CN113665585B - Automatic driving assistance system, method and readable storage medium for vehicle - Google Patents
Automatic driving assistance system, method and readable storage medium for vehicle Download PDFInfo
- Publication number
- CN113665585B CN113665585B CN202010407377.4A CN202010407377A CN113665585B CN 113665585 B CN113665585 B CN 113665585B CN 202010407377 A CN202010407377 A CN 202010407377A CN 113665585 B CN113665585 B CN 113665585B
- Authority
- CN
- China
- Prior art keywords
- gateway
- control information
- updated
- steering
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000004913 activation Effects 0.000 claims abstract description 80
- 230000003044 adaptive effect Effects 0.000 claims description 22
- 230000000977 initiatory effect Effects 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 5
- 230000001276 controlling effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
-
- 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
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
-
- 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
- B60W30/14—Adaptive cruise control
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/16—Gateway arrangements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides an automatic driving assistance system, an automatic driving assistance method and a readable storage medium, wherein the system comprises an electronic control unit, a manipulation gateway and a central gateway, and one end of the manipulation gateway is connected with the electronic control unit to receive original driving control information; the other end of the control gateway is connected with the central gateway to send a control signal for controlling the running of the vehicle to the central gateway; wherein the steering gateway is configured to also receive an activation instruction and updated travel control information, the steering gateway initiates an activation mode upon receipt of the activation instruction, resets the original travel control information to the updated travel control information in the activation mode, and transmits the updated travel control information to the central gateway such that travel of the vehicle is controlled in accordance with the updated travel control information. The system can control the running of the vehicle more flexibly, reduce related delay and deviation and improve the accuracy and timeliness of controlling the running of the vehicle.
Description
Technical Field
The present invention relates to the field of vehicles, and in particular to an automated driving assistance system, an automated driving assistance method, and a computer-readable storage medium for a vehicle.
Background
Some existing autonomous vehicles control the running of the vehicle by controlling the gasoline pedal, brake, steering wheel, etc. of the vehicle based on an externally mounted driving machine or servo motor. However, this control mode has poor flexibility, and there is a large delay and deviation in controlling the running of the vehicle, especially when emergency braking or turning occurs, it may be difficult to brake or turn in time, etc.
Accordingly, there is a need for an automatic driving assistance system that more efficiently and accurately controls the travel of a vehicle.
Disclosure of Invention
In order to solve at least the above technical problems, various aspects of the present invention are proposed as follows.
In particular, according to a first aspect of the invention, there is provided an automatic driving assistance system for a vehicle, characterized in that the automatic driving assistance system comprises an electronic control unit, a steering gateway and a central gateway, wherein,
One end of the manipulation gateway is connected with the electronic control unit so as to receive original running control information sent by the electronic control unit;
The other end of the control gateway is connected with the central gateway so as to send a control signal for controlling the running of the vehicle to the central gateway;
The steering gateway is configured to also receive an activation instruction and updated running control information, and to initiate an activation mode upon receipt of the activation instruction, wherein the steering gateway resets original running control information transmitted by the electronic control unit to the updated running control information in the activation mode and transmits the updated running control information as a control signal to the central gateway so that running of the vehicle is controlled according to the updated running control information.
In one embodiment, the steering gateway is further configured to be operable in an inactive mode, wherein in the inactive mode the steering gateway directly transmits the raw travel control information transmitted by the electronic control unit to the central gateway such that the travel of the vehicle is controlled in accordance with the raw travel control information.
In one embodiment, the electronic control unit comprises an adaptive cruise electronic control unit (Adaptive Cruise Control, also referred to as "ACC"), and the steering gateway comprises a first steering gateway, wherein,
One end of the first control gateway is connected with the adaptive cruise electronic control unit so as to receive original longitudinal running control information sent by the adaptive cruise electronic control unit;
the other end of the first control gateway is connected with the central gateway so as to send a longitudinal control signal for controlling the running of the vehicle to the central gateway;
The first steering gateway is configured to also receive a first activation instruction and updated longitudinal running control information, the first steering gateway initiating an activation mode upon receipt of the first activation instruction, wherein the first steering gateway resets the original longitudinal running control information sent by the adaptive cruise electronic control unit to the updated longitudinal running control information in the activation mode and sends the updated longitudinal running control information as a longitudinal control signal to the central gateway such that longitudinal running of the vehicle is controlled according to the updated longitudinal running control information.
In one embodiment, the electronic control unit comprises an electric power steering electronic control unit (Electric Power Steering, also referred to as "EPS") and the steering gateway comprises a second steering gateway, wherein,
One end of the second steering gateway is connected with the electric steering electronic control unit so as to receive original transverse running control information sent by the electric steering electronic control unit;
The other end of the second control gateway is connected with the central gateway so as to send a transverse control signal for controlling the running of the vehicle to the central gateway;
The second steering gateway is configured to also receive a second activation instruction and updated lateral travel control information, the second steering gateway initiating an activation mode upon receipt of the second activation instruction, the second steering gateway resetting original lateral travel control information transmitted by the electric power steering electronic control unit to the updated lateral travel control information in the activation mode, and transmitting the updated lateral travel control information as a lateral control signal to the central gateway such that lateral travel of the vehicle is controlled in accordance with the updated lateral travel control information.
According to a second aspect of the present invention, there is provided a vehicle on which the automatic driving assistance system as described above is provided.
According to a third aspect of the present invention, there is provided an automatic driving assistance method for a vehicle having an automatic driving assistance system including an electronic control unit, a steering gateway, and a center gateway, the automatic driving assistance method comprising:
The control gateway receives an activation instruction and updated running control information, and starts an activation mode when receiving the activation instruction; and
The steering gateway resets the original running control information transmitted by the electronic control unit to the updated running control information in the active mode, and transmits the updated running control information as a control signal to the center gateway so that running of the vehicle is controlled according to the updated running control information.
In one embodiment, wherein the steering gateway is further configured to be operable in an inactive mode, wherein in the inactive mode the steering gateway directly transmits the raw travel control information transmitted by the electronic control unit to the central gateway such that the travel of the vehicle is controlled in accordance with the raw travel control information.
In one embodiment, the electronic control unit comprises an adaptive cruise electronic control unit, the steering gateway comprises a first steering gateway, and the autopilot assistance method further comprises:
The first control gateway receives a first activation instruction and updated longitudinal running control information, and starts an activation mode when receiving the first activation instruction; and
The first steering gateway resets the original longitudinal travel control information transmitted by the adaptive cruise electronic control unit to the updated longitudinal travel control information in the active mode and transmits the updated longitudinal travel control information as a longitudinal control signal to the central gateway so that longitudinal travel of the vehicle is controlled according to the updated longitudinal travel control information.
In one embodiment, the electronic control unit comprises an electric steering electronic control unit, the steering gateway comprises a second steering gateway, and the autopilot assistance method further comprises:
the second control gateway receives a second activation instruction and updated transverse running control information, and the second control gateway starts an activation mode when receiving the second activation instruction; and
The second steering gateway resets the original lateral travel control information transmitted by the electric power steering electronic control unit to the updated lateral travel control information in the active mode, and transmits the updated lateral travel control information as a lateral control signal to the center gateway so that lateral travel of the vehicle is controlled according to the updated lateral travel control information.
There is provided according to a fourth aspect of the present invention a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the autopilot assistance method of the third aspect described above.
The automatic driving auxiliary system of the invention receives the activation instruction and the updated driving control information from the console by using the manipulation gateway, and can enable the manipulation gateway to start an activation mode when receiving the activation instruction, and allows the manipulation gateway to reset (or tamper) the original driving control information to the updated driving control information and send the updated driving control information to the central gateway in the activation mode. This enables the running of the vehicle to be controlled directly from the updated running control information received by the central gateway. The scheme of the invention for carrying out automatic driving assistance based on drive-by-wire drive ensures that the driving control of the vehicle is more efficient and rapid, reduces the delay and deviation generated when the vehicle is regulated in the prior art, and improves the accuracy and timeliness of controlling the driving of the vehicle.
Drawings
Non-limiting and non-exhaustive embodiments of the present invention are described by way of example with reference to the following drawings, wherein:
FIG. 1 shows a schematic diagram of an autopilot assistance system for a vehicle according to one embodiment of the present invention;
FIG. 2 shows a schematic diagram of an autopilot assistance system for a vehicle according to another embodiment of the invention;
FIG. 3 shows a schematic diagram of an autopilot assistance system for a vehicle according to yet another embodiment of the present invention;
FIG. 4 shows a schematic diagram of a console according to an embodiment of the invention; and
Fig. 5 shows a flowchart of an automatic driving assistance method for a vehicle according to an embodiment of the present invention.
Detailed Description
To further clarify the above and other features and advantages of the present invention, a further description of the invention will be rendered by reference to the appended drawings. It should be understood that the specific embodiments presented herein are for purposes of explanation to those skilled in the art and are intended to be illustrative only and not limiting.
Fig. 1 shows a schematic view of an automatic driving assistance system for a vehicle according to an embodiment of the present invention.
As shown in fig. 1, the automatic driving assistance system 100 for a vehicle may include: the system comprises an electronic control unit 110, a steering gateway 120 and a central gateway 130, wherein one end of the steering gateway 120 is connected with the electronic control unit 110 so as to receive original running control information sent by the electronic control unit. The other end of the steering gateway 120 is connected to the central gateway 130 to transmit a control signal for controlling the travel of the vehicle to the central gateway. Steering gateway 120 is configured to also receive activation instructions and updated travel control information.
The steering gateway 120 may initiate an activation mode upon receiving an activation instruction, and in the activation mode, the steering gateway 120 may reset original travel control information transmitted from the electronic control unit 110 to the updated travel control information such that travel of the vehicle is controlled according to the updated travel control information.
In an embodiment, the steering gateway 120 may be further configured to be operable in an inactive mode, wherein in the inactive mode, the steering gateway 120 directly transmits the raw travel control information transmitted from the electronic control unit 110 to the central gateway 130, such that the vehicle travel is controlled according to the raw travel control information. In the inactive mode, the steering gateway functions as a "transparent" gateway.
For example, assuming that the steering gateway does not receive an activation instruction, the steering gateway remains in an inactive mode, and the steering gateway 120 transmits original travel control information to the central gateway 130 in the inactive mode. In this way, in the inactive mode, the steering gateway does not affect the normal running of the vehicle using the original running control information sent by the electronic control unit 110 as a control signal.
Fig. 2 shows a schematic view of an automatic driving assistance system for a vehicle according to another embodiment of the present invention.
As shown in fig. 2, in this embodiment, the electronic control unit 110 comprises an adaptive cruise electronic control unit 1101 and the steering gateway 120 comprises a first steering gateway 1201. One end of the first steering gateway 1201 is connected to the adaptive cruise electronic control unit 1101 to receive the original longitudinal running control information sent by the adaptive cruise electronic control unit 1101. The other end of the first steering gateway 1201 is connected to the central gateway 130 to transmit a longitudinal control signal for controlling the running of the vehicle to the central gateway 130.
Herein, the first steering gateway 1201 may be further configured to receive a first activation instruction and updated longitudinal running control information from the console 140, the first steering gateway 1201 initiating an activation mode upon receipt of the first activation instruction, the first steering gateway 1201 resetting the original longitudinal running control information transmitted by the adaptive cruise electronic control unit 1101 to the updated longitudinal running control information in the activation mode such that the longitudinal running of the vehicle is controlled according to the updated longitudinal running control information.
In one embodiment, for purposes of illustration, assume that the original longitudinal travel control information sent by the adaptive cruise electronic control unit 1101 to the first steering gateway 1201 is to cause the vehicle to travel at a constant first speed (e.g., 50 km/h) (acceleration of zero). However, if no vehicle or other obstacle is detected within the previously set distance range and the road allows higher speed travel within the speed limit range, the console 140 may send an activation instruction and updated longitudinal travel control information to the first steering gateway 1201 of the vehicle so that the vehicle accelerates in accordance with the updated longitudinal travel control information. For example, the updated longitudinal travel control information may be to accelerate the vehicle at an acceleration of 3m/s 2 and to a higher second speed (e.g., 80 km/h). Steering gateway 120, upon receiving an activation instruction, may initiate an activation mode and reset the original longitudinal travel control information using the updated longitudinal travel control information and send the updated longitudinal travel control information to central gateway 130, whereby the vehicle may be accelerated at a reset acceleration of 3m/s 2 until the second speed is reached, thereby adjusting the travel state of the vehicle.
Similarly, in another embodiment, for example, assuming that an emergency brake is required when an obstacle is detected to be present in front, the updated longitudinal running control information may also be deceleration control of the vehicle at a deceleration that satisfies a requirement to avoid collision of the vehicle with the obstacle. The method can meet the requirement of timely and effective adjustment of the running state of the vehicle in various application scenes due to the rapid response speed.
Fig. 3 shows a schematic view of an automatic driving assistance system for a vehicle according to a further embodiment of the invention.
As shown in fig. 3, the electronic control unit 110 includes an electric steering electronic control unit 1102, and the steering gateway 120 includes a second steering gateway 1202, wherein one end of the second steering gateway 1202 is connected to the electric steering electronic control unit 1102, and the other end of the second steering gateway 1202 is connected to the central gateway 130.
The second steering gateway 1202 may be further configured to receive a second activation instruction and updated lateral running control information from the outside, the second steering gateway 1202 initiating an activation mode upon receiving the second activation instruction, the second steering gateway 1202 resetting the original lateral running control information transmitted by the electric power steering electronic control unit 1102 to the updated lateral running control information in the activation mode so that lateral running of the vehicle is controlled according to the updated lateral running control information.
Specifically, for example, when the vehicle encounters an obstacle in front of the vehicle and needs to change lanes or the vehicle enters a turning road, the console 140 may send a second activation command and updated lateral driving control information to the second steering gateway 1202, and the second steering gateway 1202 may perform the activation mode after receiving the second activation command. The updated lateral travel control information is, for example, that the steering wheel is rotated 10 ° per second until a specified direction or that the vehicle is steered to a set angle, etc. The original lateral travel control information may be turning the steering wheel at zero degrees or at different amplitudes, etc. In this embodiment, the second steering gateway 1202 resets the original lateral travel control information to the updated lateral travel control information in the active mode and sends to the central gateway 130 to rotate the steering wheel 10 ° per second until the specified direction or adjust the steering angle of the vehicle.
Herein, the autopilot assistance system 100 may include one or more steering gateways (not limited to the example one or two steering gateways). Accordingly, without limitation to the example, the autopilot assistance system 100 may also include one or more electronic control units. Of course, other types of steering gateways and electronic control units may be included as practical needs. For ease of illustration, only the first and second steering gateways 1201 and 1202 and the corresponding adaptive cruise and electric steering electronic control units 1101 and 1102 are illustrated herein. Of course, the second steering gateway and the corresponding electric steering electronic control unit may also be present in the autonomous driving assistance system of a different vehicle separately from the first steering gateway and the corresponding adaptive cruise electronic control unit, as will be appreciated by a person skilled in the art after reading the present description.
In the method, the longitudinal direction and/or the transverse direction of the vehicle are/is controlled respectively by receiving the external instruction, so that the vehicle can be flexibly controlled, delay and error in the automatic driving control process of the vehicle are reduced, and timeliness and accuracy of the automatic driving control can be improved.
Fig. 4 shows a schematic diagram of a console according to an embodiment of the invention.
As shown in fig. 2-4, the autopilot assistance system 100 may further include a console 140. The activation instructions and updated travel control information may be sent by console 140 to the steering gateway (e.g., the first steering gateway and the second steering gateway). For example, the console 140 may include a portable computer, smart phone, tablet, notebook, car console, car computer, and/or other suitable device that facilitates user input of instructions or automated control of the vehicle. As shown in fig. 4, the console 140 includes a processing unit 1401, which processing unit 1401 may interact with other components of the console 140 as well as with external components of the console 140.
The console 140 also includes various components such as I/O1402, user I/O1403, and network I/O1404 that can be input/output. I/O1402 is capable of interacting with steering gateway 120 and sending activation instructions and updated travel control information to steering gateway 120. User I/O1403 may be used to interact with user devices to receive input data for various user devices. The network I/O1404 may be used to interact with the vehicle computer to receive data from the vehicle computer, an online server, or other monitoring device (e.g., sensors mounted on the vehicle or sensors mounted on other surrounding networked vehicles or devices).
Fig. 5 shows a flowchart of an automatic driving assistance method for a vehicle according to an embodiment of the present invention.
The automatic driving assistance method may be applied to a vehicle having the automatic driving assistance system 100 described above, and the automatic driving assistance system 100 may include an electronic control unit 110, a steering gateway 120, and a center gateway 130. As shown in fig. 5, the automatic driving assistance method S500 includes:
S510: the control gateway receives an activation instruction and updated running control information, and starts an activation mode when receiving the activation instruction; and
S520: the steering gateway resets the original running control information transmitted by the electronic control unit to the updated running control information in the active mode, and transmits the updated running control information as a control signal to the center gateway so that running of the vehicle is controlled according to the updated running control information.
Optionally, the steering gateway is further configured to be operable in an inactive mode, wherein in the inactive mode, the steering gateway directly transmits the raw travel control information transmitted by the electronic control unit to the central gateway, such that the travel of the vehicle is controlled according to the raw travel control information.
Optionally, the electronic control unit comprises an adaptive cruise electronic control unit, the steering gateway comprises a first steering gateway, and the autopilot assistance method further comprises:
The first control gateway receives a first activation instruction and updated longitudinal running control information, and starts an activation mode when receiving the first activation instruction; and
The first steering gateway resets the original longitudinal travel control information transmitted by the adaptive cruise electronic control unit to the updated longitudinal travel control information in the active mode and transmits the updated longitudinal travel control information as a longitudinal control signal to the central gateway so that longitudinal travel of the vehicle is controlled according to the updated longitudinal travel control information.
Optionally, the electronic control unit includes an electric steering electronic control unit, the steering gateway includes a second steering gateway, and the automatic driving assistance method further includes:
the second control gateway receives a second activation instruction and updated transverse running control information, and the second control gateway starts an activation mode when receiving the second activation instruction; and
The second steering gateway resets the original lateral travel control information transmitted by the electric power steering electronic control unit to the updated lateral travel control information in the active mode, and transmits the updated lateral travel control information as a lateral control signal to the center gateway so that lateral travel of the vehicle is controlled according to the updated lateral travel control information.
For a more specific aspect of the automatic driving assistance method of the present invention, reference may be made to the above description of the automatic driving assistance system of the present invention, and the description thereof will not be repeated here.
In addition, it should be understood that the electronic control unit 110, the steering gateway 120, the central gateway 130, and the console 140 in the system 100 may be implemented in whole or in part by software, hardware, and combinations thereof, for example, embedded in an intrinsic processor in a computer device, or may be stored in a memory in the computer device in a software form, so that the processor invokes the corresponding operations described above.
It will be appreciated by those skilled in the art that the schematic diagram of the autopilot assistance system 100 shown in fig. 1 is merely a block diagram of some of the structures associated with the inventive arrangements and is not limiting of the computer device to which the inventive arrangements are applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
Another aspect of the invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any of the embodiments described above.
Those of ordinary skill in the art will appreciate that all or part of the steps in a method according to the above-described embodiments of the application may be implemented by a computer program, which may be stored on a non-volatile computer readable storage medium, which when executed, performs the steps of the embodiments of the methods as described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered to be within the scope described in the present specification.
While the invention has been described in conjunction with embodiments, it will be understood by those skilled in the art that the foregoing description and drawings are illustrative only and not limiting of the invention, which is not limited to the disclosed embodiments. Various modifications and variations are possible without departing from the spirit of the invention.
Claims (10)
1. An automatic driving assistance system for a vehicle, characterized in that the automatic driving assistance system comprises an electronic control unit, a steering gateway and a central gateway, wherein,
One end of the manipulation gateway is connected with the electronic control unit so as to receive original running control information sent by the electronic control unit;
The other end of the control gateway is connected with the central gateway so as to send a control signal for controlling the running of the vehicle to the central gateway;
The steering gateway is configured to also receive an activation instruction and updated travel control information, the steering gateway initiating an activation mode upon receipt of the activation instruction, wherein the steering gateway resets the original travel control information transmitted by the electronic control unit to the updated travel control information in the activation mode and transmits the updated travel control information as a control signal to the central gateway such that travel of the vehicle is controlled in accordance with the updated travel control information,
Wherein the steering gateway comprises a first steering gateway and a second steering gateway, and the updated travel control information comprises updated longitudinal travel control information and updated lateral travel control information, and
The first steering gateway is configured to control longitudinal travel of the vehicle according to the updated longitudinal travel control information, and the second steering gateway is configured to control lateral travel of the vehicle according to the updated lateral travel control information.
2. The autopilot assistance system of claim 1 wherein the steering gateway is further configured to be operable in an inactive mode, wherein in the inactive mode the steering gateway directly transmits the raw travel control information transmitted by the electronic control unit to the central gateway such that travel of the vehicle is controlled in accordance with the raw travel control information.
3. The autopilot assistance system of claim 2 wherein the electronic control unit includes an adaptive cruise electronic control unit, wherein,
One end of the first control gateway is connected with the adaptive cruise electronic control unit so as to receive original longitudinal running control information sent by the adaptive cruise electronic control unit;
the other end of the first control gateway is connected with the central gateway so as to send a longitudinal control signal for controlling the running of the vehicle to the central gateway;
the first steering gateway is configured to also receive a first activation instruction and the updated longitudinal running control information, the first steering gateway initiating an activation mode upon receipt of the first activation instruction, wherein the first steering gateway resets the original longitudinal running control information sent by the adaptive cruise electronic control unit to the updated longitudinal running control information in the activation mode and sends the updated longitudinal running control information as a longitudinal control signal to the central gateway such that longitudinal running of the vehicle is controlled according to the updated longitudinal running control information.
4. An autopilot assistance system according to any one of claims 1 to 3 wherein the electronic control unit comprises an electric steering electronic control unit, wherein,
One end of the second steering gateway is connected with the electric steering electronic control unit so as to receive original transverse running control information sent by the electric steering electronic control unit;
The other end of the second control gateway is connected with the central gateway so as to send a transverse control signal for controlling the running of the vehicle to the central gateway;
The second steering gateway is configured to also receive a second activation instruction and the updated lateral travel control information, the second steering gateway initiating an activation mode upon receipt of the second activation instruction, the second steering gateway resetting the original lateral travel control information transmitted by the electric power steering electronic control unit to the updated lateral travel control information in the activation mode and transmitting the updated lateral travel control information as a lateral control signal to the central gateway such that lateral travel of the vehicle is controlled in accordance with the updated lateral travel control information.
5. A vehicle, characterized in that an automatic driving assistance system according to any one of claims 1-4 is provided on the vehicle.
6. An autopilot assistance method for a vehicle, the vehicle having an autopilot assistance system including an electronic control unit, a steering gateway, and a central gateway, the autopilot assistance method comprising:
The control gateway receives an activation instruction and updated running control information, and starts an activation mode when receiving the activation instruction;
The steering gateway resets original running control information transmitted by the electronic control unit to the updated running control information in the active mode and transmits the updated running control information as a control signal to the central gateway so that running of the vehicle is controlled according to the updated running control information, wherein the steering gateway includes a first steering gateway and a second steering gateway, and the updated running control information includes updated longitudinal running control information and updated lateral running control information; and
Controlling longitudinal travel of the vehicle according to the updated longitudinal travel control information using the first steering gateway, and controlling lateral travel of the vehicle according to the updated lateral travel control information using the second steering gateway.
7. The automatic driving assistance method according to claim 6, wherein,
The steering gateway is further configured to be operable in an inactive mode, wherein in the inactive mode the steering gateway directly transmits the raw travel control information transmitted by the electronic control unit to the central gateway such that the travel of the vehicle is controlled in accordance with the raw travel control information.
8. The automatic driving assistance method according to claim 6, wherein the electronic control unit includes an adaptive cruise electronic control unit, the automatic driving assistance method further comprising:
the first steering gateway receives a first activation instruction and the updated longitudinal running control information, and starts an activation mode when receiving the first activation instruction; and
The first steering gateway resets the original longitudinal travel control information transmitted by the adaptive cruise electronic control unit to the updated longitudinal travel control information in the active mode and transmits the updated longitudinal travel control information as a longitudinal control signal to the central gateway so that longitudinal travel of the vehicle is controlled according to the updated longitudinal travel control information.
9. The automatic driving assistance method according to any one of claims 6 to 8, wherein the electronic control unit includes an electric power steering electronic control unit, the automatic driving assistance method further comprising:
the second control gateway receives a second activation instruction and the updated transverse running control information, and the second control gateway starts an activation mode when receiving the second activation instruction; and
The second steering gateway resets the original lateral travel control information transmitted by the electric power steering electronic control unit to the updated lateral travel control information in the active mode, and transmits the updated lateral travel control information as a lateral control signal to the center gateway so that lateral travel of the vehicle is controlled according to the updated lateral travel control information.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the autopilot assistance method of any one of claims 6-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010407377.4A CN113665585B (en) | 2020-05-14 | 2020-05-14 | Automatic driving assistance system, method and readable storage medium for vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010407377.4A CN113665585B (en) | 2020-05-14 | 2020-05-14 | Automatic driving assistance system, method and readable storage medium for vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113665585A CN113665585A (en) | 2021-11-19 |
| CN113665585B true CN113665585B (en) | 2024-07-23 |
Family
ID=78537266
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010407377.4A Active CN113665585B (en) | 2020-05-14 | 2020-05-14 | Automatic driving assistance system, method and readable storage medium for vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113665585B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114368396A (en) * | 2022-01-27 | 2022-04-19 | 东风商用车有限公司 | Automatic driving system management method and device, storage medium and electronic equipment |
| CN114852173B (en) * | 2022-06-02 | 2023-07-14 | 上汽通用汽车有限公司 | Automatic steering control method, apparatus, and computer-readable storage medium |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210478602U (en) * | 2019-07-09 | 2020-05-08 | 威马智慧出行科技（上海）有限公司 | Gateway and car |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002135285A (en) * | 2000-10-27 | 2002-05-10 | Sumitomo Electric Ind Ltd | On-vehicle gateway |
| US10106106B2 (en) * | 2014-09-19 | 2018-10-23 | Ford Global Technologies, Llc | Automated driving solution gateway |
| CN106094810A (en) * | 2016-06-02 | 2016-11-09 | 郑州宇通客车股份有限公司 | Man-machine double method for handover control and vehicles driving system on a kind of vehicle |
| SG11201810979SA (en) * | 2017-06-30 | 2019-01-30 | Beijing Didi Infinity Technology & Development Co Ltd | Systems and methods for switching driving mode of vehicle |
| KR102041962B1 (en) * | 2019-06-05 | 2019-11-08 | 주식회사 라이드플럭스 | Supported autonomous vehicle |
-
2020
- 2020-05-14 CN CN202010407377.4A patent/CN113665585B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210478602U (en) * | 2019-07-09 | 2020-05-08 | 威马智慧出行科技（上海）有限公司 | Gateway and car |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113665585A (en) | 2021-11-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11731701B2 (en) | Autonomous driving system | |
| CN109032132B (en) | Vehicle driving system and method | |
| US11945442B2 (en) | Autonomous driving system and control method for autonomous driving system | |
| US11124228B2 (en) | Driving assistance apparatus | |
| CN113665585B (en) | Automatic driving assistance system, method and readable storage medium for vehicle | |
| CN110371126B (en) | Device and method for controlling the travel of a vehicle | |
| US11834037B2 (en) | Control device, method, non-transitory storage medium, and vehicle | |
| US11370419B2 (en) | Use of driver assistance collision mitigation systems with autonomous driving systems | |
| US20230271632A1 (en) | Apparatus for controlling autonomous driving of a vehicle, system having the same and method thereof | |
| CN113619581B (en) | Vehicle control method, device, equipment and medium for vehicle following cruising state | |
| CN111361638A (en) | Control method and device of vehicle sensing device, readable storage medium and vehicle | |
| GB2481888A (en) | Driver assistance system with activation of the brake | |
| US20200005553A1 (en) | Deviation assessment for steering system | |
| GB2560816A (en) | Steering wheel control mechanism for autonomous vehicle | |
| JP6943221B2 (en) | Anomaly detection device | |
| CN113135185A (en) | Vehicle driving assistance system, vehicle including the same, and corresponding method and medium | |
| JP6689337B2 (en) | Automatic operation control device and automatic operation control method | |
| CN110936955B (en) | Method and device for controlling speed of automatic driving vehicle, vehicle-mounted equipment and storage medium | |
| CN111369782A (en) | Control method and control device for motorcade running, readable storage medium and vehicle | |
| US20230168671A1 (en) | Control method, control device, and storage medium | |
| CN112937560A (en) | Driving assistance system, method, computer device and storage medium for a fleet of vehicles | |
| CN116588187B (en) | Control method and device for lane keeping function | |
| JP7354170B2 (en) | Vehicle control device and vehicle control method | |
| US20230294695A1 (en) | Traveling assistance method, traveling assistance device, and storage medium | |
| JP7559675B2 (en) | Manager, control method, control program, and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |