CN113525404A - Man-machine driving-shared vehicle control system capable of realizing seamless switching and use method thereof - Google Patents
Man-machine driving-shared vehicle control system capable of realizing seamless switching and use method thereof Download PDFInfo
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- CN113525404A CN113525404A CN202110846834.4A CN202110846834A CN113525404A CN 113525404 A CN113525404 A CN 113525404A CN 202110846834 A CN202110846834 A CN 202110846834A CN 113525404 A CN113525404 A CN 113525404A
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- 241000283070 Equus zebra Species 0.000 claims description 3
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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
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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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
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- B60W2420/408—
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
Abstract
The invention discloses a human-computer co-driving vehicle control method and system capable of realizing seamless switching, and aims to solve the problems that intelligent driving and manual driving are complex to switch, intelligent self-adaptive switching cannot be realized, and driving risk is high. The invention switches from manual driving to auxiliary driving, does not need the active operation of the driver, but automatically switches seamlessly, ensures that the driver can quickly switch to auxiliary driving under the condition of losing the control of the vehicle, avoids dangerous accidents, and has smooth and natural process of switching from manual driving to auxiliary driving, thereby bringing comfortable riding experience to drivers and passengers.
Description
Technical Field
The invention relates to the technical field of a man-machine driving-together vehicle control system, in particular to a man-machine driving-together vehicle control system capable of realizing seamless switching and a using method thereof.
Background
In recent years, driving assistance technology has been rapidly developed, and more vehicles are equipped with functions such as adaptive cruise control, lane keeping control, and emergency brake control. Some drivers have distrust psychology for assisting driving, and the drivers who are not relieved to completely transfer the vehicle control right to an auxiliary system, particularly the drivers of buses such as passenger cars and trucks, are cautious in the driving process, because the vehicles can cause the casualties of a plurality of people inside and outside the vehicles once the vehicles are in accident. At the same time, such drivers also desire that in certain situations, the auxiliary system be able to control the vehicle instead of the driver. Such as the driver himself neglecting to pay attention to the surrounding dangerous situation, there is a high possibility that collision with a surrounding object occurs if the control result of the driver is executed. Or the driver is very tired or even ill, in which case the driver wishes to continue the control of the vehicle via the auxiliary system, thus ensuring safety
The existing man-machine driving vehicle control system and the use method thereof have the following problems: if the auxiliary driving function is turned on, the driver loses control over the vehicle, and if the driver wants to keep control over the vehicle, the driver has to quit the auxiliary driving through some operation, that is, the auxiliary driving and the manual driving are mutually exclusive, intelligent driving and manual driving are switched complicatedly, intelligent self-adaptive switching cannot be realized, the driving risk is high, and the prior art is not easy to solve the problems, so that a human-machine co-driving vehicle control system capable of realizing seamless switching and a using method thereof are urgently needed to solve the problems.
Disclosure of Invention
Based on the technical problems that intelligent driving and manual driving are complex to switch, intelligent self-adaptive switching cannot be achieved, and driving risk is high in the existing man-machine driving-together vehicle control system and the using method thereof, the invention provides a man-machine driving-together vehicle control system capable of achieving seamless switching and the using method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme:
a human-computer driving-shared vehicle control system capable of realizing seamless switching comprises a vehicle body and a controller, wherein the controller is provided with a human-computer driving-shared auxiliary system, the human-computer driving-shared auxiliary system comprises a control module, a parallel connection head module, a radar system, a threshold analysis module, an intelligent correction module, a buffer control module, a recognition module and a calculation module, the control module respectively controls the parallel connection head module, the radar system, the threshold analysis module, the intelligent correction module, the buffer control module, the recognition module and the calculation module, the parallel connection head module is respectively connected with a manual control module and an intelligent control module, the radar system comprises an ultrasonic radar and a millimeter wave radar, the ultrasonic radar is arranged around the vehicle body, an intelligent probe A is arranged outside a windshield of the vehicle body, an intelligent probe B is arranged inside the windshield of the vehicle body, the lens of the intelligent probe A faces the front of the vehicle body, the lens of the intelligent probe B faces the main driving position in the vehicle, and the millimeter wave radar is arranged behind the vehicle body;
a controller: the system comprises a data acquisition module, a data acquisition module and a data transmission module, wherein the data acquisition module is used for receiving data of an ultrasonic radar, an intelligent camera A, an intelligent camera B and a millimeter wave radar;
an intelligent probe A: the system is used for sensing obstacles in front of the vehicle, identifying the obstacles, judging the type of the obstacles, detecting common traffic signs such as lane lines, traffic lights, speed limit signs, zebra crossings and the like;
and (3) an intelligent probe B: the electronic control system is used for sensing the behavior of a driver, and identifying the behavior of dangerous driving which is possibly caused by frequent yawning, frequent blinking, long-time eye closing, long-time hand separation from a steering wheel, long-time body and arm fixed posture immobilization, no sight line concentration in front, call receiving and making, long-time face maintenance of painful expression and the like of the driver;
ultrasonic radar: the system is used for sensing a nearby obstacle around the vehicle;
millimeter wave radar: the device is used for detecting objects coming from the rear and the rear side of the vehicle.
The invention further comprises the following scheme: the identification module comprises a route identification module and a face identification module, and the intelligent probe A and the intelligent probe B are respectively connected to the route identification module and the face identification module.
The invention further comprises the following scheme: and the intelligent correction module is provided with a prompt module.
The invention further comprises the following scheme: and an auxiliary starting module is arranged on the buffer control module.
The invention further comprises the following scheme: the identification module is connected with a storage module, a characteristic comparison module and a threshold analysis module.
The invention further comprises the following scheme: the storage module is used for storing representative facial feature information, and the feature comparison module is used for comparing the facial features of the driver with the facial feature information in the storage module.
The invention further comprises the following scheme: the threshold analysis module is used for analyzing the degree of deviation of the mental state of the driver.
The invention provides a use method of a man-machine driving-shared vehicle control system capable of realizing seamless switching, which comprises the following steps:
s1: after the vehicle is started, a driver controls the normal running of the vehicle through a manual control module;
s2: when the road barriers, the road jams and other route problems are encountered or the active control on the vehicle is lost due to the driving fatigue of the driver, the intelligent probe A identifies the route outside the vehicle, meanwhile, the intelligent probe B in the man-machine co-driving auxiliary system identifies the facial state of the driver in the vehicle, and the threshold analysis module starts to work in cooperation with the calculation module to analyze the driving condition of the vehicle and the mental condition of the driver;
s3: judging whether the manual control is safe to respond or not through a threshold analysis module;
s4: if the vehicle normally responds, the vehicle keeps continuing manual driving, and the intelligent control module does not intervene;
s5: if the vehicle cannot respond normally, the intelligent control module intervenes, prompts a driver through the prompting module, and synchronously corrects a route or brakes by using the intelligent correction module until the vehicle owner resumes the manual driving again;
s6: when a person or other vehicles enter a blind area of the field of vision of the driver, the ultrasonic radar detects an object in the blind area, the man-machine co-driving auxiliary system judges that the driver collides with the object in the blind area if the driver continues to steer, at the moment, the auxiliary system applies reactive torque to a steering wheel, and the prompt module simultaneously gives out prompt sound;
s7: the intelligent probe A detects that a vehicle suddenly jumps into the front, collision cannot be avoided even though the AEB is triggered, the man-machine driving-sharing auxiliary system controls the vehicle to decelerate on one hand, and on the other hand, judges which side behind the vehicle is safer through the millimeter wave radar at the corner of the rear part, and rapidly controls the vehicle to turn to the safe side.
The invention has the beneficial effects that: the head module is arranged and connected, so that the control right of a driver and an auxiliary system to a vehicle is in a coexistence state, the control result of the driver is generally executed, when the driver carries out dangerous operation or loses the control to the vehicle, the auxiliary driving system automatically intervenes, the driver does not need to switch to assist driving through an operation switch, the auxiliary driving system is different from the conventional common longitudinal control functions such as ACC/AEB and transverse control functions such as LCK/LDP, the functions need the driver to actively operate a switch or a button to deactivate, or the experience of a driver and a passenger is uncomfortable in the working process, the process of switching from manual driving to auxiliary driving does not need the driver to actively operate but automatically and seamlessly switches, the rapid switching to the auxiliary driving can be ensured under the condition that the driver loses the control to the vehicle, and the occurrence of dangerous accidents is avoided, and the process of transition from manual driving to auxiliary driving is smooth and natural, so that comfortable riding experience is brought to drivers and passengers.
Drawings
FIG. 1 is a layout diagram of an installation device of a seamlessly switchable human-machine-driven vehicle control system according to the present invention;
FIG. 2 is a block diagram of an overall structure of a seamlessly switchable human-computer vehicle control system;
FIG. 3 is a schematic structural diagram of an identification module of a seamlessly switchable human-computer vehicle control system;
fig. 4 is a flowchart of a control method of a human-machine vehicle control system capable of seamless switching.
In the figure: 1. a vehicle main body; 2. an ultrasonic radar; 3. an intelligent probe A; 4. an intelligent probe B; 5. a controller; 6. millimeter wave radar.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention.
The components of the patented embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present patent, presented in the figures, is not intended to limit the scope of the patent, as claimed, but is merely representative of selected embodiments of the patent.
All other embodiments obtained by a person skilled in the art based on the embodiments in the patent of the invention without any inventive work belong to the protection scope of the patent of the invention.
In the description of the present patent, it is to be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present patent and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present patent. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present patent application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present patent can be understood in a specific case by those skilled in the art.
It is well within the skill of those in the art to implement, without undue experimentation, the subject invention as claimed and not related to software and process improvements.
Referring to fig. 1-4, a human-computer driving-together vehicle control system capable of seamless switching comprises a vehicle body 1 and a controller 5, wherein the controller 5 carries a human-computer driving-together auxiliary system, the human-computer driving-together auxiliary system comprises a control module, a parallel connection head module, a radar system, a threshold analysis module, an intelligent correction module, a buffer control module, a recognition module and a calculation module, the control module respectively controls the parallel connection head module, the radar system, the threshold analysis module, the intelligent correction module, the buffer control module, the recognition module and the calculation module, the parallel connection head module is respectively connected with a manual control module and an intelligent control module, the radar system comprises an ultrasonic radar 2 and a millimeter wave radar 6, the ultrasonic radar 2 is arranged around the vehicle body 1, an intelligent probe a3 is arranged outside a windshield of the vehicle body 1, and an intelligent probe B4 is arranged inside the windshield of the vehicle body 1, the lens of the intelligent probe A3 faces the front of the vehicle body 1, the lens of the intelligent probe B4 faces the main driving position in the vehicle, the millimeter wave radar 6 is arranged at the rear of the vehicle body 1, the calculation module and the identification module can perform calculation and analysis through a man-machine co-driving auxiliary system, whether a driver loses control over the vehicle is judged, if yes, the auxiliary system intervenes in control over the vehicle, otherwise, no intervention is performed, and the control right of the vehicle still belongs to the driver;
the controller 5: the system is used for receiving data of the ultrasonic radar 2, the intelligent camera A, the intelligent camera B and the millimeter wave radar 6;
intelligent probe a 3: the system is used for sensing obstacles in front of the vehicle, identifying the obstacles, judging the type of the obstacles, detecting common traffic signs such as lane lines, traffic lights, speed limit signs, zebra crossings and the like;
intelligent probe B4: the electronic control system is used for sensing the behavior of a driver, and identifying the behavior of dangerous driving which is possibly caused by frequent yawning, frequent blinking, long-time eye closing, long-time hand separation from a steering wheel, long-time body and arm fixed posture immobilization, no sight line concentration in front, call receiving and making, long-time face maintenance of painful expression and the like of the driver;
the ultrasonic radar 2: the system is used for sensing a nearby obstacle around the vehicle;
the millimeter wave radar 6: the device is used for detecting objects coming from the rear and the rear side of the vehicle.
In the invention, the identification module comprises a route identification module and a face identification module, and the intelligent probe A3 and the intelligent probe B4 are respectively connected to the route identification module and the face identification module, so that when a driver does not control the vehicle for a long time, the vehicle is kept in the lane under the control of the intelligent control module, and meanwhile, the vehicle starts to gradually decelerate and starts double flashes through the auxiliary starting module, and the like, and the parking hand brake is pulled up after the vehicle decelerates to a stop.
In the invention, the intelligent correction module is provided with the prompt module, although the system applies the reaction moment to the steering wheel, the driver can rotate the steering wheel even if the force is slightly larger than the normal force, and the driver cannot be forced to rotate the steering wheel. The purpose of this is that sometimes even if there are other people or vehicles in the blind area, the driver is at risk of having to steer ahead, without completely restricting the steering wheel rotation.
In the invention, an auxiliary starting module is arranged on the buffer control module.
In the invention, the identification module is connected with a storage module, a characteristic comparison module and a threshold analysis module.
In the invention, the storage module is used for storing representative facial feature information, and the feature comparison module is used for comparing the facial features of the driver with the facial feature information in the storage module.
In the invention, the threshold value analysis module is used for analyzing the degree of deviation of the mental state of the driver.
The invention provides a use method of a man-machine driving-shared vehicle control system capable of realizing seamless switching, which comprises the following steps:
s1: after the vehicle is started, a driver controls the normal running of the vehicle through a manual control module;
s2: when the road barriers, the road jams and other route problems are encountered or the active control on the vehicle is lost due to the driving fatigue of the driver, the intelligent probe A3 identifies the route outside the vehicle, meanwhile, the intelligent probe B4 in the man-machine co-driving auxiliary system identifies the facial state of the driver in the vehicle, and the threshold analysis module starts working in cooperation with the calculation module to analyze the driving condition of the vehicle and the mental condition of the driver;
s3: judging whether the manual control is safe to respond or not through a threshold analysis module;
s4: if the vehicle normally responds, the vehicle keeps continuing manual driving, and the intelligent control module does not intervene;
s5: if the vehicle cannot respond normally, the intelligent control module intervenes, prompts a driver through the prompting module, and synchronously corrects a route or brakes by using the intelligent correction module until the vehicle owner resumes the manual driving again;
s6: when people or other vehicles enter a blind area of the field of vision of the driver, the ultrasonic radar 2 detects an object in the blind area, the man-machine co-driving auxiliary system judges that the driver collides with the object in the blind area if the driver continues to steer, at the moment, the auxiliary system applies reactive torque to a steering wheel, and the prompt module simultaneously gives out prompt sound;
s7: the intelligent probe A3 detects that a vehicle suddenly jumps into the front, collision cannot be avoided even if AEB is triggered, and the man-machine driving-sharing auxiliary system controls the speed of the vehicle to be reduced on one hand, and judges which side behind the vehicle is safe through the millimeter wave radar 6 at the rear corner of the vehicle on the other hand, and rapidly controls the vehicle to turn to the safe side.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. A man-machine driving-together vehicle control system capable of realizing seamless switching comprises a vehicle main body (1) and a controller (5), and is characterized in that the controller (5) is provided with a man-machine driving-together auxiliary system, the man-machine driving-together auxiliary system comprises a control module, a parallel connection head module, a radar system, a threshold analysis module, an intelligent correction module, a buffer control module, an identification module and a calculation module, the control module respectively controls the parallel connection head module, the radar system, the threshold analysis module, the intelligent correction module, the buffer control module, the identification module and the calculation module, the parallel connection head module is respectively connected with a manual control module and an intelligent control module, the radar system comprises an ultrasonic radar (2) and a millimeter wave radar (6), the ultrasonic radar (2) is arranged around the vehicle main body (1), an intelligent probe A (3) is arranged outside a windshield of the vehicle main body (1), an intelligent probe B (4) is arranged in a windshield of the vehicle body (1), a lens of the intelligent probe A (3) faces the front of the vehicle body (1), a lens of the intelligent probe B (4) faces a main driving position in the vehicle, and the millimeter wave radar (6) is arranged behind the vehicle body (1);
controller (5): the system is used for receiving data of the ultrasonic radar (2), the intelligent camera A, the intelligent camera B and the millimeter wave radar (6);
smart probe a (3): the system is used for sensing obstacles in front of the vehicle, identifying the obstacles, judging the type of the obstacles, detecting common traffic signs such as lane lines, traffic lights, speed limit signs, zebra crossings and the like;
smart probe B (4): the electronic control system is used for sensing the behavior of a driver, and identifying the behavior of dangerous driving which is possibly caused by frequent yawning, frequent blinking, long-time eye closing, long-time hand separation from a steering wheel, long-time body and arm fixed posture immobilization, no sight line concentration in front, call receiving and making, long-time face maintenance of painful expression and the like of the driver;
ultrasonic radar (2): the system is used for sensing a nearby obstacle around the vehicle;
millimeter wave radar (6): the device is used for detecting objects coming from the rear and the rear side of the vehicle.
2. The human-machine-driven vehicle control system capable of realizing seamless switching according to claim 1, wherein the identification module comprises a route identification module and a face identification module, and the intelligent probe A (3) and the intelligent probe B (4) are respectively connected to the route identification module and the face identification module.
3. The seamlessly-switchable human-computer-driven vehicle control system according to claim 1, wherein a prompt module is disposed on the intelligent correction module.
4. The human-machine vehicle driving control system capable of realizing seamless switching according to claim 1, wherein an auxiliary starting module is arranged on the buffer control module.
5. The seamlessly-switchable human-computer-driven vehicle control system according to claim 2, wherein the identification module is connected with a storage module, a feature comparison module and a threshold analysis module.
6. The seamlessly-switchable ergonomic co-driver vehicle control system of claim 5, wherein the storage module is configured to store representative facial feature information, and the feature comparison module is configured to compare the facial features of the driver with the facial feature information stored in the storage module.
7. The seamlessly-switchable ergonomic co-driver vehicle control system of claim 5, wherein the threshold analysis module is configured to analyze a degree of deviation of a driver's mental state.
8. A control method of a man-machine driving-shared vehicle control system capable of seamless switching is characterized by comprising the following steps:
s1: after the vehicle is started, a driver controls the normal running of the vehicle through a manual control module;
s2: when the road barriers, the road jams and other route problems are encountered or the active control on the vehicle is lost due to the driving fatigue of a driver, the intelligent probe A (3) identifies the route outside the vehicle, meanwhile, the intelligent probe B (4) in the man-machine co-driving auxiliary system identifies the facial state of the driver in the vehicle, and the threshold analysis module starts to work in cooperation with the calculation module to analyze the driving condition of the vehicle and the mental condition of the driver;
s3: judging whether the manual control is safe to respond or not through a threshold analysis module;
s4: if the vehicle normally responds, the vehicle keeps continuing manual driving, and the intelligent control module does not intervene;
s5: if the vehicle cannot respond normally, the intelligent control module intervenes, prompts a driver through the prompting module, and synchronously corrects a route or brakes by using the intelligent correction module until the vehicle owner resumes the manual driving again;
s6: when people or other vehicles enter a blind area of the field of vision of the driver, the ultrasonic radar (2) detects an object in the blind area, the man-machine co-driving auxiliary system judges that the driver collides with the object in the blind area if the driver continues to steer, the auxiliary system applies reactive torque to a steering wheel at the moment, and the prompt module simultaneously gives out prompt sound;
s7: the intelligent probe A (3) detects that a vehicle suddenly jumps into the front, collision cannot be avoided even if AEB is triggered, the man-machine driving-together auxiliary system controls the speed of the vehicle to be reduced on one hand, and on the other hand, the millimeter wave radar (6) at the corner of the rear judges which side of the rear is safe, and the vehicle is quickly controlled to turn to the safe side.
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