CN114620075A - Vehicle take-over control method and system for automatic driving vehicle and automatic driving vehicle - Google Patents

Vehicle take-over control method and system for automatic driving vehicle and automatic driving vehicle Download PDF

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Publication number
CN114620075A
CN114620075A CN202210417243.XA CN202210417243A CN114620075A CN 114620075 A CN114620075 A CN 114620075A CN 202210417243 A CN202210417243 A CN 202210417243A CN 114620075 A CN114620075 A CN 114620075A
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driving mode
driver
vehicle
automatic driving
control method
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CN202210417243.XA
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禹尧
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Mercedes Benz Group AG
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Mercedes Benz Group AG
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Priority to CN202210417243.XA priority Critical patent/CN114620075A/en
Publication of CN114620075A publication Critical patent/CN114620075A/en
Priority to DE102023001505.9A priority patent/DE102023001505A1/en
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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
    • B60W60/0053—Handover processes from vehicle to occupant
    • 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
    • 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
    • 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
    • B60W2540/10—Accelerator pedal position
    • 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
    • B60W2540/18—Steering angle
    • 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
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/40—High definition maps

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention relates to the field of automatic driving of automobiles, in particular to a vehicle take-over control method for an automatic driving vehicle, which comprises the following steps: monitoring driver intervention during execution of the autonomous driving mode; judging whether the magnitude of the intervention operation of the driver exceeds a preset takeover threshold value or not; exiting the automatic driving mode and switching to a manual driving mode when the magnitude of the intervention operation exceeds a preset takeover threshold; after exiting the automatic driving mode, auxiliary measures are taken for intervention actions by the driver based on the information data during the automatic driving mode to assist the execution of the manual driving mode. A vehicle takeover control system, a computer program product and an autonomous vehicle are also provided. The information tracked by the automatic driving system when the automatic driving system exits is transmitted to each control unit related to the active safety through the intervention of a driver, so that the control unit related to the active safety of the automobile can timely and adaptively make reasonable response, and the functional safety of the whole automobile is improved.

Description

Vehicle take-over control method and system for automatic driving vehicle and automatic driving vehicle
Technical Field
The present invention relates to the field of automotive autopilot, in particular to a vehicle takeover control method for an autopilot, a vehicle takeover control system for an autopilot, a corresponding computer program product and a corresponding autopilot.
Background
Nowadays, the automatic driving technology of automobiles is more and more emphasized. Currently, the automation classification of automobile driving is widely used by the society of international automotive engineers to classify automatic driving into grades L0 to L5 in SAE J3016 classification standard: manual driving (level L0), assisted driving (level L1), partially automated driving (level L2), conditional automated driving (level L3), highly automated driving (level L4), and fully automated driving (level L5). Here, the automatic driving system of the automobile mainly refers to an automatic driving system from a level L3 to a level L5. Generally, the higher the degree of automation of the driving of the vehicle, the higher the automatic driving level, the more kinds and the higher the importance of the driving operation delivered to the intelligent in-vehicle system for control. Therefore, the higher the automatic driving level, the more the number and items of information required for the vehicle to execute the automatic driving function, the higher the demand for information accuracy. For example, autonomous vehicles are typically equipped with high-precision maps or have real-time map construction capabilities. This is completely different from a general navigation map for driving assistance of a non-autonomous vehicle.
But the maturity and reliability of the automatic control technology of the automatic driving system of the automobile are still evaluated differently at present. Especially when the decision of the automatic driving system conflicts with the decision of the driver (the backup user), the decision of which is more advantageous is still a long-standing topic. Particularly, before the current automatic driving technology is not proved to have the maturity and the reliability reaching a certain level, the relevant management method and/or the recommendation standard only indicate that the automatic driving system and the backup user have driving control right when making a decision to conflict, which solves the problem of responsibility judgment to a certain extent, but does not solve the problem of how to coordinate the conflict of the decision of the automatic driving system and the backup user to further improve the safety if the decision of the automatic driving system is better than the decision of the backup user, even if the decision of the backup user brings a safety hazard.
Disclosure of Invention
It is an object of the present invention to provide an improved vehicle take-over control method for an autonomous vehicle, an improved vehicle take-over control system for an autonomous vehicle, a corresponding computer program product and a corresponding autonomous vehicle, which solve at least some of the problems of the prior art.
According to a first aspect of the present invention, there is provided a vehicle take-over control method for an autonomous vehicle, comprising at least the steps of:
s100: monitoring driver intervention during execution of the autonomous driving mode;
s200: judging whether the magnitude of the intervention operation of the driver exceeds a preset takeover threshold value or not;
s300: under the condition that the magnitude of the intervention operation exceeds a preset takeover threshold value, exiting the automatic driving mode and switching to a manual driving mode;
s400: after exiting the autonomous driving mode, auxiliary measures are taken for intervention operations by the driver to assist in the execution of the manual driving mode, based on the information data during the autonomous driving mode.
According to an alternative embodiment of the invention, in step S400, the information data during the autonomous driving mode comprises at least one of the following information data:
environmental data during the autonomous driving mode, in particular high-precision maps and/or road condition information;
sensed data during the autonomous driving mode, in particular the relative position and/or speed and/or acceleration of nearby vehicles; and
an autonomous driving strategy, in particular a historical predicted driving route, during autonomous driving mode.
According to an alternative embodiment of the invention, the vehicle takeover control method comprises the steps of:
s101: monitoring a rotation angle of a steering wheel operated by a driver during execution of an automatic driving mode;
s201: judging whether the rotation angle of the steering wheel operated by the driver exceeds a preset steering wheel rotation threshold value or not;
s301: under the condition that the rotation angle of a steering wheel operated by a driver exceeds a preset steering wheel rotation threshold value, exiting from an automatic driving mode, switching to a manual driving mode and executing a steering instruction input by the driver through operating the steering wheel;
s401: after exiting the automatic driving mode, based on the information data, in particular the high-precision map and/or the road condition information, during the automatic driving mode, auxiliary measures are taken for the steering command input by the driver, in particular the adaptive headlight follow-up angle is controlled and/or an early warning is output, in particular an oversteer early warning and/or a lane departure early warning is output.
According to an alternative embodiment of the invention, the vehicle takeover control method comprises the steps of:
s102: monitoring the opening degree of an accelerator pedal operated by a driver during execution of an automatic driving mode;
s202: judging whether the opening of the accelerator pedal operated by the driver exceeds a preset accelerator pedal opening threshold value or not;
s302: under the condition that the opening degree of the accelerator pedal operated by the driver exceeds a preset accelerator pedal opening degree threshold value, exiting the automatic driving mode, switching to a manual driving mode and executing an acceleration instruction input by the driver through operating the accelerator pedal;
s402: after exiting the automatic driving mode, auxiliary measures are taken, in particular a preceding vehicle collision warning is output, for an acceleration command input by the driver, on the basis of information data during the automatic driving mode, in particular the relative position and/or speed and/or acceleration of the preceding vehicle.
According to an alternative embodiment of the invention, the vehicle takeover control method comprises the steps of:
s103: monitoring the opening degree of a brake pedal operated by a driver during execution of the automatic driving mode;
s203: judging whether the opening degree of the brake pedal operated by the driver exceeds a preset brake pedal opening degree threshold value or not;
s303: under the condition that the opening degree of the brake pedal operated by the driver exceeds a preset brake pedal opening degree threshold value, exiting the automatic driving mode, switching to a manual driving mode and executing a brake instruction input by the driver through operating the brake pedal;
s403: after exiting the automatic driving mode, auxiliary measures are taken for the braking command input by the driver, in particular a rear vehicle collision warning is output and/or a rear view image is delivered in real time, based on the information data during the automatic driving mode, in particular the relative position and/or speed and/or acceleration of the rear vehicle.
According to an alternative embodiment of the invention, in step S200, the duration of the intervention operation by the driver is taken into account when determining whether the magnitude of the intervention operation exceeds a preset takeover threshold, in case of a malfunction.
According to a second aspect of the present invention, there is provided a vehicle takeover control system for executing the vehicle takeover control method provided by the first aspect described above, including at least:
a monitoring unit for monitoring an intervention operation of a driver during execution of the automatic driving mode;
the judging unit is used for judging whether the magnitude of the intervention operation of the driver exceeds a preset takeover threshold value or not;
the quitting switching unit is used for quitting the automatic driving mode and switching the automatic driving mode into the manual driving mode under the condition that the magnitude of the intervention operation exceeds a preset takeover threshold value; and
a manual driving assistance unit for taking an assistance measure for an intervention operation of the driver based on the information data during the automatic driving mode after exiting the automatic driving mode to assist execution of the manual driving mode.
According to an alternative embodiment of the invention, the manual driving assistance unit comprises:
an early warning output module for outputting an early warning, in particular an oversteer early warning and/or a front vehicle collision early warning and/or a rear vehicle collision early warning and/or a lane departure early warning, preferably in a visual and/or audible manner, on the basis of information data, in particular environmental data and/or sensing data, during the automatic driving mode; and/or
An illumination control module for controlling the illumination direction and/or illumination magnitude of the adaptive headlamps in accordance with driver input instructions and in accordance with current road conditions on the basis of information data, in particular road conditions and/or high-precision maps, during the automatic driving mode; and/or
And the rear-view image real-time releasing module is used for releasing the rear-view image in real time so as to ensure that a driver acquires the rear vehicle information.
According to a third aspect of the present invention, there is provided a computer program product comprising computer program instructions, wherein the computer program instructions, when executed by a processor, implement the steps of the vehicle takeover control method provided by the first aspect described above.
According to a fourth aspect of the present invention, there is provided an autonomous vehicle comprising the vehicle takeover control system provided by the second aspect above and/or the computer program product provided by the third aspect above.
Through the embodiment provided by the invention, the information tracked by the automatic driving system at the exit moment of the automatic driving system is transmitted to each control unit related to the active safety through the intervention of the driver, so that the control unit related to the active safety of the automobile can timely and adaptively make reasonable response, and the functional safety of the whole automobile is further improved.
Drawings
The principles, features and advantages of the present invention may be better understood by describing the invention in more detail below with reference to the accompanying drawings. The drawings comprise:
FIG. 1 shows a flow chart of a vehicle takeover control method for an autonomous vehicle according to one embodiment of the invention;
FIG. 2 illustrates a structural framework diagram of a vehicle takeover control system for an autonomous vehicle in accordance with an embodiment of the present invention;
FIG. 3A shows a flow chart of a vehicle takeover control method for an autonomous vehicle according to one embodiment of the invention;
FIG. 3B shows a flow chart of a vehicle takeover control method for an autonomous vehicle in accordance with one embodiment of the present invention;
FIG. 3C shows a flow chart of a vehicle takeover control method for an autonomous vehicle in accordance with an embodiment of the invention;
FIG. 4A illustrates an application scenario diagram of a vehicle takeover control method for an autonomous vehicle according to an embodiment of the invention;
fig. 4B shows a schematic application scenario diagram based on the direction of the line of sight of the driver of the autonomous vehicle according to the embodiment shown in fig. 4A.
Detailed Description
In order to make the technical problems, technical solutions and advantageous technical effects of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and several embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention.
Before explaining the embodiments of the present invention in detail, the inventive concept of the present invention will be briefly described again herein. According to one aspect of the present invention there is provided a vehicle take-over control method for an autonomous vehicle, the method comprising at least the steps of: monitoring driver intervention during execution of the autonomous driving mode; judging whether the magnitude of the intervention operation of the driver exceeds a preset takeover threshold value or not; under the condition that the magnitude of the intervention operation exceeds a preset takeover threshold value, exiting the automatic driving mode and switching to a manual driving mode; after exiting the autonomous driving mode, auxiliary measures are taken for intervention operations by the driver to assist in the execution of the manual driving mode, based on the information data during the autonomous driving mode.
Through the embodiment provided by the invention, the information tracked by the automatic driving system at the exit moment of the automatic driving system is transmitted to each control unit related to the active safety through the intervention of the driver, so that the control unit related to the active safety of the automobile can timely and adaptively make reasonable response, and the functional safety of the whole automobile is further improved.
Fig. 1 shows a flow chart of a vehicle takeover control method for an autonomous vehicle ADV according to an embodiment of the invention. As shown in fig. 1, a vehicle takeover control method for an autonomous vehicle ADV according to one embodiment of the present invention includes at least the steps of:
s100: monitoring driver intervention during execution of the autonomous driving mode M1;
s200: judging whether the magnitude A1 of the intervention operation of the driver exceeds a preset takeover threshold A0;
alternatively, in step S200, the preset takeover threshold a0 can be both an absolute threshold and a relative threshold, for example given in percentage;
optionally, in step S200, the duration of the intervention operation is taken into account when determining whether the magnitude a1 of the intervention operation by the driver exceeds a preset takeover threshold a0, in case of a malfunction;
s300: in the case where the magnitude a1 of the intervening operation exceeds the preset takeover threshold a0, exiting the automatic driving mode M1 and switching to the manual driving mode M2;
it should be understood here that step S300' is also included: in the case where the magnitude a1 of the intervention operation does not exceed the preset takeover threshold a0, continuing to execute the automatic driving mode M1 and returning to execute step S100;
s400: after exiting the automatic driving mode M1, taking an auxiliary measure for the intervention operation of the driver to assist the execution of the manual driving mode M2, based on the information data during the automatic driving mode M1;
alternatively, in step S400, the assistance measures taken for the intervention operation by the driver based on the information data during the autonomous driving mode M1 can be active both at the instant of exiting the autonomous driving mode M1 and for a period of time that continues after exiting the autonomous driving mode M1.
According to one embodiment of the present invention, in step S400, the information data during the automatic driving mode M1 includes at least one of the following information data:
environmental data, in particular high-precision maps and/or road condition information, during the automatic driving mode M1;
sensed data during the autonomous driving mode M1, in particular the relative position and/or speed and/or acceleration of nearby vehicles; and
the autonomous driving strategy, particularly the historical predicted driving route, during the autonomous driving mode M1.
The environmental data, sensed data and autonomous driving strategy during the autonomous driving mode M1 are shown schematically in particular in fig. 2, which will be described shortly. These information data during the automatic driving mode M1 are understood here to be, in particular, information data which are automatically acquired or automatically calculated or automatically analyzed by the automatic driving system during the automatic driving mode M1 and which were originally acquired for the purpose of assisting the automatic driving system in carrying out the automatic driving mode M1.
Fig. 2 shows a structural framework diagram of a vehicle takeover control system 100 for an autonomous vehicle ADV according to an embodiment of the present invention. As shown in fig. 2, a vehicle takeover control system 100 for an autonomous vehicle ADV according to an embodiment of the invention includes at least:
a monitoring unit 10 for monitoring an intervention operation of the driver during execution of the automatic driving mode M1;
a judging unit 20 for judging whether the magnitude a1 of the intervention operation by the driver exceeds a preset takeover threshold a 0;
an exit switching unit 30 for exiting the automatic driving mode M1 and switching to the manual driving mode M2 in a case where the magnitude a1 of the intervention operation exceeds a preset takeover threshold a 0; and
a manual driving assistance unit 40 for taking an assistance measure for an intervention operation of the driver to assist the execution of the manual driving mode M2 based on the information data during the automatic driving mode M1 after exiting the automatic driving mode M1.
As schematically shown in fig. 2, in the vehicle takeover control system 100 for the autonomous vehicle ADV according to one embodiment of the present invention, there is an autonomous driving data set in which various information data of the autonomous vehicle ADV during execution of the autonomous driving mode M1, in particular, environmental data (such as high-precision map and/or road condition information), sensing data (such as relative position and/or speed and/or acceleration of nearby vehicles), and an autonomous driving strategy (such as historical predicted driving route) and the like are saved. In conjunction with the vehicle takeover control method shown in fig. 1, after exiting the automated driving mode M1 in step S400, the manual driving assistance unit 40 takes assistance measures for driver' S intervention operations to assist the execution of the manual driving mode M2 based on various information data during the automated driving mode M1, as particularly shown in fig. 2.
Alternatively, the manual driving assist unit 40 includes:
an alert output module 41 for outputting (preferably visually and/or audibly outputting) an alert (in particular an oversteer alert and/or a front vehicle collision alert and/or a rear vehicle collision alert and/or a lane departure alert) based on the information data (in particular the environmental data and/or the sensed data) during the automatic driving mode M1; and/or
An illumination control module 42 for controlling the illumination direction and/or illumination magnitude of the adaptive headlights in accordance with driver input instructions and in accordance with the current road conditions on the basis of information data, in particular road conditions and/or high-precision maps, during the automatic driving mode M1; and/or
And the rear-view image real-time releasing module 43 is used for releasing the rear-view image in real time so as to ensure that the driver obtains the rear vehicle information.
With respect to the specific application scenarios of the early warning output module 41, the lighting control module 42 and the real-time rear-view image delivery module 43 of the manual driving assistance unit 40, the following description will be given together with the description of the embodiments with reference to fig. 4A and 4B.
In an alternative embodiment provided based on the embodiment shown in fig. 1, fig. 3A shows a flow chart of a vehicle takeover control method for an autonomous vehicle ADV according to an embodiment of the invention. As shown in fig. 3A, a vehicle takeover control method for an autonomous vehicle ADV according to one embodiment of the present invention includes the steps of:
s101: during the execution of the automatic driving mode M1, the rotation angle of the steering wheel operated by the driver is monitored;
s201: judging whether the rotation angle of the steering wheel operated by the driver exceeds a preset steering wheel rotation threshold value or not;
s301: when the rotation angle of the steering wheel operated by the driver exceeds a preset steering wheel rotation threshold value, exiting the automatic driving mode M1 and switching to the manual driving mode M2 and executing a steering command input by the driver through operating the steering wheel;
it should be understood here that step S301' is also included: under the condition that the rotation angle of the steering wheel operated by the driver does not exceed the preset steering wheel rotation threshold, the automatic driving mode M1 is continuously executed, and the step S101 is returned to;
s401: after exiting the automatic driving mode M1, based on the information data, in particular the high-precision map and/or the road condition information, during the automatic driving mode M1, assistance is taken with respect to the steering command input by the driver, in particular the adaptive headlamp follow-up angle is controlled and/or an early warning is output, in particular an oversteer early warning and/or a lane departure early warning is output.
Optionally, in step S401, for example, when it is detected that the rotation angle of the steering wheel operated by the driver is larger than the rotation angle of the steering wheel set by the automatic driving system, the information is preferably transmitted to a Lane Departure Warning System (LDWS) of the vehicle collision prevention warning system, so that the lane departure warning system adjusts parameters to perform early warning.
In an alternative embodiment provided based on the embodiment shown in fig. 1, fig. 3B shows a flow chart of a vehicle takeover control method for an autonomous vehicle ADV according to an embodiment of the invention. As shown in fig. 3B, a vehicle takeover control method for an autonomous vehicle ADV according to an embodiment of the present invention includes the steps of:
s102: during execution of the automatic driving mode M1, the opening degree of the accelerator pedal operated by the driver is monitored;
s202: judging whether the opening of the accelerator pedal operated by the driver exceeds a preset accelerator pedal opening threshold value or not;
s302: in the case where the opening degree of the accelerator pedal operated by the driver exceeds a preset accelerator pedal opening degree threshold, exiting the automatic driving mode M1 and switching to the manual driving mode M2 and executing an acceleration instruction input by the driver by operating the accelerator pedal;
it should be understood here that step S302' is also included: in the case that the opening degree of the accelerator pedal operated by the driver does not exceed the preset accelerator pedal opening degree threshold, continuing to execute the automatic driving mode M1 and returning to execute the step S102;
s402: after exiting the automatic driving mode M1, based on the information data during the automatic driving mode M1, in particular the relative position and/or speed and/or acceleration of the preceding vehicle, auxiliary measures are taken for the acceleration command input by the driver, in particular a preceding vehicle collision warning is output.
Alternatively, in step S402, for example, when it is detected that the opening degree of the accelerator pedal operated by the driver is larger than the opening degree of the accelerator pedal set by the automatic driving system, the information is preferably transmitted to a Front Collision Warning System (FCWS) of the vehicle collision warning system, so that the front collision warning system adjusts parameters to perform early warning.
In an alternative embodiment provided based on the embodiment shown in fig. 1, fig. 3C shows a flow chart of a vehicle takeover control method for an autonomous vehicle ADV according to an embodiment of the invention. As shown in fig. 3C, a vehicle takeover control method for an autonomous vehicle ADV according to an embodiment of the present invention includes the steps of:
s103: during execution of the automatic driving mode M1, the opening degree of the brake pedal operated by the driver is monitored;
s203: judging whether the opening degree of the brake pedal operated by the driver exceeds a preset brake pedal opening degree threshold value or not;
s303: when the opening degree of the brake pedal operated by the driver exceeds a preset brake pedal opening degree threshold value, the automatic driving mode M1 is exited, the manual driving mode M2 is switched, and a braking instruction input by the driver through the operation of the brake pedal is executed;
it should be understood here that step S303' is also included: in the case that the opening degree of the driver operating the brake pedal does not exceed the preset brake pedal opening degree threshold value, continuing to execute the automatic driving mode M1 and returning to execute the step S103;
s403: after exiting the automatic driving mode M1, based on the information data during the automatic driving mode M1, in particular the relative position and/or speed and/or acceleration of the rear vehicle, assistance is taken with respect to the braking instruction input by the driver, in particular a rear vehicle collision warning is output and/or a rear view image is projected in real time.
Alternatively, in step S403, for example, when it is detected that the opening degree of the brake pedal operated by the driver is larger than the opening degree of the brake pedal set by the automatic driving system, the information is preferably transmitted to a vehicle distance monitoring and warning system (HMWS) of the vehicle collision prevention and warning system, so that the vehicle distance monitoring and warning system adjusts parameters to perform early warning.
Fig. 4A shows an application scenario of the vehicle takeover control method for an autonomous vehicle ADV according to an embodiment of the present invention. As schematically shown in fig. 4A, the autonomous vehicle ADV has assumed the autonomous driving mode M1 in the first road segment L1 and the road segments ahead thereof, and then at the intersection between the first road segment L1 and the second road segment L2, the driver of the autonomous vehicle ADV turns the steering wheel of the autonomous vehicle ADV and the duration exceeds the preset time threshold, then the vehicle takeover control system 100 for the autonomous vehicle ADV according to one embodiment of the present invention determines whether the magnitude a1 of the intervention operation by the driver (here, the turning angle of the driver' S operation steering wheel) exceeds the preset takeover threshold a0 (here, the preset steering wheel turning threshold) based on the steps S101 and S201 of the vehicle takeover control method described above in conjunction with fig. 1 and 3A, and in particular fig. 3A. In the scenario illustrated schematically in fig. 4A, the vehicle takeover control system 100 determines that the rotation angle of the steering wheel operated by the driver exceeds the preset steering wheel rotation threshold, and the vehicle takeover control system 100 controls the autonomous vehicle ADV to exit the autonomous mode M1 (e.g., exit the lateral control or exit both the longitudinal and lateral controls) and to execute the manual driving mode M2 on the next trip and thereby execute the steering command input by the driver via the steering wheel, such as steering by 30 °. Thus, based on a steering command input by the driver by operating the steering wheel, the autonomous vehicle ADV implementing the manual driving mode M2 will be steered 30 ° and the adaptive headlamps of the autonomous vehicle ADV should also be steered following the turning angle of the steering wheel by 30 °. However, when the vehicle takeover control system 100 determines that the second road segment L2 is a bidirectional lane based on the environmental data (especially, high-precision map and/or road condition information) collected previously during the automatic driving mode M1, if the vehicle is steered by 30 ° according to the steering command input by the driver through the operation of the steering wheel, the illumination range of the adaptive headlamps may not be sufficient to cover the opposite lane, so that the driver of the automatic driving vehicle ADV may ignore the opposite coming vehicle V, the opposite coming vehicle V may ignore the own vehicle, or the driver of the automatic driving vehicle ADV may ignore the roadside important sign S (as schematically shown in fig. 4A). Thus, the vehicle takeover control system 100 issues a reminder to the driver of the autonomous vehicle ADV based on the environmental data previously collected during the autonomous mode M1 (in a manner that will be described in particular with reference to fig. 4B, which will be described immediately below), or directly controls the follow-up angle of the adaptive headlamps of the autonomous vehicle ADV to be implemented to be sufficient to be able to cover the illumination range of the current road segment. For clarity of comparison, fig. 4A schematically shows the illumination range of an adaptive headlamp not employing the vehicle take-over control method according to the present invention in solid lines and the illumination range of an adaptive headlamp employing the vehicle take-over control method according to the present invention in dashed lines. As schematically shown in fig. 4A, the illumination range of the adaptive headlamp employing the vehicle takeover control method for an autonomous vehicle ADV according to one embodiment of the present invention is sufficient to be able to cover the current road section, particularly, the important signs S of the oncoming vehicle V and the roadside in another reverse lane. Optionally, the vehicle takeover control system 100 may also increase the illumination intensity if necessary, based on environmental data previously collected during the automatic driving mode M1, in particular if, for example, it is known that the current road section is not illuminated sufficiently. Thus, even if the autonomous vehicle ADV has exited the autonomous driving mode M1 and executed the manual driving mode M2, the vehicle takeover control system 100 provides assistance to the driver of the autonomous vehicle ADV based on the information data previously collected during the autonomous driving mode M1, such that, for example, the illumination of the adaptive headlamps is based not only on driver inputs but also on road conditions, thereby enabling the driver's requirements for illumination to be met.
Fig. 4B shows a schematic application scenario diagram of the direction of sight of the driver based on the autonomous vehicle ADV according to the embodiment shown in fig. 4A. The upper view of fig. 4B schematically illustrates an off-board scene as seen from the driver's perspective of the autonomous vehicle ADV, in particular schematically illustrating the light coverage achieved by the lighting control module 42 of the manual driving assistance unit 40 of the vehicle takeover control system 100 for the autonomous vehicle ADV according to one embodiment of the present invention, thereby enabling the driver of the autonomous vehicle ADV to obtain improved light assistance even after exiting the autonomous driving mode M1. The lower view of fig. 4B schematically shows an in-vehicle part view from the driver's perspective of the autonomous vehicle ADV, in particular schematically showing exemplary locations of the early warning output module 41 and the real-time rear view image delivery module 43 of the manual driving assistance unit 40 of the vehicle takeover control system 100 for the autonomous vehicle ADV according to an embodiment of the invention, preferably in the form of a user interface. Especially in the case, for example, of the embodiment described with reference to fig. 4A, i.e. in which a steering command input by the driver by operating the steering wheel after exiting the automatic driving mode M1 may result in an insufficient illumination range of the adaptive headlights to cover the active area, the vehicle takeover control system 100 issues a reminder to the driver of the automatic driving vehicle ADV, especially by means of the warning output module 41, to display or broadcast a reminder to him that he may oversteer, on the basis of the environmental data (especially high-precision maps and/or road condition information) previously acquired during the automatic driving mode M1. In another scenario, for example, where the vehicle takeover control system 100 according to an embodiment of the present invention detects an intervention command for driver braking and/or emergency braking of the autonomous vehicle ADV, and the sensors of the autonomous vehicle ADV detect and/or track that the relative position, velocity, acceleration state of the following vehicle may collide with the host vehicle with higher deceleration, the information is preferably transmitted to an indication and alarm device, thereby alerting the driver by means of, for example, a chart, an audible alarm, a rear view video real-time delivery, etc. Here, as schematically shown in fig. 4B, the real-time rear view image delivery module 43, which is also integrated in the center console, delivers the rear view image in real time, which ensures that the driver of the autonomous vehicle ADV can still accurately obtain the rear vehicle information even after exiting the autonomous driving mode M1.
An aspect according to the invention also relates to a computer program product comprising computer program instructions, wherein the computer program instructions, when executed by a processor, perform the steps of the vehicle takeover control method according to an embodiment of the invention, for example based on the steps in the alternative embodiments shown in fig. 1, 3A, 3B, 3C.
Although specific embodiments of the invention have been described herein in detail, they have been presented for purposes of illustration only and are not to be construed as limiting the scope of the invention. Various substitutions, alterations, and modifications may be devised without departing from the spirit and scope of the present invention.

Claims (10)

1. A vehicle takeover control method for an autonomous vehicle (ADV), comprising at least the steps of:
s100: monitoring driver intervention during execution of the autonomous driving mode (M1);
s200: determining whether the magnitude of the driver's intervention operation (a1) exceeds a preset takeover threshold (a 0);
s300: in the event that the magnitude of the intervention operation (a1) exceeds a preset takeover threshold (a0), exiting the automatic driving mode (M1) and switching to the manual driving mode (M2);
s400: after exiting the autonomous driving mode (M1), an assistance measure is taken for an intervention operation of the driver to assist the execution of the manual driving mode (M2) based on the information data during the autonomous driving mode (M1).
2. The vehicle takeover control method according to claim 1, wherein,
in step S400, the information data during the automatic driving mode (M1) includes at least one of the following information data:
environmental data, in particular high-precision maps and/or road condition information, during the autonomous driving mode (M1);
sensed data during the autonomous driving mode (M1), in particular the relative position and/or speed and/or acceleration of nearby vehicles; and
an autonomous driving strategy, in particular a historical predicted driving route, during the autonomous driving mode (M1).
3. The vehicle takeover control method according to claim 1 or 2, wherein the vehicle takeover control method includes the steps of:
s101: monitoring a turning angle of a steering wheel operated by a driver during execution of the automatic driving mode (M1);
s201: judging whether the rotation angle of the steering wheel operated by the driver exceeds a preset steering wheel rotation threshold value or not;
s301: exiting the automatic driving mode (M1) and switching to the manual driving mode (M2) and executing a steering command input by the driver through operating the steering wheel when the rotation angle of the steering wheel operated by the driver exceeds a preset steering wheel rotation threshold;
s401: after exiting the automatic driving mode (M1), based on the information data, in particular the high-precision map and/or the road condition information, during the automatic driving mode (M1), auxiliary measures are taken for the steering commands entered by the driver, in particular the adaptive headlamp follow-up angle is controlled and/or an early warning, in particular an oversteer early warning and/or a lane departure early warning is output.
4. The vehicle takeover control method according to any one of claims 1 to 3, wherein said vehicle takeover control method includes the steps of:
s102: during execution of the automatic driving mode (M1), monitoring the opening degree of an accelerator pedal operated by the driver;
s202: judging whether the opening of the accelerator pedal operated by the driver exceeds a preset accelerator pedal opening threshold value or not;
s302: when the opening degree of the accelerator pedal operated by the driver exceeds a preset accelerator opening degree threshold value, exiting the automatic driving mode (M1) and switching to the manual driving mode (M2) and executing an acceleration instruction input by the driver through the operation of the accelerator pedal;
s402: after exiting the automatic driving mode (M1), based on the information data during the automatic driving mode (M1), in particular the relative position and/or speed and/or acceleration of the preceding vehicle, assistance is taken with respect to the acceleration command input by the driver, in particular a preceding vehicle collision warning is output.
5. The vehicle takeover control method according to any one of claims 1 to 4, wherein said vehicle takeover control method includes the steps of:
s103: during execution of the automatic driving mode (M1), monitoring the opening degree of the brake pedal operated by the driver;
s203: judging whether the opening degree of the brake pedal operated by the driver exceeds a preset brake pedal opening degree threshold value or not;
s303: in the case that the opening degree of the brake pedal operated by the driver exceeds a preset brake pedal opening degree threshold value, exiting the automatic driving mode (M1) and switching to the manual driving mode (M2) and executing a braking instruction input by the driver through the operation of the brake pedal;
s403: after exiting the automatic driving mode (M1), auxiliary measures are taken for the braking commands entered by the driver, in particular a rear-vehicle collision warning is output and/or rear-view images are projected in real time, on the basis of the information data during the automatic driving mode (M1), in particular the relative position and/or speed and/or acceleration of the rear vehicle.
6. The vehicle takeover control method according to any one of claims 1 to 5, wherein,
in step S200, the duration of the intervention operation by the driver is taken into account when determining whether the magnitude (a1) of the intervention operation exceeds a preset takeover threshold (a0) in order to prevent malfunction.
7. A vehicle takeover control system (100) for carrying out the vehicle takeover control method according to any one of claims 1 to 6, comprising at least:
a monitoring unit (10) for monitoring a driver's intervention operation during execution of the autonomous driving mode (M1);
a determination unit (20) for determining whether the magnitude (A1) of the intervention operation by the driver exceeds a preset takeover threshold (A0);
an exit switching unit (30) for exiting the automatic driving mode (M1) and switching to the manual driving mode (M2) if the magnitude (a1) of the intervention operation exceeds a preset takeover threshold (a 0); and
a manual driving assistance unit (40) for taking an assistance measure for an intervention operation of the driver to assist the execution of the manual driving mode (M2) based on the information data during the autonomous driving mode (M1) after exiting the autonomous driving mode (M1).
8. The vehicle takeover control system (100) of claim 7 wherein,
the manual driving assistance unit (40) includes:
an early warning output module (41) for outputting an early warning, in particular an oversteer early warning and/or a front vehicle collision early warning and/or a rear vehicle collision early warning and/or a lane departure early warning, preferably in a visual and/or audible manner, on the basis of the information data, in particular the environmental data and/or the sensed data, during the automatic driving mode (M1); and/or
An illumination control module (42) for controlling the illumination direction and/or illumination magnitude of the adaptive headlights according to driver input instructions and according to the current road conditions on the basis of information data, in particular road conditions and/or high-precision maps, during the automatic driving mode (M1); and/or
And the rear-view image real-time releasing module (43) is used for releasing the rear-view image in real time so as to ensure that a driver obtains the rear vehicle information.
9. A computer program product comprising computer program instructions, wherein the computer program instructions, when executed by a processor, implement the vehicle takeover control method according to any one of claims 1 to 6.
10. An autonomous vehicle (ADV) comprising a vehicle takeover control system (100) according to claim 7 or 8 and/or a computer program product according to claim 9.
CN202210417243.XA 2022-04-20 2022-04-20 Vehicle take-over control method and system for automatic driving vehicle and automatic driving vehicle Pending CN114620075A (en)

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DE102023001505.9A DE102023001505A1 (en) 2022-04-20 2023-04-17 Control method and system for taking over vehicle control for a self-driving vehicle and self-driving vehicle

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115009355A (en) * 2022-07-08 2022-09-06 北京汽车研究总院有限公司 Vehicle control method, device, vehicle and storage medium
CN116238544A (en) * 2023-05-12 2023-06-09 禾多科技（北京）有限公司 Running control method and system for automatic driving vehicle
CN117492480A (en) * 2024-01-03 2024-02-02 安徽中科星驰自动驾驶技术有限公司 Driving mode switching and controlling method and system for automatic driving vehicle
CN117931682A (en) * 2024-03-25 2024-04-26 中国汽车技术研究中心有限公司 Man-machine adapter testing platform and testing method for automatic driving automobile

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115009355A (en) * 2022-07-08 2022-09-06 北京汽车研究总院有限公司 Vehicle control method, device, vehicle and storage medium
CN115009355B (en) * 2022-07-08 2024-01-12 北京汽车研究总院有限公司 Vehicle control method, device, vehicle and storage medium
CN116238544A (en) * 2023-05-12 2023-06-09 禾多科技（北京）有限公司 Running control method and system for automatic driving vehicle
CN116238544B (en) * 2023-05-12 2023-07-14 禾多科技（北京）有限公司 Running control method and system for automatic driving vehicle
CN117492480A (en) * 2024-01-03 2024-02-02 安徽中科星驰自动驾驶技术有限公司 Driving mode switching and controlling method and system for automatic driving vehicle
CN117931682A (en) * 2024-03-25 2024-04-26 中国汽车技术研究中心有限公司 Man-machine adapter testing platform and testing method for automatic driving automobile

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