continuous curves is smaller than the second preset threshold value, the mode switching request is output, and when a confirmation instruction sent by a user is received, the automatic driving mode is switched to the remote driving mode, so that the potential danger of the automatic driving mode is favorably eliminated, the safety of the vehicle in driving is ensured, the damage to a vehicle control system is avoided, the occurrence of accidents is avoided, and the safety of vehicle driving mode switching is improved.
Furthermore, the present invention also provides a storage medium, preferably a computer-readable storage medium, having stored thereon a management program of a vehicle driving mode, which when executed by a processor implements the steps of the embodiments of the management method of a vehicle driving mode described above.
In the embodiments of the apparatus for managing a vehicle driving mode and the computer-readable medium of the present invention, all technical features of the embodiments of the method for managing a vehicle driving mode are included, and the descriptions and explanations of the embodiments are substantially the same as those of the embodiments of the method for managing a vehicle driving mode, and are not repeated herein.
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 apparatus 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 apparatus. 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 apparatus 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.
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 solution of the present invention or a part contributing 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., ROM/RAM, magnetic disk, optical disk), and includes a plurality of instructions for enabling a terminal device (which may be a fixed terminal, such as an internet of things smart device including smart homes, such as a smart air conditioner, a smart lamp, a smart power supply, a smart router, etc., or a mobile terminal, including a smart phone, a wearable networked AR/VR device, a smart sound box, an autonomous driving automobile, etc.) to execute the method according to each embodiment 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 (10)
1. A management method of a vehicle driving mode, characterized by comprising:
when a driving mode switching instruction is received, detecting the current driving mode of the vehicle;
determining whether current control information of the current driving mode is the same as target control information of a target driving mode;
and if the current control information of the current driving mode is the same as the target control information of the target driving mode, switching the current driving mode to the target driving mode.
2. The method for managing driving modes of a vehicle according to claim 1, wherein after the step of determining whether the current control information of the current driving mode is the same as the target control information of the target driving mode, further comprising:
if the current control information of the current driving mode is different from the target control information of the target driving mode, determining the current driving mode as a pseudo switching driving mode;
adjusting the intermediate control information of the pseudo switching driving mode, and adjusting the target control information according to the adjusted intermediate control information;
and when the adjusted target control information is the same as the current control information of the current driving mode, switching the current driving mode to the target driving mode.
3. The method for managing driving modes of a vehicle according to claim 1, wherein the step of determining whether the current control information of the current driving mode is identical to the target control information of the target driving mode includes:
if the current driving mode is the automatic driving mode, determining whether the automatic control state in the current control information is the same as the remote control state in the target control information;
if the automatic control state in the current control information is the same as the remote control state in the target control information, judging that the current control information is the same as the target control information;
and if the automatic control state in the current control information is different from the remote control state in the target control information, judging that the current control information is different from the target control information.
4. The method for managing driving modes of a vehicle according to claim 3, wherein the step of determining whether the automatic control state in the current control information is the same as the remote control state in the target control information includes:
detecting a remote control quantity of a controller in the remote control state and an automatic control quantity of the controller in the automatic control state;
comparing the automatic control quantity with the remote control quantity in a numerical value manner, and if the numerical value of the automatic control quantity is equal to that of the remote control quantity, judging that the remote control state is the same as the automatic control state;
and if the numerical value of the automatic control quantity is not equal to the numerical value of the remote control quantity, judging that the remote control state is different from the automatic control state.
5. The method for managing driving modes of a vehicle according to claim 1, wherein the step of determining whether the current control information of the current driving mode is identical to the target control information of the target driving mode further comprises:
if the current driving mode is a remote driving mode, determining whether a current driving path in the current control information is the same as a predicted driving path in the target control information;
if the current driving path is the same as the predicted driving path, judging that the current control information of the current driving mode is the same as the target control information of the target driving mode;
and if the current driving path is different from the predicted driving path, judging that the current control information of the current driving mode is different from the target control information of the target driving mode.
6. The method for managing driving modes of a vehicle according to claim 5, wherein the step of determining whether the current travel path in the current control information is the same as the predicted travel path in the target control information includes:
acquiring a current running path in the current control information of the vehicle, and acquiring a predicted driving path in target control information generated by an automatic driving mode according to the current position information, the speed information and the environment information of the vehicle;
comparing the current running path with the predicted driving path, and if the current running path is consistent with the predicted driving path, judging that the current running path of the vehicle is the same as the predicted running path;
and if the current running path is not consistent with the predicted driving path, judging that the current running path of the vehicle is not the same as the predicted running path.
7. The method for managing driving modes of a vehicle according to claim 5, wherein the step of, if the current driving mode is a remote driving mode, further comprises:
if the current driving mode is the automatic driving mode, determining whether continuous curves of which the number of the curves is larger than a first preset threshold exist in the target driving path of the vehicle or not;
if continuous curves with the number larger than a first preset threshold exist and the distance between the vehicle and the continuous curves is smaller than a second preset threshold, outputting a mode switching request;
and when a confirmation instruction sent based on the mode switching request is received, switching the automatic driving mode to a remote driving mode.
8. The method for managing driving modes of a vehicle according to claim 7, wherein the step of outputting a mode switching request if there are a number of consecutive curves greater than a first preset threshold and a distance between the vehicle and the consecutive curves is less than a second preset threshold includes:
if continuous curves with the number larger than a first preset threshold exist, acquiring current position information of the vehicle and initial position information of the continuous curves;
calculating a relative distance of the vehicle from the continuous curve based on the current position information and the start position information;
and if the relative distance is smaller than a second preset threshold value, outputting a mode switching request.
9. A management device of vehicle driving modes, characterized in that it comprises a memory, a processor and a management program of vehicle driving modes stored on said memory and executable on said processor, said management program of vehicle driving modes being executed by said processor to implement the steps of the management method of vehicle driving modes according to any one of claims 1 to 7.
10. A storage medium, characterized in that the storage medium has stored thereon a management program of vehicle driving modes, which when executed by a processor implements the steps of the management method of vehicle driving modes according to any one of claims 1 to 7.
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