CN113022577B - Driving mode switching method and device, vehicle and storage medium - Google Patents
Driving mode switching method and device, vehicle and storage medium Download PDFInfo
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- CN113022577B CN113022577B CN202110361935.2A CN202110361935A CN113022577B CN 113022577 B CN113022577 B CN 113022577B CN 202110361935 A CN202110361935 A CN 202110361935A CN 113022577 B CN113022577 B CN 113022577B
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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
- B60W40/08—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 related to drivers or passengers
- B60W40/09—Driving style or behaviour
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/082—Selecting or switching between different modes of propelling
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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 embodiment of the invention discloses a method for switching driving modes, which comprises the following steps: acquiring driver action information, wherein the driver action comprises stepping on a brake pedal and/or stepping on an accelerator pedal and/or rotating a steering wheel and/or pressing an automatic driving switch and/or pressing an automatic scram switch and/or releasing a safety belt and/or opening a vehicle door; determining a driving mode to be switched according to the driver action information and the current driving mode; and controlling the vehicle to be switched to the driving mode to be switched. According to the driving mode switching method provided by the embodiment of the invention, mode switching brought by different driver actions in different driving modes is provided, and actions of stepping a brake pedal and rotating a steering wheel of the driver are classified by using a fuzzy control idea, so that more accurate judgment on the intention of the driver can be realized, and the driving mode can be switched more safely and accurately in automatic driving.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic driving of vehicles, in particular to a method and a device for switching driving modes, a vehicle and a storage medium.
Background
From the perspective of actual mass production, the aspects of complex road traffic environment, legal restrictions, accident liability and the like all determine that although the automatic driving function can replace human beings to control the automobile in many driving scenes, in the long term in the future, in the actual driving scene, a driver and an automatic driving control system are necessary to coexist, and an intelligent driving automobile is still controlled by man-machine. In this process, the intention of a person and the intention of a vehicle often coexist, and therefore, a complete automatic driving system needs to have the capability of switching the driving mode according to the behavior of the driver.
In the automatic driving function, a man-vehicle-road forms a closed loop system, in the whole driving process, a driver can sense, judge and then execute corresponding driving behaviors, and a good automatic driving system can perform corresponding automatic driving function state switching according to the behaviors of the driver, so that the safety requirement and the intention of the driver are met. In the prior art, the influence of one action on a driving mode is mostly considered, and the driving mode is simply divided into an automatic driving mode and a driver control mode, namely, a driver taking over mode, so that the redundancy is poor. Even if the influence of various actions on the driving mode is considered, the analysis of the actions of the driver is too simple, for example, the driver can not accurately realize the intention during the actual driving process by directly stepping on the brake pedal as the switching condition for taking over by the driver.
Disclosure of Invention
The embodiment of the invention provides a method and a device for switching driving modes, a vehicle and a storage medium, which can realize the effect of switching the driving modes more safely and accurately in automatic driving.
In a first aspect, an embodiment of the present invention provides a method for switching a driving mode, including:
acquiring driver action information, wherein the driver action comprises stepping on a brake pedal and/or stepping on an accelerator pedal and/or rotating a steering wheel and/or pressing an automatic driving switch and/or pressing an automatic emergency stop switch and/or releasing a safety belt and/or opening a vehicle door;
determining a driving mode to be switched according to the driver action information and the current driving mode;
and controlling the vehicle to be switched to the driving mode to be switched.
Further, if the driver acts as stepping on the brake pedal, the determining the driving mode to be switched according to the driver action information and the current driving mode includes:
respectively establishing a depth membership function, a time membership function, a frequency membership function and a brake demand membership function of a driver when a brake pedal is stepped on, and determining the output of the brake demand membership function according to the depth membership function, the time membership function and the frequency membership function;
obtaining a braking factor according to the braking demand membership function, and comparing the braking factor with a set braking threshold value to determine the braking degree;
and determining the driving mode to be switched according to the braking degree and the current driving mode in combination with a preset braking degree driving mode association table.
Further, the determining the output of the braking demand membership function according to the depth membership function, the time membership function and the frequency membership function includes:
calling and setting a fuzzy inference model;
and inputting the depth membership function, the time membership function and the frequency membership function, selecting and setting a fuzzy rule, and acquiring the output of the membership function of the braking demand of the driver.
Further, the obtaining a braking factor according to the braking demand membership function includes:
defuzzifying the brake demand membership function to obtain a brake factor, wherein the brake factor can be expressed as
Wherein, mu c (x) Is a piecewise analytic expression, x, of said brake demand membership function max ,x min Respectively, the maximum value and the minimum value of the abscissa of the piecewise analytic expression of the membership function.
Further, the comparing the braking factor with the set braking threshold value to determine the braking degree includes:
if the braking factor is greater than or equal to the set braking threshold value, the braking degree is severe braking;
and if the brake factor is smaller than the set brake threshold value, the brake degree is light brake.
Further, if the driver acts to rotate the steering wheel, determining the driving mode to be switched according to the driver action information and the current driving mode comprises:
respectively establishing a steering frequency membership function, a continuous rotation time membership function and a driver rotation demand membership function of a rotating steering wheel, and determining the output of the rotation demand membership function according to the steering frequency membership function and the continuous rotation time membership function;
obtaining a rotation factor according to the rotation demand membership function, comparing the rotation factor with a set rotation threshold value, and determining the rotation degree;
and determining the driving mode to be switched according to the preset rotation degree driving mode association table combining the rotation degree and the current driving mode.
Further, the determining the driving mode to be switched according to the driver action information and the current driving mode includes:
determining the driving mode to be switched according to a preset driving mode association table of driver actions, wherein the driver actions comprise: stepping on an accelerator pedal, pressing an automatic driving switch, pressing an automatic scram switch, releasing a safety belt and opening a vehicle door.
In a second aspect, an embodiment of the present invention further provides a device for switching a driving mode, where the device includes:
the driver action information acquisition module is used for acquiring driver action information, wherein the driver action comprises stepping on a brake pedal and/or stepping on an accelerator pedal and/or rotating a steering wheel and/or pressing an automatic driving switch and/or pressing an automatic emergency stop switch and/or releasing a safety belt and/or opening a vehicle door;
the to-be-switched driving mode determining module is used for determining a to-be-switched driving mode according to the driver action information and the current driving mode;
and the driving mode switching module is used for controlling the vehicle to be switched to the driving mode to be switched.
Optionally, the to-be-switched driving mode determining module is further configured to:
respectively establishing a depth membership function, a time membership function, a frequency membership function and a brake demand membership function of a driver when a brake pedal is stepped on, and determining the output of the brake demand membership function according to the depth membership function, the time membership function and the frequency membership function;
obtaining a braking factor according to the braking demand membership function, and comparing the braking factor with a set braking threshold value to determine the braking degree;
and determining the driving mode to be switched according to the braking degree and the current driving mode by combining a preset braking degree driving mode association table.
Optionally, the to-be-switched driving mode determining module is further configured to:
calling and setting a fuzzy inference model;
and inputting the depth membership function, the time membership function and the frequency membership function, selecting and setting a fuzzy rule, and acquiring the output of the membership function of the braking demand of the driver.
Optionally, the to-be-switched driving mode determining module is further configured to:
defuzzifying the brake demand membership function to obtain a brake factor, wherein the brake factor can be expressed as
Wherein, mu c (x) Is a piecewise analytic expression, x, of said brake demand membership function max ,x min Respectively, the maximum value and the minimum value of the abscissa of the piecewise analytic expression of the membership function.
Optionally, the to-be-switched driving mode determining module is further configured to:
if the braking factor is greater than or equal to the set braking threshold value, the braking degree is severe braking;
and if the brake factor is smaller than the set brake threshold value, the brake degree is light brake.
Optionally, the to-be-switched driving mode determining module is further configured to:
respectively establishing a steering frequency membership function, a continuous rotation time membership function and a driver rotation demand membership function of a rotating steering wheel, and determining the output of the rotation demand membership function according to the steering frequency membership function and the continuous rotation time membership function;
obtaining a rotation factor according to the rotation demand membership function, and comparing the rotation factor with a set rotation threshold value to determine the rotation degree;
and determining the driving mode to be switched according to the preset rotation degree driving mode association table combining the rotation degree and the current driving mode.
Optionally, the driving mode to be switched determining module is further configured to:
determining the driving mode to be switched according to a preset driving mode association table of driver actions, wherein the driver actions comprise: stepping on an accelerator pedal, pressing an automatic driving switch, pressing an automatic scram switch, releasing a safety belt and opening a vehicle door.
In a third aspect, embodiments of the present invention further provide a vehicle, including one or more controllers and a storage device for storing one or more programs, where the one or more programs are executed by the one or more controllers, so that the one or more controllers implement the method for switching the driving mode according to the embodiments of the present invention.
In a fourth aspect, the embodiment of the present invention further provides a computer storage medium, which includes computer executable instructions, when executed by a computer processor, for executing the method for switching driving modes according to the embodiment.
According to the driving mode switching method provided by the embodiment of the invention, the mode switching brought by different driver actions in different driving modes is provided, the actions of stepping on a brake pedal and rotating a steering wheel by the driver are classified by utilizing a fuzzy control idea, various actions related to the control and safety of the driver and an automatic driving system are fully considered, different state transitions brought by the actions in different driving states are provided, the intention of the driver is more accurately judged, and the effect of safely and accurately switching the driving modes in automatic driving can be realized.
Drawings
Fig. 1 is a flowchart of a driving mode switching method according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a driving mode switching manner according to a first embodiment of the present invention;
FIG. 3 is a brake driving mode correlation table according to a first embodiment of the present invention;
FIG. 4 is a table relating the driving modes of the degree of rotation according to the first embodiment of the present invention;
FIG. 5 is a table relating to driving modes of accelerator operation according to a first embodiment of the present invention;
FIG. 6 is a table relating driving modes of an automatic driving switch according to a first embodiment of the present invention;
FIG. 7 is a table relating to driving modes of an automatic emergency stop switch according to a first embodiment of the present invention;
FIG. 8 is a table relating to a driving mode of an action for unfastening a seat belt and opening a door of a vehicle according to a first embodiment of the present invention;
FIG. 9 is a flowchart of a method for determining a driving mode to be switched according to a second embodiment of the present invention;
fig. 10 is a schematic structural diagram of a driving mode switching device according to a third embodiment of the present invention;
fig. 11 is a schematic structural diagram of a vehicle in a fourth embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings, not all of them.
Example one
Fig. 1 is a flowchart of a driving mode switching method according to an embodiment of the present invention, where the present embodiment is applicable to a case where a driving mode of a vehicle with an automatic driving function is switched, and the method may be executed by a driving mode switching device, as shown in fig. 1, where the method specifically includes the following steps:
and step 110, acquiring the action information of the driver.
The driver action may be an operation performed by the driver on the driven vehicle. Based on the current level of automatic driving, after the automatic driving function is activated, various operations of the driver represent different intentions of the driver, and various modes need to be switched according to the intentions of the driver. For example, during automatic driving, the driver can accelerate the driving by stepping on the accelerator pedal; the driver is not satisfied with the path plan given by the current system, can manually exit the automatic driving mode by deep stepping on the brake pedal, and the like.
As shown in table 1, the driver actions include stepping on the brake pedal and/or stepping on the accelerator pedal and/or turning the steering wheel and/or pressing the autopilot switch and/or pressing the autostop switch and/or unbelting and/or opening the vehicle door.
TABLE 1 driver actions affecting autopilot system control and safety
In this embodiment, the manner of acquiring the driver action information may be to acquire data such as various behaviors of the driver through the vehicle information acquisition device. For example, when the driver steps on the brake pedal, the vehicle control unit may acquire the driver's motion from a signal such as a voltage output from the pedal.
And step 120, determining a driving mode to be switched according to the action information of the driver and the current driving mode.
Optionally, for an automobile with an automatic driving function, the driving modes mainly include the following five modes:
1. active: the automatic driving system controls the vehicle to run;
2. warn: when the vehicle meets the relevant conditions, the driver is reminded to take over, and the system controls the vehicle to run;
3. park: in a period of time, the driver does not take over the vehicle in the Warn stage, and the system controls the vehicle to decelerate and stop;
4. override: when the vehicle is in an automatic driving mode, if the action of a driver and the vehicle state meet some conditions, the vehicle is handed over to the driver for manual control, and in the state, if the driver requests to end and the automatic driving meets the conditions, the vehicle is continuously controlled;
5. exit: the autopilot function exits and alerts the driver.
Fig. 2 is a schematic diagram of a driving mode switching manner provided in an embodiment of the present invention, and fig. 2 illustrates mode switching that may be brought by driver actions in the five modes.
In this embodiment, if the driver steps on the brake pedal, the mode of determining the driving mode to be switched according to the driver action information and the current driving mode may be: respectively establishing a depth membership function, a time membership function, a frequency membership function and a braking demand membership function of a driver when the brake pedal is stepped on, and determining the output of the braking demand membership function of the driver according to the depth membership function, the time membership function and the frequency membership function; obtaining a braking factor according to a braking demand membership function, and comparing the braking factor with a set braking threshold value to determine the braking degree; and determining the driving mode to be switched according to the braking degree and the current driving mode in combination with a preset braking degree driving mode association table.
In the driving process, the brake pedal is very frequent driver behaviors, and different brake intention of the driver can be reflected by the action of stepping the brake pedal to different degrees. In an autonomous driving system, different braking intentions may result in different driving mode switching. Alternatively, the act of stepping on the brake pedal may be classified as light braking S1-1 and heavy braking S1-2. Wherein, the braking degree can be controlled by the depth B of stepping on the brake pedal d Time B of stepping on brake pedal t And frequency B of stepping on the brake pedal f The braking behavior is classified to switch the driving mode. For example, if the driver has a shallow depth of stepping on the brake pedal, a short duration, and a slow frequency, the behavior of stepping on the brake pedal may be classified as light braking S1-1. Specifically, a depth membership function, a time membership function, a frequency membership function and a driver braking demand membership function of stepping on the brake pedal can be respectively established by utilizing a fuzzy control principle, the output of the driver braking demand membership function is determined according to the first three functions, and then the braking factor is obtained according to the braking demand membership function. If the braking factor is larger than or equal to the set braking threshold value, the current braking is considered to be heavy braking S1-2, otherwise, the current braking is light braking S1-1.
Fig. 3 is a brake-degree driving mode association table in the first embodiment of the present invention, as shown in the figure, when the automatic driving system is in an Active state, the driver performs mild braking, the state jumps to Override, the driver operates the vehicle, and after a period of time, if the vehicle meets the relevant conditions, the automatic driving control is continuously performed; if heavy braking is performed, the Exit state is directly jumped to, i.e. the automatic driving mode is directly exited. If the driver is currently in Alarm or Park, the state will jump to Exit as long as the driver performs the braking action.
In this embodiment, if the driver acts to turn the steering wheel, the manner of determining the driving mode to be switched according to the driver action information and the current driving mode may be: respectively establishing a steering frequency membership function, a continuous rotation time membership function and a driver rotation demand membership function of a rotating steering wheel, and determining the output of the driver rotation demand membership function according to the steering frequency membership function and the continuous rotation time membership function; obtaining a rotation factor according to a rotation demand membership function, comparing the rotation factor with a set rotation threshold value, and determining the rotation degree; and determining the driving mode to be switched according to the combination of the rotation degree and the current driving mode and a preset rotation degree driving mode association table.
Similar to the action of stepping on a brake pedal, the rotating steering wheel can be divided into a slight rotation S3-1 and a severe rotation S3-2, and the steering times and continuous steering time of the steering wheel within a period of time are collected. If the times of rotating the steering wheel are more or the rotating time is long, the corresponding rotation is emphasized, and otherwise, the corresponding rotation is slight. Specifically, a steering wheel steering frequency membership function, a continuous rotation time membership function and a driver rotation demand membership function can be respectively established by using a fuzzy control principle, and the output of the driver rotation demand membership function is determined according to the first two functions so as to obtain a rotation factor. If the rotation factor is larger than or equal to the set rotation threshold value, the rotation is considered to be the heavy rotation S3-2, otherwise the rotation is the light rotation S3-1.
Fig. 4 is a rotation degree driving pattern association table in the first embodiment of the present invention, as shown in the figure, when the automatic driving system is in an Active state, if the steering wheel rotates slightly, the state jumps to Override, the driver operates the automobile, and if the vehicle satisfies the relevant conditions after a period of time, the automatic driving control is continuously executed; and if the vehicle is heavily rotated, directly jumping to an Exit state, namely directly exiting the automatic driving mode. If the current state is Alarm or Park, the state will jump to Exit as long as the driver turns the steering wheel.
In this embodiment, the manner of determining the driving mode to be switched according to the driver action information and the current driving mode may be: determining a driving mode to be switched according to a preset driving mode association table of driver actions, wherein the driver actions comprise: stepping on an accelerator pedal, pressing an automatic driving switch, pressing an automatic scram switch, releasing a safety belt and opening a vehicle door.
Optionally, there is a corresponding driver action driving mode association table when the driver acts as stepping on the accelerator pedal, pressing the automatic driving switch, pressing the automatic scram switch, unbuckling the seat belt, and opening the vehicle door. Fig. 5 is a table relating to driving modes of accelerator operation according to an embodiment of the present invention, as shown in the figure, when the automatic driving system is in an Active state, and when a driver steps on an accelerator pedal, the state jumps to Override. If the driver is currently in Alarm or Park, the state jumps to Exit as long as the driver steps on the accelerator pedal. Fig. 6 is a driving mode association table of an automatic driving switch operation according to a first embodiment of the present invention, as shown in the figure, in a driving state after an automatic driving function is activated, when a driver presses an automatic driving switch, an automatic driving domain controller may transmit a message to a vehicle control unit, a steering system, and a brake system through a CAN bus, so as to jump to Exit, that is, directly Exit the automatic driving mode. Fig. 7 is a driving mode association table with an automatic emergency stop switch according to a first embodiment of the present invention, wherein after the automatic driving function is activated, if the driver presses the automatic emergency stop switch, the states are switched as shown in the figure. Fig. 8 is a driving mode association table of the actions of unbelting and opening the door according to the first embodiment of the present invention, and as shown in the figure, when the automatic driving function is activated, if the driver unbelts the seatbelt or opens the door, the driving mode will be switched from Active to wave. If the driver fastens the seat belt or closes the door in the Warn state, the system will be recovered.
And step 130, controlling the vehicle to be switched to a driving mode to be switched.
Optionally, after determining the driving mode to be switched, the vehicle control system may control the vehicle to switch the driving mode according to the driving mode to be switched.
The method and the device for controlling the vehicle to switch to the driving mode firstly acquire the action information of the driver, then determine the driving mode to be switched according to the action information of the driver and the current driving mode, and finally control the vehicle to switch to the driving mode to be switched. According to the driving mode switching method provided by the embodiment of the invention, the mode switching brought by different driver actions in different driving modes is provided, the actions of stepping on a brake pedal and rotating a steering wheel by the driver are classified by utilizing a fuzzy control idea, various actions related to the control and safety of the driver and an automatic driving system are fully considered, different state transitions brought by the actions in different driving states are provided, the intention of the driver is more accurately judged, and the effect of safely and accurately switching the driving modes in automatic driving can be realized.
Example two
Fig. 9 is a flowchart of a method for determining a driving mode to be switched according to a second embodiment of the present invention, which is applicable to a case where the driving mode to be switched is determined according to a brake pedal stepping action of a driver and a current driving mode. As shown in fig. 9, the method specifically includes the following steps:
and 121, respectively establishing a depth membership function, a time membership function, a frequency membership function and a driver braking demand membership function of stepping on the brake pedal, and determining the output of the driver braking demand membership function according to the depth membership function, the time membership function and the frequency membership function.
Wherein, the concept of the membership function is as follows: if any element x in the domain of interest (the range under study) U has a number A (x) epsilon [0,1] corresponding to it, then A is called the fuzzy set on U, and A (x) is called the membership of x to A. When x varies among U, A (x) is a function called the membership function of A.
Optionally, by the depth of depression B of the brake pedal d Time B of stepping on the brake pedal t And frequency B of stepping on the brake pedal f The way to classify the braking behaviour may be: for three states B d 、B t And B f Respectively setting threshold values C d 、C t 、C f When one of the three states exceeds the threshold, i.e. if (B) d ≥C d )∪(B t ≥C t )∪(B f ≥C f ) And judging the braking is heavy braking, otherwise, judging the braking is light braking.
However, the method is used for judging three state variables respectively, the influence of each state variable is independent, the braking degree cannot be judged accurately, and the judgment method is not enough. Three variables can be integrated through fuzzy logic, a three-input single-output fuzzy inference model is established to judge the braking intention of a driver, and a switching method of a driving mode under the combination of the current three states is considered.
In this embodiment, the manner of determining the output of the driver's braking demand membership function according to the depth membership function, the time membership function, and the frequency membership function may be: calling and setting a fuzzy inference model; and inputting a depth membership function, a time membership function and a frequency membership function, selecting and setting a fuzzy rule, and acquiring the output of the membership function of the braking demand of the driver.
Optionally, the gaussian membership function is a common membership function, and the input and output membership functions may be established by using the gaussian function:
where i represents the type of state variable, q represents a subset of the current state variable, α i q And delta i q Respectively, parameters of a gaussian function, x represents the true value of the state variable,
representing the blurred values in the blurred subset q after the blurring of the real values.
Alternatively, the fuzzy logic designer can be opened by inputting a command "fuzzy" into a command line window of MATLAB, the input and output editing windows therein are opened, and the membership function of the variable fuzzy subset is defined by setting parameters of the gaussian function.
For the membership function of brake pedal depth, its fuzzy subset can be defined as { SD (shallow), MD (medium), LD (deep) }, which means that too small a variation is an influence from other factors or a driver's mis-hit; when the brake pedal reaches a certain depth, the driver has a corresponding intention to make the vehicle perform an action. For the time of stepping on the brake pedal, when the time is short, the driver has a light braking requirement; after the time reaches a certain degree, the braking requirement is increased, so that a membership function can be established for the time of stepping on the brake pedal, and the fuzzy subset is { ST (short), MT (middle) and LT (long) }. Similarly, a membership function with fuzzy subsets of (SF (slow), MF (medium) and QF (fast)) is also established for the frequency of stepping on the brake pedal.
Further, we can classify the braking demand into membership functions with three fuzzy subsets L (light), M (medium), H (heavy), for example, when the three variables (brake pedal depth, brake pedal time, frequency of brake pedal) are too small, the driver only has a light braking demand; conversely, to some extent, the driver's braking demand increases. Since each fuzzy subset of variables contains three objects, the number of rules that can be generated by three variable combinations is 3 3 =27. 27 fuzzy rules can be established through actual driving tests and theoretical experiences and are used for determining the output of the corresponding brake demand membership function in the fuzzy reasoning process.
And step 122, obtaining a braking factor according to the braking demand membership function, comparing the braking factor with a set braking threshold value, and determining the braking degree.
The braking factor can be a numerical value obtained by calculating a membership function of the braking demand, and the braking degree can be determined according to the braking factor and the set braking threshold value.
In this embodiment, the manner of obtaining the braking factor according to the membership function of the braking demand may be: defuzzification is carried out on the membership function of the braking demand to obtain a braking factor, and the braking factor can be expressed as
Wherein, mu c (x) Is a piecewise analytic expression of the brake demand membership function, x max ,x min Respectively, the maximum value and the minimum value of the abscissa of the piecewise analytic expression of the membership function.
Optionally, the brake demand membership function may be defuzzified after being obtained, and the defuzzification process may use a gravity center method, that is, a gravity center of an area enclosed by a membership function curve and a horizontal coordinate is taken as a final output value of the fuzzy inference.
Further, comparing the braking factor with the set braking threshold value, the braking degree may be determined by: if the braking factor is greater than or equal to the set braking threshold value, the braking degree is severe braking; and if the brake factor is smaller than the set brake threshold value, the braking degree is light braking.
Alternatively, a braking threshold C may be set B The braking degree can be divided into light braking S1-1 and heavy braking S1-2, when the braking factor is larger than or equal to the braking threshold value, the current braking is considered to be heavy braking, otherwise, the current braking is light braking.
And step 123, determining the driving mode to be switched according to the braking degree and the current driving mode and a preset braking degree driving mode association table.
Optionally, after the braking degree is determined, the driving mode to be switched in the current driving mode may be determined according to the braking degree driving mode association table, as described in the above embodiment.
According to the embodiment of the invention, a depth membership function, a time membership function, a frequency membership function and a braking requirement membership function of a driver are respectively established, the output of the braking requirement membership function of the driver is determined according to the depth membership function, the time membership function and the frequency membership function, then a braking factor is obtained according to the braking requirement membership function, the braking factor is compared with a set braking threshold value, the braking degree is determined, and finally a driving mode to be switched is determined according to the braking degree and a current driving mode and a preset braking degree driving mode association table. According to the method for determining the driving mode to be switched, provided by the embodiment of the invention, the depth membership function, the time membership function, the frequency membership function and the braking demand membership function of the driver are established by using the fuzzy control theory, the output of the braking demand membership function is determined according to the first three functions, and then the braking factor is obtained according to the braking demand membership function, so that the intention of the driver is judged with higher precision.
EXAMPLE III
Fig. 10 is a schematic structural diagram of a driving mode switching device according to a third embodiment of the present invention. As shown in fig. 10, the apparatus includes: the driving mode switching system comprises a driver action information acquisition module 210, a driving mode to be switched determination module 220 and a driving mode switching module 230.
The driver action information acquiring module 210 is configured to acquire driver action information, where the driver action includes stepping on a brake pedal and/or stepping on an accelerator pedal and/or turning a steering wheel and/or pressing an automatic driving switch and/or pressing an automatic scram switch and/or unbelting and/or opening a vehicle door.
And a to-be-switched driving mode determining module 220, configured to determine a to-be-switched driving mode according to the driver action information and the current driving mode.
Optionally, the driving mode to be switched determining module 220 is further configured to:
respectively establishing a depth membership function, a time membership function, a frequency membership function and a braking demand membership function of a driver when the brake pedal is stepped on, and determining the output of the braking demand membership function of the driver according to the depth membership function, the time membership function and the frequency membership function; obtaining a braking factor according to a braking demand membership function, and comparing the braking factor with a set braking threshold value to determine the braking degree; and determining the driving mode to be switched according to the braking degree and the current driving mode in combination with a preset braking degree driving mode association table.
Optionally, the driving mode to be switched determining module 220 is further configured to:
calling and setting a fuzzy inference model; and inputting a depth membership function, a time membership function and a frequency membership function, selecting and setting a fuzzy rule, and acquiring the output of the membership function of the braking demand of the driver.
Optionally, the driving mode to be switched determining module 220 is further configured to:
defuzzification is carried out on the membership function of the braking demand to obtain a braking factor, and the braking factor can be expressed as
Wherein, mu c (x) Is a piecewise analytic expression of the brake demand membership function, x max ,x min Respectively, a membership function piecewise solutionMaximum and minimum values of the analytic abscissa.
Optionally, the driving mode to be switched determining module 220 is further configured to:
if the braking factor is greater than or equal to the set braking threshold value, the braking degree is severe braking; and if the brake factor is smaller than the set brake threshold value, the braking degree is light braking.
Optionally, the driving mode to be switched determining module 220 is further configured to:
respectively establishing a steering frequency membership function, a continuous rotation time membership function and a driver rotation demand membership function of a rotating steering wheel, and determining the output of the driver rotation demand membership function according to the steering frequency membership function and the continuous rotation time membership function; obtaining a rotation factor according to a rotation requirement membership function, comparing the rotation factor with a set rotation threshold value, and determining the rotation degree; and determining the driving mode to be switched according to the combination of the rotation degree and the current driving mode and a preset rotation degree driving mode association table.
Optionally, the driving mode to be switched determining module 220 is further configured to:
determining a driving mode to be switched according to a preset driving mode association table of driver actions, wherein the driver actions comprise: stepping on an accelerator pedal, pressing an automatic driving switch, pressing an automatic scram switch, releasing a safety belt and opening a vehicle door.
And a driving mode switching module 230 for controlling the vehicle to switch to the driving mode to be switched.
The device can execute the methods provided by all the embodiments of the invention, and has corresponding functional modules and beneficial effects for executing the methods. For details not described in detail in this embodiment, reference may be made to the methods provided in all the foregoing embodiments of the present invention.
Example four
Fig. 11 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention, as shown in fig. 11, the vehicle includes a controller 41, a storage device 42, an input device 43, and an output device 44; the number of the controllers 41 in the vehicle may be one or more, and one controller 41 is illustrated in fig. 4; the controller 41, the storage device 42, the input device 43, and the output device 44 in the vehicle may be connected by a bus or other means, and the bus connection is exemplified in fig. 4.
The storage device 42, as a computer-readable storage medium, can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the switching method of the driving mode in the embodiment of the present invention (for example, the driver action information acquiring module 210, the driving mode to be switched determining module 220, and the driving mode switching module 230). The controller 41 executes various functional applications and data processing of the vehicle, that is, implements the above-described method of switching the driving mode by operating software programs, instructions, and modules stored in the storage device 42.
The storage device 42 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the storage 42 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the storage device 42 may further include memory remotely located from the controller 41, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 43 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the vehicle. The output device 44 may include a display device such as a display screen.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a method for switching a driving mode, the method including:
acquiring driver action information, wherein the driver action comprises stepping on a brake pedal and/or stepping on an accelerator pedal and/or rotating a steering wheel and/or pressing an automatic driving switch and/or pressing an automatic scram switch and/or releasing a safety belt and/or opening a vehicle door;
determining a driving mode to be switched according to the action information of the driver and the current driving mode;
and controlling the vehicle to be switched to the driving mode to be switched.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the method for switching the driving mode provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the above search apparatus, each included unit and module are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, the specific names of the functional units are only for the convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
Claims (9)
1. A method of switching a driving mode, comprising:
acquiring driver action information, wherein the driver action comprises stepping on a brake pedal and/or stepping on an accelerator pedal and/or rotating a steering wheel and/or pressing an automatic driving switch and/or pressing an automatic emergency stop switch and/or releasing a safety belt and/or opening a vehicle door;
determining a driving mode to be switched according to the driver action information and the current driving mode, and if the driver action is to rotate a steering wheel, determining the driving mode to be switched according to the driver action information and the current driving mode, wherein the determining comprises the following steps: respectively establishing a steering frequency membership function, a continuous rotation time membership function and a driver rotation demand membership function of a rotating steering wheel, and determining the output of the rotation demand membership function according to the steering frequency membership function and the continuous rotation time membership function; obtaining a rotation factor according to the rotation demand membership function, and comparing the rotation factor with a set rotation threshold value to determine the rotation degree; determining the driving mode to be switched according to the preset rotation degree driving mode association table combining the rotation degree and the current driving mode;
and controlling the vehicle to be switched to the driving mode to be switched.
2. The method of claim 1, wherein determining a driving mode to be switched based on the driver action information and a current driving mode if a driver actuates a brake pedal comprises:
respectively establishing a depth membership function, a time membership function, a frequency membership function and a brake demand membership function of a driver when a brake pedal is stepped on, and determining the output of the brake demand membership function according to the depth membership function, the time membership function and the frequency membership function;
obtaining a braking factor according to the braking demand membership function, and comparing the braking factor with a set braking threshold value to determine the braking degree;
and determining the driving mode to be switched according to the braking degree and the current driving mode by combining a preset braking degree driving mode association table.
3. The method of claim 2, wherein said determining an output of said braking demand membership function as a function of said depth membership function, said time membership function and said frequency membership function comprises:
calling and setting a fuzzy inference model;
and inputting the depth membership function, the time membership function and the frequency membership function, selecting and setting a fuzzy rule, and acquiring the output of the membership function of the braking demand of the driver.
4. The method of claim 2, wherein the deriving a braking factor from the braking demand membership function comprises:
defuzzifying the membership function of the braking demand to obtain a braking factor, wherein the braking factor is expressed as
Wherein, mu c (x) Is a piecewise analytic expression, x, of said brake demand membership function max ,x min Respectively, the maximum value and the minimum value of the abscissa of the piecewise analytic expression of the membership function.
5. The method of claim 2, wherein said comparing said braking factor to a magnitude of a set braking threshold to determine a degree of braking comprises:
if the braking factor is greater than or equal to the set braking threshold value, the braking degree is severe braking;
and if the brake factor is smaller than the set brake threshold value, the brake degree is light brake.
6. The method according to claim 1, wherein said determining a driving mode to be switched from said driver action information and a current driving mode comprises:
determining the driving mode to be switched according to a preset driving mode association table of driver actions, wherein the driver actions comprise: stepping on an accelerator pedal and/or pressing an automatic driving switch and/or pressing an automatic scram switch and/or unbelting and/or opening a vehicle door.
7. A switching device of a driving mode, characterized by comprising:
the driver action information acquisition module is used for acquiring driver action information, wherein the driver action comprises stepping on a brake pedal and/or stepping on an accelerator pedal and/or rotating a steering wheel and/or pressing an automatic driving switch and/or pressing an automatic emergency stop switch and/or releasing a safety belt and/or opening a vehicle door;
the to-be-switched driving mode determining module is used for determining a to-be-switched driving mode according to the driver action information and the current driving mode; the to-be-switched driving mode determining module is further configured to: if the driver acts as a rotating steering wheel, respectively establishing a steering frequency membership function, a continuous rotating time membership function and a driver rotating demand membership function of the rotating steering wheel, and determining the output of the rotating demand membership function according to the steering frequency membership function and the continuous rotating time membership function; obtaining a rotation factor according to the rotation demand membership function, and comparing the rotation factor with a set rotation threshold value to determine the rotation degree; determining the driving mode to be switched according to the preset rotation degree driving mode association table combining the rotation degree and the current driving mode;
and the driving mode switching module is used for controlling the vehicle to be switched to the driving mode to be switched.
8. A vehicle, characterized in that the vehicle comprises:
one or more controllers;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more controllers, cause the one or more controllers to implement the switching method of driving modes according to any one of claims 1 to 6.
9. A computer storage medium, comprising: the computer executable instructions, when executed by a computer processor, are for performing a method of switching driving modes according to any one of claims 1 to 6.
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