CN112977479A - Vehicle driving mode control method and system - Google Patents
Vehicle driving mode control method and system Download PDFInfo
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- CN112977479A CN112977479A CN202110404319.0A CN202110404319A CN112977479A CN 112977479 A CN112977479 A CN 112977479A CN 202110404319 A CN202110404319 A CN 202110404319A CN 112977479 A CN112977479 A CN 112977479A
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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
- B60W60/005—Handover processes
- B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
Abstract
The application provides a vehicle driving mode control method and a system, wherein the method is applied to a domain controller of a vehicle driving control system; the vehicle driving control system is mounted on a drive-by-wire vehicle, and further includes: the sensing equipment, the positioning module and the HMI interaction module are respectively connected with the domain controller; the sensing device comprises a forward sensor, a lateral sensor and a backward sensor; the method comprises the following steps: under the condition that the vehicle driving control system is in an automatic driving mode, when an auxiliary driving mode starting instruction of a user is received through the HMI interactive module or when a fault of a backward sensor is detected, the automatic driving mode is switched to the auxiliary driving mode, and the auxiliary driving system corresponding to the auxiliary driving mode realizes the longitudinal control of the drive-by-wire vehicle. According to the method and the device, the automatic driving mode and the auxiliary driving mode can be conveniently switched, so that the driver can experience better driving, the driving safety is guaranteed, and the vehicle is more intelligent.
Description
Technical Field
The application relates to the technical field of software, in particular to a vehicle driving mode control method and system.
Background
At present, the automatic driving technology is in a development and exploration stage, various sensing sensors and high-precision positioning modules are combined to detect and identify the running environment of a vehicle and the behavior conditions of traffic participants, information is transmitted to an automatic driving main controller, the main controller combines sensor identification information, a high-precision map, a GPS signal and inertial navigation positioning information to carry out track planning and vehicle behavior decision making, and the vehicle is controlled to run normally without intervention of a driver.
However, the software and hardware technology of the automatic driving system is not mature, and in the early automatic driving function implementation process, a driver needs to intervene to operate the vehicle according to a complex scene and an emergency situation so as to ensure driving safety. The system can completely quit the automatic driving after the manual intervention of the current automatic driving vehicle, so that a driver can frequently take over the automatic driving vehicle, and the intelligent degree of the vehicle is reduced while the driving experience is poor.
Disclosure of Invention
The application aims to provide a vehicle driving mode control method and system, which can conveniently switch an automatic driving mode and an auxiliary driving mode, ensure driving safety and enable a vehicle to be more intelligent while enabling a driver to have better driving experience.
In a first aspect, an embodiment of the present application provides a vehicle driving mode control method, which is applied to a domain controller of a vehicle driving control system; the vehicle driving control system is mounted on a drive-by-wire vehicle, and further includes: the sensing equipment, the positioning module and the HMI interaction module are respectively connected with the domain controller; the sensing device comprises a forward sensor, a lateral sensor and a backward sensor; the method comprises the following steps: under the condition that the vehicle driving control system is in an automatic driving mode, when an auxiliary driving mode starting instruction of a user is received through the HMI interactive module or when a fault of a backward sensor is detected, the automatic driving mode is switched to the auxiliary driving mode, and the auxiliary driving system corresponding to the auxiliary driving mode realizes the longitudinal control of the drive-by-wire vehicle.
Further, the method further comprises: when an automatic driving mode starting instruction of a user is received through an HMI (human machine interface) interaction module, detecting the self condition and the environmental condition of a vehicle; and when the self condition and the environmental condition of the vehicle are both met, switching the current driving mode into the automatic driving mode.
Further, the method further comprises: acquiring sensing information sent by sensing equipment and positioning information sent by a positioning module under the condition that a vehicle driving control system is in an automatic driving mode; and sending an automatic driving control instruction to the drive-by-wire vehicle according to the sensing information and the positioning information so as to realize the transverse and longitudinal control of the drive-by-wire vehicle.
Further, the automatic driving mode and the auxiliary driving mode each include four states: an exit state, a ready state, an active state, and a fault state.
Further, the method further comprises: detecting a current state of a current driving mode of a vehicle driving control system; judging whether a preset condition is met or not in the current state of the current driving mode; the preset condition includes at least one of the following: receiving a target instruction of a user, enabling a vehicle hardware state to meet a specified condition, enabling a vehicle self-checking condition to meet a requirement, enabling a vehicle road environment to meet the requirement or not, and enabling a driver state to meet the requirement or not; if so, switching the current state of the current driving mode to the target state of the target driving mode.
Further, the method further comprises: when the vehicle driving control system is in a fault state of an automatic driving mode, alarming according to a preset alarming strategy; the preset alarm strategy comprises three levels of alarm modes.
Further, the method further comprises: receiving a manual mode starting instruction of a user through an HMI (human machine interface) interaction module, and switching a current driving mode into a manual driving mode so that the user drives a wire-controlled vehicle manually; the current driving mode includes: an autonomous driving mode or an assisted driving mode.
In a second aspect, an embodiment of the present invention further provides a vehicle driving mode control system mounted on a drive-by-wire vehicle, the system including: the domain control system comprises a domain controller, and a sensing device, a positioning module and an HMI interaction module which are respectively connected with the domain controller; the sensing device comprises a forward sensor, a lateral sensor and a backward sensor; and when the domain controller receives an auxiliary driving mode starting instruction of a user through the HMI interactive module or detects that a backward sensor has a fault under the condition that the vehicle driving control system is in the automatic driving mode, the domain controller switches the automatic driving mode into the auxiliary driving mode, and the auxiliary driving system corresponding to the auxiliary driving mode realizes the longitudinal control of the drive-by-wire vehicle.
Further, the driving assistance system includes: the domain controller, and the sensing equipment and the HMI interaction module which are respectively connected with the domain controller; the sensing device includes a forward sensor and a lateral sensor.
In a third aspect, embodiments of the present application further provide a computer-readable storage medium storing computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the method according to the first aspect.
In the vehicle driving mode control method and system provided by the embodiment of the application, the method is applied to a domain controller of a vehicle driving control system; the vehicle driving control system is mounted on a drive-by-wire vehicle, and further includes: the sensing equipment, the positioning module and the HMI interaction module are respectively connected with the domain controller; the sensing device comprises a forward sensor, a lateral sensor and a backward sensor; the method comprises the following steps: under the condition that the vehicle driving control system is in an automatic driving mode, when an auxiliary driving mode starting instruction of a user is received through the HMI interactive module or when a fault of a backward sensor is detected, the automatic driving mode is switched to the auxiliary driving mode, and the auxiliary driving system corresponding to the auxiliary driving mode realizes the longitudinal control of the drive-by-wire vehicle. In the embodiment of the application, the automatic driving mode and the auxiliary driving mode can be conveniently switched, so that the driver can have better driving experience, the driving safety is ensured, and the vehicle is more intelligent.
Drawings
In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a vehicle driving mode control system according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a driving assistance system according to an embodiment of the present disclosure;
FIG. 3 is a flowchart of a method for controlling a driving mode of a vehicle according to an embodiment of the present disclosure;
fig. 4 is a flowchart of an automatic driving mode control method according to an embodiment of the present application;
fig. 5 is a schematic diagram of a state switching logic according to an embodiment of the present application;
fig. 6 is a schematic diagram of a three-level alarm provided in the embodiment of the present application.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
At present, the software and hardware technology of an automatic driving system is not mature, and a driver needs to intervene to operate a vehicle aiming at a complex scene and an emergency situation in the early automatic driving function realization process so as to ensure the driving safety. The system can completely quit the automatic driving after the manual intervention of the current automatic driving vehicle, so that a driver can frequently take over the automatic driving vehicle, and the intelligent degree of the vehicle is reduced while the driving experience is poor.
Based on this, the embodiment of the application provides a vehicle driving mode control method and system, which can conveniently switch between an automatic driving mode and an auxiliary driving mode, so that a driver has better driving experience, driving safety is guaranteed, and a vehicle is more intelligent.
For the sake of understanding the present embodiment, a detailed description will be given first of all of a vehicle driving mode control system disclosed in the embodiments of the present application.
Fig. 1 is a schematic view of a vehicle driving mode control system provided in an embodiment of the present application, where the system is mounted on a drive-by-wire vehicle, that is, an automatic driving system, and specifically includes: a domain controller 11, and a sensing device 12, a positioning module 13 and an HMI interaction module 14 respectively connected to the domain controller 11.
Wherein the sensing device 12 comprises a forward sensor 121, a lateral sensor 122 and a rearward sensor 123; the forward sensor may include: a forward laser radar, a forward camera, a forward millimeter wave radar; the lateral sensor may include: a lateral camera and a lateral millimeter wave radar; the rear sensor may include: a backward camera, a backward millimeter wave radar and a backward laser radar.
The camera is used for identifying traffic signs, lane lines, vehicles and obstacles in the road; the millimeter wave radar and the laser radar can identify vehicles and obstacles in the road environment all weather; the sensing equipment can send the obstacle information in the environment to the domain controller; the three-dimensional data of the obstacles in the road environment can be identified, the three layers of sensing advantages are complementary, and an accurate identification sensing system is formed.
The positioning module 13 transmits the GPS satellite signal and IMU combined inertial navigation high-precision positioning information to the domain controller for precise positioning. The HMI interactive module 14 is used for displaying the system state of the vehicle, warning prompt, OTA upgrade confirmation, sensor calibration confirmation and other functions, and comprises a soft switch, a hard switch, an instrument interface and a central control interface on the vehicle.
The domain controller 11 can receive the sensing device information and the positioning module information, perform sensing information fusion, behavior prediction, path planning and decision control, and send a control instruction to the vehicle for transverse and longitudinal control, that is, vehicle control in an automatic driving mode.
Under the condition that the vehicle driving control system is in the automatic driving mode, the domain controller 11 may switch the automatic driving mode to the auxiliary driving mode when receiving an auxiliary driving mode starting instruction of a user through the HMI interaction module or when detecting that a rear sensor has a fault, so as to implement longitudinal control on the drive-by-wire vehicle by the auxiliary driving system corresponding to the auxiliary driving mode.
The auxiliary driving mode starting command can be triggered by the operation of a steering wheel or a central control interface and the like by a user. For example, the driving assistance mode start instruction may include a start instruction triggered by a driver operating a hardware switch, or may include a start instruction triggered by a driver operating a steering wheel.
As shown in fig. 2, the driving assistance system includes: a domain controller 21, and a perception device 22 and an HMI interaction module 23 respectively connected to the domain controller 21; sensing device 22 includes a forward sensor 221 and a lateral sensor 222.
When the automatic driving mode is degraded and switched to the auxiliary driving mode, the domain controller is still the main controller, does not process the information of the backward sensing sensor and the positioning module, and only controls the longitudinal motion of the vehicle.
The vehicle driving mode control system provided by the embodiment of the application can conveniently switch the automatic driving mode and the auxiliary driving mode, so that a driver can have better driving experience, the driving safety is guaranteed, and the vehicle is more intelligent.
Based on the system embodiment, the embodiment of the application also provides a vehicle driving mode control method, which is applied to a domain controller of a vehicle driving control system; as shown in fig. 1, the vehicle driving control system is mounted on a drive-by-wire vehicle, and includes: the sensing equipment, the positioning module and the HMI interaction module are respectively connected with the domain controller; the sensing device comprises a forward sensor, a lateral sensor and a backward sensor; the vehicle driving mode control method includes the following steps, as shown in fig. 3:
step S302, under the condition that the vehicle driving control system is in an automatic driving mode, when an auxiliary driving mode starting instruction of a user is received through the HMI interactive module or when a fault of a backward sensor is detected, the automatic driving mode is switched to the auxiliary driving mode, and the auxiliary driving system corresponding to the auxiliary driving mode is used for realizing longitudinal control of the drive-by-wire vehicle.
The vehicle driving mode control method provided by the embodiment of the application can conveniently switch the automatic driving mode and the auxiliary driving mode, so that a driver has better driving experience, the driving safety is ensured, and the vehicle is more intelligent.
Further, the above-mentioned vehicle driving mode control method further includes a control process of an automatic driving mode, referring to a flowchart shown in fig. 4:
step S402, when an automatic driving mode starting instruction of a user is received through an HMI interactive module, detecting the self condition and the environmental condition of the vehicle;
and step S404, when the self condition and the environmental condition of the vehicle are both satisfied, switching the current driving mode to the automatic driving mode.
Step S406, acquiring perception information sent by the perception device and positioning information sent by the positioning module under the condition that the vehicle driving control system is in an automatic driving mode;
and step S408, sending an automatic driving control instruction to the drive-by-wire vehicle according to the perception information and the positioning information so as to realize the transverse and longitudinal control of the drive-by-wire vehicle.
In addition, the vehicle driving mode control method provided by the embodiment of the application can switch the automatic driving mode and the auxiliary driving mode and can also realize the switching of the manual driving mode, and the specific process is as follows: receiving a manual mode starting instruction of a user through an HMI (human machine interface) interaction module, and switching a current driving mode into a manual driving mode so that the user drives a wire-controlled vehicle manually; the current driving mode may be an automatic driving mode or an assisted driving mode.
In order to clearly illustrate the switching process between the automatic driving mode and the assistant driving mode, in the embodiment of the present application, the switching process between four states, which are included in both the automatic driving mode and the assistant driving mode, is described in detail: the four states are an exit state, a ready state, an active state and a fault state.
The switching process of the four states corresponding to the automatic driving mode and the auxiliary driving mode respectively is summarized as follows: detecting a current state of a current driving mode of a vehicle driving control system; judging whether a preset condition is met or not in the current state of the current driving mode; the preset condition includes at least one of the following: receiving a target instruction of a user, enabling a vehicle hardware state to meet a specified condition, enabling a vehicle self-checking condition to meet a requirement, enabling a vehicle road environment to meet the requirement or not, and enabling a driver state to meet the requirement or not; if so, switching the current state of the current driving mode to the target state of the target driving mode. The target state of the target driving mode to which the switching is made is different depending on the satisfied condition.
The vehicle can enter an automatic driving mode through the operation of a hardware switch or a central control interface soft switch, and the state of the automatic driving mode is switched; in the case of not requiring full automatic driving, switching between the automatic driving mode and the degraded function mode or completely exiting automatic driving can be performed through switch operation, and the logic diagram of state switching is shown in fig. 5:
function1 is a degraded assisted driving Function that can automatically control the longitudinal travel of the vehicle;
function2 is an automatic driving main Function, can accurately control the transverse and longitudinal movement of a vehicle, performs lane changing and overtaking actions under corresponding scenes on the premise of ensuring safety, and timely reminds a driver and automatically executes deceleration actions or stops when a vehicle system breaks down;
start is the default state before engine ignition;
function1 off is the Function1 system off state;
function2 off is the Function2 system off state;
function1 standby is the Function1 ready state: the Function and vehicle state self-checking is passed, the applicable condition is checked to be passed, and the Function1 ready button is pressed at the same time, so that the vehicle can enter a Function1 ready state when the above conditions are met;
function2 standby is the Function2 system ready state: the Function and vehicle state self-checking is passed, the applicable condition checking is passed, the driver concentrates attention and presses a Function2 ready switch at the same time, and the driver can enter a Function2 ready state when the above conditions are met;
function1 active, the longitudinal automatic control Function is activated;
function2 active, automatic driving full Function is activated, the vehicle is in automatic driving state;
function1 error: when software and hardware faults occur in the Function1 system, the system enters a fault state;
function2 error: when software and hardware faults occur in the Function2 system, the system enters a fault state;
first-level alarming: when the Function2 system detects the distraction of the driver in the activated state, starting a first-level alarm and displaying the first-level alarm on an HMI interface;
secondary alarming: when the Function2 system detects that the software and hardware faults or the vehicle state does not meet or meets the applicable conditions in the activated state, starting secondary alarm, displaying on an HMI interface and prompting by voice;
and (3) three-level alarming: and in the activated state, when the system or the vehicle has serious faults, the third-level fault is started, and the HMI interface reminds the vehicle to safely decelerate.
And (3) state transition conditions:
1, igniting the engine, having normal functions after power-on self-test, and enabling Function1 to be in an off state;
2, the vehicle state self-checking is passed, the applicable condition detection is passed, and the vehicle enters a Function1 standby state according to a Function1 standby switch;
3, pressing an OFF key or when the Standby condition is not met, turning OFF a Function 1;
in the 4Function1 standby state, when a user operates a Function1 active button, the Function1 is activated;
in the active state of 5Function1, the user operates the following actions to quit from the active state to the standby state:
stepping on a brake pedal or operating a retarder deflector rod or controlling a slave vehicle gear;
6, when a user presses a Function1 off button, or the system detects that the applicable condition range is exceeded or the vehicle state is abnormal, a Function1 is off;
7, igniting the engine, finding out a fault of a Function1 system during self-checking, and entering a Function1 fault state;
when the 8Function1 is in an off state, the background self-test finds that the Function1 system has a fault, and the system enters a Function1 fault state;
when the system is in a 9Function1 standby state, the background self-test finds out a Function1 system fault and enters a Function1 fault state;
when the system is in a 10Function1 active state, the background self-test finds out a Function1 system fault and enters a Function1 fault state;
state transition of 11Function1 standby to Function2 standby: when the Function1 standby state and the Function2 is in an off state, the vehicle and environmental conditions meet the Function2 standby state and a standby button is operated, and then the vehicle enters the Function2 standby state;
12, the engine is ignited, the Function is normal after the engine is started up and self-checked, and a Function2 system is in an off state;
in the off state of 13Function2, if the self-checking of the system Function and the vehicle state passes, the detection of the applicable condition range passes, the user concentrates the attention and presses the Function2 switch, and the Function2 system is in the standby state;
in the 14Function2 standby state, if a user presses an off switch or the standby state is not satisfied, the Function2 is closed;
15Function2 standby, if the user presses the Function2 button, the Function2 system activates;
in the 16Function2 active state, if a user presses a Function2 key or operates a steering wheel, the Function2 system exits and is degraded to a Function1 active state;
17Function1 active state, when Function2 is in standby state, if active condition is satisfied and user presses Function2 switch, Function 2Function is activated;
18Function1 active state, when Function2 is in off state, if the standby condition is satisfied, the user presses the Function2 switch, the Function2 is in standby state;
the engine 19 is ignited, a fault of a Function2 system is found in self-checking, and the engine enters a Function2 fault state;
when 20Function2 is in off state, the background self-test finds out the fault of Function2 system, and enters into Function2 system fault state;
when the 21Function2 is in a standby state, the background self-test finds out the fault of the Function2 system, and enters a Function2 system fault state;
the 22Function2 active to Function2 off state transition is divided into the following 2 cases:
in the Function2 active state, if a user presses an off switch, or actively presses a brake pedal, or uses a retarder or controls a gear, the Function2 system is turned to the off state;
under the active state of Function2, the request of taking over the alarm manually is caused by the unsatisfied environmental condition, the unsatisfied vehicle state or the unsatisfied driver state, and the active state is changed into the off state after the alarm is finished;
under the 23Function2 active state, the background self-test finds out the fault of the Function2 system, the system executes the corresponding Safety strategy, the HMI interface gives a Function2 alarm to remind the driver to take over, and the system quits to the Function2 fault state;
safe Stretegy one in 24Function2 active state:
and three-level alarming and automatic driving quitting. If the user does not take over, continuously carrying out three-level alarm; if the user takes over, the three-level alarm is turned off. The third-level alarm corresponds to a key fault: the vehicle mainly executes system faults, line control system node faults, control node faults, communication faults and automatic driving domain controller faults.
25Function2 active state, Safety Strategy two:
and after the secondary alarm and the safe deceleration for 3s, the system quits the automatic driving. If the user does not take over, continuously carrying out three-level alarm; if the user takes over, the three-level alarm is turned off. The condition of the secondary alarm corresponds to the failure of the sensing module and the non-applicable condition which cannot be predicted.
26Function2 active state, Safety Strategy thread:
the first-stage alarming is carried out for 5s, the second-stage alarming is carried out for 3s, the safe deceleration is started, the third-stage alarming is carried out, the safe deceleration is carried out until the vehicle stops, and then the automatic electronic parking is started and the automatic driving is quitted; the primary alarm corresponds to the distraction status of the driver.
27Function2 active state, Safety Strategy four:
the Function is degraded, the zapping Function is not available, and the backward perception corresponding to Function2 is not available.
The fault alarm logic of each stage is shown in fig. 6. When the vehicle driving control system is in a fault state of an automatic driving mode, alarming according to a preset alarming strategy; the preset alarm strategy includes three levels of alarm modes in fig. 6.
The vehicle driving mode control method provided by the embodiment of the application has the following advantages:
1. the driving modes of the automatic driving mode, the auxiliary driving mode and the manual driving mode can be freely switched, and the driving experience is guaranteed.
2. The ready state, the activated state and the quitting state of the automatic driving mode and the auxiliary driving mode have strict multi-layer condition judgment (such as automatic driving system condition judgment, vehicle state judgment, driving environment judgment and the like), and the automatic driving safety is ensured.
3. The fault types of different levels correspond to different alarm forms and corresponding measures, all possible faults are covered, and the driving safety is higher.
4. HMI has various expression forms, including instrument display, instrument voice, central control screen display, central control screen voice, steering wheel light flicker and vibration reminding, and the combination of hard switch and soft switch of function, thus ensuring friendly and safe human-computer interaction operation.
The method provided by the embodiment of the present application has the same implementation principle and technical effect as the foregoing system embodiment, and for the sake of brief description, no mention is made in the embodiment of the method, and reference may be made to the corresponding contents in the foregoing system embodiment.
Embodiments of the present application further provide a computer-readable storage medium, where computer-executable instructions are stored, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the method, and specific implementation may refer to the foregoing method embodiments, and is not described herein again.
The computer program product of the vehicle driving mode control method and system provided in the embodiments of the present application includes a computer readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiments, and specific implementation may refer to the method embodiments, and will not be described herein again.
Unless specifically stated otherwise, the relative steps, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of the present application.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A vehicle driving mode control method, characterized in that the method is applied to a domain controller of a vehicle driving control system; the vehicle driving control system is mounted on a drive-by-wire vehicle, and further includes: the sensing equipment, the positioning module and the HMI interaction module are respectively connected with the domain controller; the sensing device comprises a forward sensor, a lateral sensor and a backward sensor; the method comprises the following steps:
and under the condition that the vehicle driving control system is in an automatic driving mode, when an auxiliary driving mode starting instruction of a user is received through the HMI interactive module or when the backward sensor is detected to be in fault, the automatic driving mode is switched to the auxiliary driving mode, and the auxiliary driving system corresponding to the auxiliary driving mode is used for realizing the longitudinal control of the drive-by-wire vehicle.
2. The method of claim 1, further comprising:
when an automatic driving mode starting instruction of a user is received through the HMI interactive module, detecting the self condition and the environmental condition of the vehicle;
and when the self condition and the environmental condition of the vehicle are both satisfied, switching the current driving mode into an automatic driving mode.
3. The method of claim 1, further comprising:
acquiring sensing information sent by the sensing equipment and positioning information sent by the positioning module under the condition that the vehicle driving control system is in an automatic driving mode;
and sending an automatic driving control instruction to the drive-by-wire vehicle according to the perception information and the positioning information so as to realize the transverse and longitudinal control of the drive-by-wire vehicle.
4. The method according to claim 1, characterized in that the autonomous driving mode and the assisted driving mode each comprise four states: an exit state, a ready state, an active state, and a fault state.
5. The method of claim 4, further comprising:
detecting a current state of a current driving mode of the vehicle driving control system;
judging whether a preset condition is met or not in the current state of the current driving mode; the preset condition at least comprises one of the following conditions: receiving a target instruction of a user, enabling a vehicle hardware state to meet a specified condition, enabling a vehicle self-checking condition to meet a requirement, enabling a vehicle road environment to meet the requirement or not, and enabling a driver state to meet the requirement or not;
and if so, switching the current state of the current driving mode to the target state of the target driving mode.
6. The method of claim 4, further comprising:
when the vehicle driving control system is in a fault state of an automatic driving mode, alarming according to a preset alarming strategy; the preset alarm strategy comprises three levels of alarm modes.
7. The method of claim 1, further comprising:
receiving a manual mode starting instruction of a user through the HMI interactive module, and switching a current driving mode into a manual driving mode so that the user can drive the drive-by-wire vehicle manually; the current driving mode includes: an autonomous driving mode or an assisted driving mode.
8. A vehicle driving mode control system mounted on a line-controlled vehicle, comprising: the domain control system comprises a domain controller, and a sensing device, a positioning module and an HMI interaction module which are respectively connected with the domain controller; the sensing device comprises a forward sensor, a lateral sensor and a backward sensor;
and when the domain controller receives an auxiliary driving mode starting instruction of a user through the HMI interactive module or detects that the backward sensor has a fault under the condition that the vehicle driving control system is in an automatic driving mode, the domain controller switches the automatic driving mode into the auxiliary driving mode so as to realize longitudinal control on the drive-by-wire vehicle through the auxiliary driving system corresponding to the auxiliary driving mode.
9. The system according to claim 8, characterized in that the driver assistance system comprises: the domain controller, and the sensing equipment and the HMI interaction module which are respectively connected with the domain controller; the sensing device includes a forward sensor and a lateral sensor.
10. A computer-readable storage medium having computer-executable instructions stored thereon which, when invoked and executed by a processor, cause the processor to implement the method of any of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110404319.0A CN112977479B (en) | 2021-04-15 | 2021-04-15 | Vehicle driving mode control method and system |
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