CN113044038B - Vehicle control switching method and device, vehicle and storage medium - Google Patents
Vehicle control switching method and device, vehicle and storage medium Download PDFInfo
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- CN113044038B CN113044038B CN202110363337.9A CN202110363337A CN113044038B CN 113044038 B CN113044038 B CN 113044038B CN 202110363337 A CN202110363337 A CN 202110363337A CN 113044038 B CN113044038 B CN 113044038B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- B60W40/10—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 vehicle motion
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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
- B60W40/10—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 vehicle motion
- B60W40/105—Speed
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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
Abstract
The embodiment of the invention discloses a vehicle control switching method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring an actual vehicle running state set of a vehicle within preset time and a simulated driving input information set of copilot; determining a set of driving states of the simulated vehicle according to the set of driving input information; and comparing the actual vehicle running state set with the simulated vehicle running state set, and controlling the vehicle to switch the control right according to the comparison result. According to the technical scheme of the embodiment of the invention, the problem that under the driving mode of only depending on the primary driver to drive, the secondary driver with driving capability cannot intervene due to improper operation of the primary driver during a traffic accident is solved, the participation degree of the secondary driver during the driving process of the vehicle is improved, the probability of the traffic accident during the driving process of the vehicle is reduced, the accident damage during the traffic accident is reduced, and the driving safety is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle control, in particular to a vehicle control switching method and device, a vehicle and a storage medium.
Background
In the conventional passenger vehicle driving process, the vehicle is controlled based on a main driving position, namely, a driver at the main driving position realizes turning, acceleration or braking of the vehicle through the steering action of a steering wheel, the acceleration action of an accelerator pedal or the braking action of a brake pedal.
However, for a novice driver, the driver is often not skilled enough to operate the vehicle, and accidentally turns the steering wheel wrong or presses the accelerator pedal, which leads to traffic accidents. Even if the driving technique of the driver is mature, the driver still can be distracted due to long-time driving, and misoperation occurs to further cause traffic accidents.
In the prior art, a driver with driving capability at a co-driver seat is difficult to perform effective actions before the occurrence of the traffic accident, so as to reduce the probability of the traffic accident or reduce accident injuries when the traffic accident occurs.
Disclosure of Invention
The invention provides a vehicle control switching method, a vehicle control switching device, a vehicle and a storage medium, which are used for adjusting the vehicle control right according to the actual driving state of the vehicle and the simulated driving state of a co-driver, so that the occurrence probability of traffic accidents in the driving process of the vehicle is reduced, and the driving safety is improved.
In a first aspect, an embodiment of the present invention provides a vehicle control switching method, including:
acquiring an actual vehicle running state set of a vehicle within preset time and a simulated driving input information set of copilot;
determining a set of driving states of the simulated vehicle according to the set of driving input information;
and comparing the actual vehicle running state set with the simulated vehicle running state set, and controlling the vehicle to switch the control right according to the comparison result.
Further, acquiring an actual vehicle running state set of the vehicle within a preset time includes:
acquiring the steering wheel rotation angle, the vehicle speed and the vehicle acceleration of the vehicle at each acquisition moment in preset time;
determining the actual lateral acceleration corresponding to each acquisition moment according to the steering wheel rotation angle, the vehicle speed and the vehicle acceleration;
and determining the set of the actual lateral accelerations as an actual vehicle running state set.
Further, the simulated driving input information set comprises simulated driving input information at each acquisition moment in preset time, and the simulated driving input information at least comprises simulated steering wheel turning angles, simulated accelerator information and simulated brake information;
determining a set of simulated vehicle driving conditions from the set of simulated driving input information, comprising:
correspondingly inputting the simulated steering wheel corner, the simulated accelerator information and the simulated brake information acquired at each acquisition moment to a preset vehicle dynamics model; the system comprises a preset vehicle dynamic model, a vehicle acceleration model and a vehicle acceleration model, wherein the preset vehicle dynamic model is used for determining the simulated lateral acceleration of the vehicle according to input information;
and determining a set of output results of the preset vehicle dynamics model as a simulated vehicle running state set.
Further, comparing the set of actual vehicle driving states with the set of simulated vehicle driving states comprises:
determining the magnitude relation between the actual lateral acceleration in the actual vehicle running state set corresponding to each acquisition moment and the simulated lateral acceleration in the simulated vehicle running state set;
if the times that the actual lateral acceleration is larger than the simulated lateral acceleration are larger than a preset time threshold, determining that the comparison result is that the copilot is preferred; otherwise, determining the comparison result as the main driving priority.
Further, controlling the vehicle to switch the control right according to the comparison result comprises the following steps:
if the comparison result is that the copilot takes priority, the control right of the vehicle is switched to the copilot;
if the comparison result is the main driving priority, the control right of the vehicle is kept unchanged.
Further, after acquiring the set of actual vehicle driving states of the vehicle within the preset time, the method further includes:
and if the actual lateral acceleration corresponding to the current collection moment in the actual vehicle running state set is greater than the preset acceleration threshold, switching the control right of the vehicle to the copilot.
Further, before switching the control right of the vehicle to the co-driver, the method further includes:
and playing preset switching early warning information in the vehicle.
In a second aspect, an embodiment of the present invention further provides a vehicle control switching apparatus, including:
the information acquisition module is used for acquiring an actual vehicle running state set of the vehicle within preset time and a simulation driving input information set of copilot;
the simulation state determining module is used for determining a simulation vehicle running state set according to the simulation driving input information set;
and the switching control module is used for comparing the actual vehicle running state set with the simulated vehicle running state set and controlling the vehicle to switch the control right according to the comparison result.
In a third aspect, an embodiment of the present invention further provides a vehicle, including:
the assistant steering wheel is used for receiving the simulated steering wheel angle input by the assistant driving position;
the copilot accelerator is used for receiving the simulated accelerator information input by the copilot position;
the copilot braking device is used for receiving the simulation braking information input by the copilot position;
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, the one or more controllers are caused to implement the vehicle control switching method according to the first aspect described above.
In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions for performing the vehicle control switching method according to the first aspect when executed by a computer processor.
According to the vehicle control switching method, the vehicle control switching device, the vehicle and the storage medium, an actual vehicle running state set of the vehicle in the preset time and a simulated driving input information set of copilot are obtained; determining a set of driving states of the simulated vehicle according to the set of driving input information; and comparing the actual vehicle running state set with the simulated vehicle running state set, and controlling the vehicle to switch the control right according to the comparison result. By adopting the technical scheme, the actual driving state of the vehicle is collected in real time in the driving process of the vehicle, the driving state of the vehicle is simulated when the vehicle is driven by adopting the simulated driving input information according to the simulated driving input information input by the driver on the copilot, the simulated vehicle driving state corresponding to the actual driving state is obtained, the driving capability of the primary driver and the secondary driver is determined by comparing the actual driving state with the simulated vehicle driving state, and the switching of the vehicle control right is controlled according to the comparison result, namely the vehicle is driven by the driver with more excellent driving capability. The problem of under the driving mode that only relies on the primary driver to drive, the copilot that has the driving ability when causing the traffic accident because the primary driver misoperation can't intervene is solved, promoted the participation of copilot in the vehicle driving process, reduced the probability that the vehicle driving in-process takes place the traffic accident, reduced the accident injury when the traffic accident takes place, improved driving safety.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flow chart of a vehicle control switching method according to a first embodiment of the present invention;
fig. 2 is a flowchart of a vehicle control switching method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle control switching device according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. 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 invention.
When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
In the description of the present invention, it is to be understood that the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not necessarily used to describe a particular order or sequence, nor are they to be construed as indicating or implying relative importance. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
Example one
Fig. 1 is a flowchart of a vehicle control switching method according to an embodiment of the present invention, where the present embodiment is applicable to a situation where a control right of a vehicle is switched when an operation error occurs in a primary driver during a vehicle driving process, and the method may be executed by a vehicle control switching device, where the vehicle control switching device may be implemented by software and/or hardware, and the vehicle control switching device may be configured on a computer device, where the computer device may be formed by two or more physical entities, or may be formed by one physical entity.
As shown in fig. 1, a vehicle control switching method provided in this embodiment specifically includes the following steps:
s101, acquiring an actual vehicle running state set of the vehicle within a preset time and a simulated driving input information set of the copilot.
In the present embodiment, the set of actual vehicle running states may be understood as a set of actual vehicle running states determined according to the collected vehicle speed, vehicle acceleration, and vehicle turning angle at each collection time within a preset time. The preset time can be understood as a time period including the current acquisition time and a preset number of acquisition times before the current acquisition time, optionally, the preset time can be ten minutes, and can also be set according to an actual situation, which is not limited in the embodiment of the present invention.
In the present embodiment, the set of simulated driving input information may be understood as a set of simulated driving input information received by the driver at the passenger seat at each collection time within a preset time. The auxiliary driving position is provided with an auxiliary driving steering wheel, an auxiliary driving accelerator and an auxiliary driving braking device which are configured in the same way as the main driving position, a driver on the auxiliary driving position and the driver on the main driving position can carry out driving operation according to the running state of the vehicle in the driving process, the operation aiming at the vehicle can be collected through the auxiliary driving steering wheel, the auxiliary driving accelerator and the auxiliary driving braking device, and the collected input information is determined as the simulated driving input information.
Specifically, the actual vehicle running state corresponding to each acquisition time within the preset time is acquired through a vehicle CAN bus, and is formed into an actual vehicle running state set according to the time sequence, meanwhile, information input in a copilot steering wheel, a copilot accelerator and a copilot braking device is acquired correspondingly at each acquisition time within the preset time through a copilot steering wheel, a copilot accelerator and a copilot braking device which are arranged at the copilot position of the vehicle, the input information is determined as simulated driving input information, and finally, each piece of simulated driving input information is formed into a simulated driving input information set according to the acquisition time sequence.
And S102, determining a simulated vehicle running state set according to the simulated driving input information set.
In this embodiment, the set of simulated vehicle driving states may be understood as a set of simulated vehicle driving states determined according to the acquired simulated driving input information at each acquisition time within a preset time, where the simulated vehicle driving states may be understood as driving states determined according to the simulated driving input information and to be reached if the vehicle is controlled according to the simulated driving input information.
Specifically, the information which is collected at the same collection time in the simulated driving input information set and is input by a copilot steering wheel, a copilot accelerator and a copilot braking device is used as a group of simulated driving input information, the group of simulated driving input information is substituted into a preset vehicle dynamic model to simulate the vehicle driving state, the output result of the vehicle dynamic model is determined as the simulated vehicle driving state corresponding to the group of simulated driving input information, the simulated vehicle driving state corresponding to each collection time is determined, and then the corresponding simulated vehicle driving state set is formed.
S103, comparing the actual vehicle running state set with the simulated vehicle running state set, and controlling the vehicle to switch the control right according to the comparison result.
In the present embodiment, the control right of the vehicle can be understood as a right of whether the vehicle is specifically controlled by the driving input information of the main driving or the driving input information of the sub driving.
Specifically, by comparing the actual vehicle running state set with the vehicle running state set at the same collection time in the simulated vehicle running state set, the respective driving abilities of the drivers at the main driving position and the auxiliary driving position at each collection time can be determined, and the driving abilities of the drivers at the main driving position and the auxiliary driving position are compared, so that the driver more suitable for vehicle driving at the current time can be determined according to the comparison result, at the moment, whether the control right of the vehicle needs to be switched or not can be determined according to the determined comparison result, if the driver at the auxiliary driving position is more suitable for vehicle driving, the control right of the vehicle is controlled to be switched to the auxiliary driving position, and otherwise, the control right is not switched.
The method comprises the steps of acquiring an actual vehicle running state set of a vehicle within preset time and a simulation driving input information set of copilot; determining a set of driving states of the simulated vehicle according to the set of driving input information; and comparing the actual vehicle running state set with the simulated vehicle running state set, and controlling the vehicle to switch the control right according to the comparison result. By adopting the technical scheme, the actual driving state of the vehicle is collected in real time in the driving process of the vehicle, the driving state of the vehicle is simulated when the vehicle is driven by adopting the simulated driving input information according to the simulated driving input information input by the driver on the copilot, the simulated vehicle driving state corresponding to the actual driving state is obtained, the driving capability of the primary driver and the secondary driver is determined by comparing the actual driving state with the simulated vehicle driving state, and the switching of the vehicle control right is controlled according to the comparison result, namely the vehicle is driven by the driver with more excellent driving capability. The problem of under the driving mode that only relies on the primary driver to drive, the copilot that has the driving ability when causing the traffic accident because the primary driver misoperation can't intervene is solved, promoted the participation of copilot in the vehicle driving process, reduced the probability that the vehicle driving in-process takes place the traffic accident, reduced the accident injury when the traffic accident takes place, improved driving safety.
Example two
Fig. 2 is a flowchart of a vehicle control switching method according to a second embodiment of the present invention, where the technical scheme of the second embodiment of the present invention is further optimized based on the optional technical schemes, and the corresponding actual lateral acceleration is determined by obtaining a steering wheel angle, a vehicle speed, and a vehicle acceleration of a vehicle at each collection time within a preset time, and meanwhile, a simulated lateral acceleration corresponding to each collection time is determined according to received simulated driving input information, so as to compare the actual lateral acceleration and the simulated lateral acceleration at each collection time, and determine whether the vehicle should be switched in control right according to the number of times that the actual lateral acceleration is greater than the simulated lateral acceleration. When the control right switching judgment is carried out, the driving state within a period of time is fully considered instead of only depending on the result of one-time size comparison, and the stability of the driving process of the vehicle is enhanced. When the vehicle control right is determined to be required to be switched, the vehicle control right is switched in time, so that the probability of traffic accidents in the driving process of the vehicle is reduced, and the driving safety is improved.
As shown in fig. 2, a vehicle control switching method provided in the second embodiment of the present invention specifically includes the following steps:
s201, steering wheel rotation angles, vehicle speeds and vehicle accelerations of the vehicles at all collection moments within preset time are obtained.
Specifically, the steering wheel angle acquired by the vehicle steering wheel at each acquisition time within the preset time, the running speed of the vehicle at each acquisition time and the vehicle acceleration are acquired through the vehicle CAN bus, and the steering wheel angle, the running speed and the vehicle acceleration acquired at the same acquisition time CAN be used as a group.
S202, determining the actual lateral acceleration corresponding to each acquisition moment according to the steering wheel rotation angle, the vehicle speed and the vehicle acceleration.
Specifically, the actual lateral acceleration corresponding to the collection time can be determined according to the steering wheel rotation angle, the vehicle speed and the vehicle acceleration in a preset calculation mode, and the actual lateral acceleration of the vehicle at the collection time can also be directly collected at each collection time in the vehicle running process.
And S203, determining the set of the actual lateral accelerations as an actual vehicle running state set.
Specifically, since the lateral acceleration of the vehicle during driving will largely affect the driving smoothness and safety of the vehicle, the driving state of the vehicle can be represented by the lateral acceleration during driving. And sequencing each actual lateral acceleration according to the corresponding acquisition time sequence, and determining a set of sequenced actual lateral accelerations as an actual vehicle running state set.
And S204, acquiring a simulated driving input information set of the vehicle copilot within preset time.
The simulated driving input information set comprises simulated driving input information at each acquisition moment in preset time, and the simulated driving input information at least comprises simulated steering wheel turning angles, simulated accelerator information and simulated braking information.
Specifically, a simulated steering wheel corner is obtained through a copilot steering wheel installed at a copilot position at each collection time within a preset time, simulated throttle information is obtained through a copilot throttle, simulated brake information is obtained through a copilot brake device, the simulated steering wheel corner, the simulated throttle information and the simulated brake information corresponding to the same collection time are used as a group of simulated driving input information, and a simulated driving input information set is constructed according to the time sequence of each collection time.
And S205, correspondingly inputting the simulated steering wheel angle, the simulated accelerator information and the simulated brake information acquired at each acquisition moment to a preset vehicle dynamics model.
The preset vehicle dynamics model is used for determining the simulated lateral acceleration of the vehicle according to the input information.
Specifically, the preset vehicle dynamics model may be understood as a model for performing a dynamic analysis on the vehicle according to the input control information for controlling the vehicle, so that the preset vehicle dynamics model may simulate the driving state of the vehicle according to the input simulated steering wheel angle, the simulated throttle information, and the simulated brake information, and then output a simulated lateral acceleration of the vehicle corresponding to the input simulated steering wheel angle, the input simulated throttle information, and the input simulated brake information.
Alternatively, the preset vehicle dynamics model may be integrated into a sub-driver Electronic Control Unit (ECU) to implement receiving of the simulated steering wheel angle, the simulated throttle information, and the simulated brake information and outputting of the result.
And S206, determining a set of output results of the preset vehicle dynamics model as a simulated vehicle running state set.
Specifically, the output result of the preset vehicle dynamics model can be understood as the vehicle simulated lateral acceleration obtained by simulating the vehicle running state according to the input simulated steering wheel angle, the input simulated accelerator information and the input simulated brake information, so that the determined simulated lateral accelerations can be sequenced according to the time sequence of the acquisition time, and the determined set is used as the simulated vehicle running state set.
And S207, determining the magnitude relation between the actual lateral acceleration in the actual vehicle running state set corresponding to each acquisition moment and the simulated lateral acceleration in the simulated vehicle running state set.
Specifically, since the data processing driving state set and the simulated vehicle driving state set are used for representing the vehicle driving state and the vehicle lateral acceleration is higher and the vehicle driving stability is lower in the vehicle driving process, the magnitude relation between the driving stability of the primary driver and the driving stability of the secondary driver at the same acquisition time can be determined by comparing the actual lateral acceleration with the simulated lateral acceleration.
S208, judging whether the frequency that the actual lateral acceleration is greater than the simulated lateral acceleration is greater than a preset frequency threshold value, if so, executing a step S209; if not, go to step S210.
Specifically, when the actual lateral acceleration is greater than the simulated lateral acceleration, the driving ability of the primary driver may be considered to be weaker than the driving ability of the secondary driver, but the switching of the vehicle driving control right cannot be determined only by one-time judgment of the driving ability, so the number of times that the driving ability of the primary driver is weaker than the driving ability of the secondary driver in the preset time may be determined according to the number of times that the actual lateral acceleration is greater than the simulated lateral acceleration in the preset time, and when the number of times is greater than the preset number-of-times threshold value, the primary driver may be considered to be no longer suitable for driving the vehicle, and then step S209 is executed; otherwise, it is assumed that the primary driver has experienced driving error, but the primary driver can continue driving the vehicle to ensure driving stability, and step S210 is executed.
Optionally, the preset time may be ten minutes, and the preset time threshold may be five times, that is, when the driving ability of the primary driver is weaker than the driving ability of the secondary driver by more than five times in ten minutes, it may be considered that the secondary driver is more suitable for driving the vehicle than the primary driver.
S209, the comparison result is determined as the priority of the passenger car, and step S211 is executed.
Specifically, when it is determined that the primary driver is no longer suitable for vehicle driving, the comparison result may be determined as a priority for copilot, that is, the vehicle driving operation is performed by the priority for copilot, and step S211 is performed.
S210, determining the comparison result as the main driving priority, and executing step S212.
Specifically, when it is determined that the primary driver can still continue the vehicle driving, the comparison result may be determined as the primary driving priority, that is, the vehicle driving operation is performed by the primary driving priority, and step S212 is performed.
And S211, switching the control right of the vehicle to the auxiliary driving.
Specifically, when the comparison result is the priority of the co-driving, it is necessary to switch the driving control right of the vehicle, that is, to switch the control right of the vehicle to the co-driving, and to control the driving of the vehicle according to the operation information input from the co-driving seat.
S212, the control right of the vehicle is kept unchanged.
Specifically, when the comparison result is the main driving priority, it is considered that the driving control right of the vehicle is not switched, and the driving of the vehicle is controlled based on the operation information input from the main driving position while the control right of the vehicle is kept unchanged.
Further, after acquiring the set of actual vehicle driving states of the vehicle within the preset time, the method further comprises: and if the actual lateral acceleration corresponding to the current collection moment in the actual vehicle running state set is greater than the preset acceleration threshold value, switching the controller of the vehicle to the copilot.
Specifically, after the actual vehicle running state set of the vehicle within the preset time is obtained, the actual lateral acceleration of the vehicle running at the current collection time can be determined, the current actual lateral acceleration can be compared with the preset acceleration threshold, if the actual lateral acceleration is larger than the preset acceleration threshold, the vehicle can be considered to have a large accident risk at the current collection time, and a driver in a main driving seat is difficult to control more according to the current vehicle condition, the control right of the vehicle can be switched to a secondary driving seat at the moment, so that the driver in the secondary driving seat can try to control the vehicle according to the self ability as far as possible, the severity of the vehicle in an accident is reduced, and the driving stability of the vehicle is improved.
Further, before switching the control right of the vehicle to the co-driving, the method further includes: and playing preset switching early warning information in the vehicle.
Specifically, before the control right of the vehicle is switched to the copilot, the primary and secondary drivers need to be warned in an early warning manner, so that the driver at the copilot can clearly determine that the driver is about to drive the vehicle, the driving concentration degree of the driver is improved, and the control right of the vehicle can be stably handed over. For example, the preset switching early warning message played in the vehicle may be "please note that the control right of the vehicle is about to be switched, please make a preparation for driving by the co-driver", or may be preset according to an actual situation, which is not limited in the embodiment of the present invention.
Further, after switching the control right of the vehicle to the co-driver, the method further includes: and playing preset parking early warning information in the vehicle.
Specifically, because the copilot driver can not directly execute the driving operation according to the regulations in the national traffic regulations, the driver who switches the vehicle control right to the copilot is used for avoiding the risk of the traffic accident, and therefore after the copilot takes over the vehicle control right, the vehicle can play preset parking early warning information in the vehicle to prompt the copilot to park at a safe position as soon as possible.
According to the technical scheme, the corresponding actual lateral acceleration of the vehicle is determined through the steering wheel turning angle, the vehicle speed and the vehicle acceleration of the vehicle at each acquisition moment within the acquired preset time, the corresponding simulated lateral acceleration is determined according to the received simulated driving input information, the driving capacity of the driver at the main driving position and the auxiliary driving position is compared according to the magnitude relation between the actual lateral acceleration and the simulated lateral acceleration, whether the vehicle needs to be switched in the control right or not is determined according to the comparison result for multiple times, the stability in the driving process of the vehicle is enhanced, meanwhile, the occurrence probability of traffic accidents in the driving process of the vehicle is reduced, and the driving safety is improved.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a vehicle control switching device according to a third embodiment of the present invention, where the vehicle control switching device includes: an information acquisition module 31, a simulation state determination module 32 and a switching control module 33.
The information acquisition module 31 is configured to acquire an actual vehicle running state set of the vehicle within a preset time and a simulated driving input information set of the copilot; a simulated state determination module 32 for determining a set of simulated vehicle driving states from the set of simulated driving input information; and the switching control module 33 is configured to compare the actual vehicle running state set with the simulated vehicle running state set, and control the vehicle to switch the control right according to the comparison result.
According to the technical scheme of the embodiment, the driving abilities of the primary driver and the secondary driver are determined by comparing the actual vehicle driving state with the simulated vehicle driving state, and the switching of the vehicle control right is controlled according to the comparison result, namely, the vehicle is driven by the driver with the better driving ability. The problem of under the driving mode that only relies on the primary driver to drive, the copilot that has the driving ability when causing the traffic accident because the primary driver misoperation can't intervene is solved, promoted the participation of copilot in the vehicle driving process, reduced the probability that the vehicle driving in-process takes place the traffic accident, reduced the accident injury when the traffic accident takes place, improved driving safety.
Optionally, the information obtaining module 31 includes:
and the actual information acquisition unit is used for acquiring the steering wheel angle, the vehicle speed and the vehicle acceleration of the vehicle at each acquisition moment in preset time.
And the actual acceleration determining unit is used for determining the actual lateral acceleration corresponding to each acquisition moment according to the steering wheel rotation angle, the vehicle speed and the vehicle acceleration.
And an actual state set determination unit for determining a set of each actual lateral acceleration as an actual driving state set.
Further, the simulated driving input information set comprises simulated driving input information at each acquisition moment in preset time, and the simulated driving input information at least comprises simulated steering wheel turning angles, simulated accelerator information and simulated brake information.
Optionally, the simulation state determining module 32 is specifically configured to: correspondingly inputting the steering wheel angle simulation, the accelerator simulation information and the brake simulation information acquired at each acquisition moment to a preset vehicle dynamics model; the system comprises a preset vehicle dynamic model, a vehicle acceleration model and a vehicle acceleration model, wherein the preset vehicle dynamic model is used for determining the simulated lateral acceleration of the vehicle according to input information; and determining a set of output results of the preset vehicle dynamics model as a simulated vehicle running state set.
Optionally, the switching control module 33 includes:
the comparison unit is used for determining the magnitude relation between the actual lateral acceleration in the actual vehicle running state set corresponding to each acquisition moment and the simulated lateral acceleration in the simulated vehicle running state set; if the times that the actual lateral acceleration is larger than the simulated lateral acceleration are larger than a preset time threshold, determining that the comparison result is that the copilot is preferred; otherwise, determining the comparison result as the main driving priority.
A switching control unit for switching the control right of the vehicle to the copilot if the comparison result is the priority of the copilot; if the comparison result is the main driving priority, the control right of the vehicle is kept unchanged.
Optionally, the vehicle control switching device further includes: and an early warning module.
And the early warning module is used for playing preset switching early warning information in the vehicle before the control right of the vehicle is switched to the copilot.
Optionally, the switching control module 33 is further configured to: after the actual vehicle running state set of the vehicle within the preset time is obtained, if the actual lateral acceleration corresponding to the current collection moment in the actual vehicle running state set is larger than a preset acceleration threshold value, the control right of the vehicle is switched to the copilot.
The vehicle control switching device provided by the embodiment of the invention can execute the vehicle control switching method provided by the first embodiment and the second embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention, as shown in fig. 4, the vehicle includes a passenger steering wheel 41, a passenger throttle 42, a passenger braking device 43, a controller 44, a storage device 45, an input device 46, and an output device 47; the number of controllers 44 in the vehicle may be one or more, and one controller 44 is illustrated in fig. 4; the copilot steering wheel 41, the copilot accelerator 42, the copilot braking device 43, the controller 44, the storage device 45, the input device 46, and the output device 47 in the vehicle may be connected by a bus or other means, and the bus connection is exemplified in fig. 4.
And a passenger steering wheel 41 for receiving the simulated steering wheel angle input from the passenger seat.
And the copilot accelerator 42 is used for receiving the simulated accelerator information input by the copilot.
And a copilot braking device 43 for receiving the analog braking information input by the copilot.
The storage device 45, which is a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules (e.g., the information acquisition module 31, the simulation state determination module 32, and the switching control module 33) corresponding to the vehicle control switching method in the embodiment of the invention. The controller 44 executes various functional applications and data processing of the vehicle by executing software programs, instructions, and modules stored in the storage device 45, thereby implementing the vehicle control switching method described above.
The storage device 45 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 device 45 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 45 may further include memory remotely located from the controller 44, 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 46 is operable to receive input numeric or character information and to generate key signal inputs relating to user settings and function controls of the vehicle. The output device 47 may include a display device such as a display screen.
EXAMPLE five
Fifth, an embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a vehicle control switching method, the method comprising:
acquiring an actual vehicle running state set of a vehicle within preset time and a simulated driving input information set of copilot;
determining a set of driving states of the simulated vehicle according to the set of driving input information;
and comparing the actual vehicle running state set with the simulated vehicle running state set, and controlling the vehicle to switch the control right according to the comparison result.
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 vehicle control switching method 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, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.
Claims (9)
1. A vehicle control switching method characterized by comprising:
acquiring an actual vehicle running state set of a vehicle within preset time and a simulated driving input information set of copilot;
determining a set of driving states of the simulated vehicle according to the set of driving input information;
comparing the actual vehicle running state set with the simulated vehicle running state set, and controlling the vehicle to switch control right according to the comparison result;
the simulated driving input information set comprises simulated driving input information at each acquisition moment in the preset time, and the simulated driving input information at least comprises simulated steering wheel turning angles, simulated accelerator information and simulated brake information;
the determining a set of simulated vehicle driving conditions from the set of simulated driving input information includes:
correspondingly inputting the simulated steering wheel corner, the simulated accelerator information and the simulated brake information acquired at each acquisition moment to a preset vehicle dynamics model; the preset vehicle dynamics model is used for determining the simulated lateral acceleration of the vehicle according to input information;
and determining a set of output results of the preset vehicle dynamics model as a simulated vehicle running state set.
2. The method of claim 1, wherein the obtaining the set of actual vehicle driving states of the vehicle within the preset time comprises:
acquiring the steering wheel rotation angle, the vehicle speed and the vehicle acceleration of the vehicle at each acquisition moment in preset time;
determining the actual lateral acceleration corresponding to each acquisition moment according to the steering wheel rotation angle, the vehicle speed and the vehicle acceleration;
and determining each set of the actual lateral accelerations as an actual vehicle running state set.
3. The method of claim 1, wherein comparing the set of actual vehicle driving conditions to the set of simulated vehicle driving conditions comprises:
determining the magnitude relation between the actual lateral acceleration in the actual vehicle running state set corresponding to each acquisition moment and the simulated lateral acceleration in the simulated vehicle running state set;
if the times that the actual lateral acceleration is larger than the simulated lateral acceleration are larger than a preset time threshold, determining that the comparison result is that the copilot is preferred; otherwise, determining the comparison result as the main driving priority.
4. The method of claim 3, wherein the controlling the vehicle to switch the control right according to the comparison result comprises:
if the comparison result is the priority of the copilot, switching the control right of the vehicle to the copilot;
and if the comparison result is the main driving priority, keeping the control right of the vehicle unchanged.
5. The method of claim 2, wherein after obtaining the set of actual vehicle driving states of the vehicle within the preset time, further comprising:
and if the actual lateral acceleration corresponding to the current collection moment in the actual vehicle running state set is greater than a preset acceleration threshold, switching the control right of the vehicle to the copilot.
6. The method according to claim 4 or 5, wherein before the switching the control right of the vehicle to the co-driver, further comprising:
and playing preset switching early warning information in the vehicle.
7. A vehicle control switching apparatus characterized by comprising:
the information acquisition module is used for acquiring an actual vehicle running state set of the vehicle within preset time and a simulation driving input information set of copilot;
a simulation state determination module, configured to determine a set of simulated vehicle driving states according to the set of simulated driving input information, and specifically configured to: correspondingly inputting the simulated steering wheel corner, the simulated accelerator information and the simulated brake information acquired at each acquisition moment to a preset vehicle dynamics model; the system comprises a preset vehicle dynamic model, a vehicle acceleration model and a vehicle acceleration model, wherein the preset vehicle dynamic model is used for determining the simulated lateral acceleration of the vehicle according to input information; determining a set of output results of a preset vehicle dynamics model as a simulated vehicle running state set;
and the switching control module is used for comparing the actual vehicle running state set with the simulated vehicle running state set and controlling the vehicle to switch the control right according to the comparison result.
8. A vehicle, characterized in that the vehicle comprises:
the assistant steering wheel is used for receiving the steering wheel steering angle input by the assistant driver seat;
the copilot accelerator is used for receiving the simulated accelerator information input by the copilot position;
the copilot braking device is used for receiving the simulation braking information input by the copilot position;
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 vehicle control switching method according to any one of claims 1 to 6.
9. A storage medium containing computer-executable instructions for performing the vehicle control switching method of any one of claims 1-6 when executed by a computer processor.
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