CN116142168A - Automatic driving transverse movement control take-over method, device and system and vehicle - Google Patents

Abstract

The invention discloses an automatic driving transverse movement control take-over method, an automatic driving transverse movement control take-over device, an automatic driving transverse movement control take-over system and a vehicle. The method comprises the following steps: acquiring a hand torque applied to a steering wheel, the duration of the hand torque and the current vehicle speed; determining corresponding take-over conditions according to the current vehicle speed; and when the hand torque and the duration time of the hand torque meet the connection pipe condition, controlling the electronic power steering system to withdraw from the transverse motion control function. According to the method, when the takeover conditions are different when the vehicle speeds are different, the electronic power steering system is controlled to withdraw from the transverse motion control function when the hand torque and the duration time of the hand torque meet the takeover conditions corresponding to the current vehicle speed, so that the driver can quickly and safely take over the steering wheel control under different vehicle speed states.

Description

Automatic driving transverse movement control take-over method, device and system and vehicle

Technical Field

The invention relates to the technical field of control, in particular to an automatic driving transverse movement control takeover method, an automatic driving transverse movement control takeover device, an automatic driving transverse movement control takeover system, a vehicle and automatic driving transverse movement control takeover equipment.

Background

With the development of the social economy level, the automatic driving function of the vehicle is mainly realized by the longitudinal motion control and the transverse motion control, and the transverse control of the automatic driving is divided into two scenes of high-speed driving and low-speed parking.

In the prior art, in the high-speed driving stage of a vehicle, when the driver needs to take over the steering wheel, the driver needs to meet the two conditions that the hand torque value is larger than a preset value and the preset fixed time is continuous, so that the steering wheel can be taken over, however, when the vehicle speed is higher, unexpected steering is likely to occur, and if the hand torque is smaller, the taking over condition cannot be met, and the steering wheel cannot be taken over; if the hand moment is large, the phenomenon of beating hands is easy to occur, so that driving experience is poor, and safety risks exist.

Disclosure of Invention

Based on the problems, the invention provides an automatic driving transverse movement control takeover method, an automatic driving transverse movement control takeover device, an automatic driving transverse movement control takeover system, a vehicle and automatic driving transverse movement control takeover equipment, and the automatic driving transverse movement control takeover method, the automatic driving transverse movement control takeover system, the vehicle and the automatic driving transverse movement control takeover equipment can quickly and safely realize the control of taking over of a steering wheel by a driver under different vehicle speed states.

The invention discloses the following technical scheme:

the first aspect of the present invention provides an autopilot lateral motion control takeover method, comprising:

acquiring a hand torque applied to a steering wheel, the duration of the hand torque and the current vehicle speed;

determining corresponding take-over conditions according to the current vehicle speed;

and when the hand torque and the duration time of the hand torque meet the connection pipe condition, controlling the electronic power steering system to withdraw from the transverse motion control function.

In one possible implementation, determining the corresponding takeover condition according to the current vehicle speed includes:

when the current vehicle speed is greater than or equal to a vehicle speed threshold value, determining a first take-over condition;

the first takeover condition includes: the integral value of the hand torque over the duration is greater than or equal to an integral threshold.

In one possible implementation, determining the corresponding takeover condition according to the current vehicle speed includes:

when the current vehicle speed is smaller than the vehicle speed threshold value, determining a second take-over condition;

the second takeover condition includes: the hand torque is greater than the torque threshold and the duration of the hand torque is greater than the time threshold.

In one possible implementation, when the hand torque and the duration of the hand torque meet the takeover condition, controlling the electronic power steering system to exit the lateral motion control function includes:

and when the hand torque and the duration of the hand torque meet the takeover condition, sending a request for exiting the transverse control to the electronic power steering system so that the electronic power steering system exits the transverse motion control of the vehicle in response to the request for exiting the transverse control.

A second aspect of the present invention provides an autopilot lateral motion control takeover apparatus comprising:

an acquisition unit configured to acquire a hand torque applied to a steering wheel, a duration of the hand torque, and a current vehicle speed;

the takeover condition determining unit is used for determining corresponding takeover conditions according to the current vehicle speed;

and the control unit is used for controlling the electronic power steering system to withdraw from the transverse motion control function when the hand torque and the duration time of the hand torque meet the connection pipe condition.

In one possible implementation manner, the takeover condition determining unit is specifically configured to:

when the current vehicle speed is greater than or equal to a vehicle speed threshold value, determining a first take-over condition;

the first takeover condition includes: the integral value of the hand torque over the duration is greater than or equal to an integral threshold.

In one possible implementation manner, the takeover condition determining unit is specifically configured to:

when the current vehicle speed is smaller than the vehicle speed threshold value, determining a second take-over condition;

the second takeover condition includes: the hand torque is greater than the torque threshold and the duration of the hand torque is greater than the time threshold.

A third aspect of the invention provides a vehicle including a controller for executing the automated lateral motion control take-over method according to any one of the first aspect of the invention.

A fourth aspect of the present invention provides an automatic driving lateral movement control takeover apparatus characterized by comprising: the automatic driving transverse motion control taking-over method comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the automatic driving transverse motion control taking-over method according to any one of the first aspect of the invention when executing the computer program.

A fifth aspect of the present invention provides an autopilot lateral motion control takeover system comprising: an intelligent driving controller and an electronic power steering system;

the electronic power steering system is used for controlling the transverse movement of the vehicle in an automatic driving state;

the intelligent driving controller is used for acquiring hand torque applied to a steering wheel, duration time of the hand torque and current vehicle speed; determining corresponding take-over conditions according to the current vehicle speed; and when the hand torque and the duration time of the hand torque meet the connection pipe condition, controlling the electronic power steering system to withdraw from the transverse motion control function.

Compared with the prior art, the invention has the following beneficial effects:

the invention provides an automatic driving transverse movement control takeover method, which comprises the following steps: acquiring a hand torque applied to a steering wheel, the duration of the hand torque and the current vehicle speed; determining corresponding take-over conditions according to the current vehicle speed; and when the hand torque and the duration time of the hand torque meet the connection pipe condition, controlling the electronic power steering system to withdraw from the transverse motion control function. According to the method, when the takeover conditions are different when the vehicle speeds are different, the electronic power steering system is controlled to withdraw from the transverse motion control function when the hand torque and the duration time of the hand torque meet the takeover conditions corresponding to the current vehicle speed, so that the driver can quickly and safely take over the steering wheel control under different vehicle speed states.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.

FIG. 1 is a flow chart of an automatic driving lateral movement control takeover method provided by an embodiment of the invention;

fig. 2 is a schematic application scenario diagram of an autopilot lateral motion control takeover method according to an embodiment of the present application;

FIG. 3 is a block diagram of an autopilot lateral motion control take over system according to one embodiment of the present invention;

fig. 4 is a block diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of embodiments of the invention will be rendered by reference to the appended drawings and appended drawings.

As described above, in the present driver take over strategy for lateral motion control, in the high-speed driving stage of the vehicle, when the driver needs to take over the steering wheel, two conditions that the hand torque value is greater than the preset value and the fixed time is continuously preset are required to be satisfied at the same time to take over the steering wheel, however, when the vehicle speed is higher, unexpected steering is likely to occur, if the hand torque is smaller, the steering cannot be taken over, if the hand torque is larger, the phenomenon of the driver is likely to occur, so that driving experience is poor, and safety risks exist.

In view of the above, embodiments of the present invention provide an autopilot lateral motion control takeover method, apparatus, system, vehicle and device. The method comprises the following steps: acquiring a hand torque applied to a steering wheel, the duration of the hand torque and the current vehicle speed; determining corresponding take-over conditions according to the current vehicle speed; and when the hand torque and the duration time of the hand torque meet the connection pipe condition, controlling the electronic power steering system to withdraw from the transverse motion control function. According to the method, when the takeover conditions are different when the vehicle speeds are different, the electronic power steering system is controlled to withdraw from the transverse motion control function when the hand torque and the duration time of the hand torque meet the takeover conditions corresponding to the current vehicle speed, so that the driver can quickly and safely take over the steering wheel control under different vehicle speed states.

Referring to fig. 1, a flowchart of an autopilot lateral motion control takeover method according to an embodiment of the present invention is provided. The method is applicable to an intelligent driving controller, as shown in fig. 1, and comprises the following steps:

s110, acquiring a hand torque applied to a steering wheel, the duration of the hand torque and the current vehicle speed.

In this embodiment, it can be understood that, in the automatic driving mode, when the driver does not operate the steering wheel, the pressure value acquired by the pressure sensor is smaller than the preset pressure threshold, and when the pressure value acquired by the pressure sensor suddenly increases, the pressure value is larger than the preset pressure threshold, that is, the pressure value indicates that the driver has started to operate the current steering wheel, and at this time, the moment sensor is immediately activated to acquire the moment input by the driver on the current steering wheel through the moment sensor in real time.

S120, determining corresponding take-over conditions according to the current vehicle speed.

For automatic driving transverse control, the automatic driving transverse control is divided into two scenes of high-speed driving and low-speed parking, and different takeover conditions are respectively set for different vehicle speed scenes due to different physical conditions of motion in the two scenes.

The implementation of the invention provides a specific implementation mode of S120, as described in A1-A2:

in one possible implementation, S120 includes:

a1: when the current vehicle speed is greater than or equal to a vehicle speed threshold value, determining a first take-over condition; the first takeover condition includes: the integral value of the hand torque over the duration is greater than or equal to an integral threshold.

When the moment is large enough, the integral value of the hand moment in a shorter duration is larger than the integral threshold, so that the driver can be supported to control the lateral movement of the inner joint tube in a shorter time, and the phenomenon of a beater is avoided.

A2: when the current vehicle speed is smaller than the vehicle speed threshold value, determining a second take-over condition; the second takeover condition includes: the hand torque is greater than the torque threshold and the duration of the hand torque is greater than the time threshold.

In this embodiment, the vehicle speed threshold is 20kph, and is higher than 20kph and lower than 20 kph.

When the vehicle runs at a low speed, the rotation angle value and the rotation angle speed required by the transverse control are larger than those of the vehicle at a high speed, larger hand torque can be generated, if an equivalent integration strategy is adopted, the transverse control frequently exits at the low speed, so that the hand torque is larger than a torque threshold value, and the duration time of the hand torque is larger than a time threshold value, and is taken as a take-over condition.

And S130, controlling the electronic power steering system to exit the transverse motion control function when the hand torque and the duration time of the hand torque meet the connection pipe condition.

When the electronic power steering system (ElectricPowerSteering, EPS) controls the lateral movement, the moment applied to the steering wheel and the duration of the moment are collected, and when the moment and the duration meet the takeover condition, the driver wants to control the lateral movement, and then the electronic power steering system needs to be withdrawn from controlling the lateral movement of the vehicle.

According to the embodiment of the invention, when the takeover conditions are different when the vehicle speeds are different, the electronic power steering system is controlled to withdraw from the transverse motion control function when the hand torque and the duration time of the hand torque meet the takeover conditions corresponding to the current vehicle speed, so that the driver can quickly and safely take over the steering wheel control under different vehicle speed states.

In one possible implementation manner, when the hand torque and the duration of the hand torque meet the takeover condition, the electronic power steering system is controlled to exit the lateral motion control function, including:

and when the hand torque and the duration of the hand torque meet the takeover condition, sending a request for exiting the transverse control to the electronic power steering system so that the electronic power steering system exits the transverse motion control of the vehicle in response to the request for exiting the transverse control.

Referring to fig. 2, the application scenario of the method for controlling take-over of automatic lateral movement according to the embodiment of the invention is shown. As shown in fig. 2, the intelligent driving controller collects hand torque and duration of the hand torque detected by the sensor on the steering wheel, and when the current vehicle speed is in a high speed interval, if a first takeover condition is met, namely, an integral value of the hand torque over the duration is greater than an integral threshold value, a request for exiting transverse control is sent to the electronic power steering system, so that the electronic power steering system exits transverse motion control of the vehicle in response to the request for exiting transverse control. And when the current vehicle speed is in a low speed interval, if the second takeover condition is met, the hand torque is larger than the torque threshold value, and the duration time of the hand torque is larger than the time threshold value, a request for exiting the transverse control is sent to the electronic power-assisted steering system, so that the electronic power-assisted steering system exits the transverse motion control of the vehicle in response to the request for exiting the transverse control.

Referring to fig. 3, a block diagram of an autopilot lateral motion control take over system is provided in accordance with an embodiment of the present invention. As shown in fig. 3, the system includes:

an acquisition unit 310 for acquiring a hand torque applied to a steering wheel, a duration of the hand torque, and a current vehicle speed;

a takeover condition determining unit 320, configured to determine a corresponding takeover condition according to the current vehicle speed;

and a control unit 330 for controlling the electronic power steering system to exit the lateral motion control function when the hand torque and the duration of the hand torque satisfy the takeover condition.

According to the embodiment of the invention, when the takeover conditions are different when the vehicle speeds are different, the electronic power steering system is controlled to withdraw from the transverse motion control function when the hand torque and the duration time of the hand torque meet the takeover conditions corresponding to the current vehicle speed, so that the driver can quickly and safely take over the steering wheel control under different vehicle speed states.

In one possible implementation manner, the takeover condition determining unit 320 is specifically configured to:

when the current vehicle speed is greater than or equal to a vehicle speed threshold value, determining a first take-over condition;

the first takeover condition includes: the integral value of the hand torque over the duration is greater than or equal to an integral threshold.

In one possible implementation manner, the takeover condition determining unit 320 is specifically configured to:

when the current vehicle speed is smaller than the vehicle speed threshold value, determining a second take-over condition;

the second takeover condition includes: the hand torque is greater than the torque threshold and the duration of the hand torque is greater than the time threshold.

In one possible implementation, the control unit 330 is specifically configured to:

and when the hand torque and the duration of the hand torque meet the takeover condition, sending a request for exiting the transverse control to the electronic power steering system so that the electronic power steering system exits the transverse motion control of the vehicle in response to the request for exiting the transverse control.

The embodiment of the invention provides an automatic driving transverse movement control take-over system, which comprises the following components: an intelligent driving controller and an electronic power steering system;

the electronic power steering system is used for controlling the transverse movement of the vehicle in an automatic driving state;

the intelligent driving controller is used for acquiring hand torque applied to a steering wheel, duration time of the hand torque and current vehicle speed; determining corresponding take-over conditions according to the current vehicle speed; and when the hand torque and the duration time of the hand torque meet the connection pipe condition, controlling the electronic power steering system to withdraw from the transverse motion control function.

In one possible implementation, the intelligent driving controller is specifically configured to: when the current vehicle speed is greater than or equal to a vehicle speed threshold value, determining a first take-over condition; the first takeover condition includes: the integral value of the hand torque over the duration is greater than or equal to an integral threshold.

In one possible implementation, the intelligent driving controller is specifically configured to: when the current vehicle speed is smaller than the vehicle speed threshold value, determining a second take-over condition; the second takeover condition includes: the hand torque is greater than the torque threshold and the duration of the hand torque is greater than the time threshold.

In one possible implementation, the intelligent driving controller is specifically configured to: and when the hand torque and the duration of the hand torque meet the takeover condition, sending a request for exiting the transverse control to the electronic power steering system so that the electronic power steering system exits the transverse motion control of the vehicle in response to the request for exiting the transverse control.

An embodiment of the present invention provides a vehicle including a controller for executing the autopilot lateral motion control takeover method according to any one of the first aspects of the present invention.

The embodiment of the invention provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the automatic driving lateral motion control takeover method according to the embodiment of the invention.

In practical applications, the computer-readable storage medium may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this embodiment, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

As shown in fig. 4, a schematic structural diagram of a computer device is provided in an embodiment of the present invention. The computer device 12 shown in fig. 4 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.

As shown in FIG. 4, the computer device 12 is in the form of a general purpose computing device. Components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processing units 16.

Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Computer device 12 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. The computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, commonly referred to as a "hard disk drive"). Although not shown in fig. 4, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of embodiments of the invention.

A program/utility 40 having a set (at least one) of program modules 42 may be stored in, for example, memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.

The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the computer device 12, and/or any devices (e.g., network card, modem, etc.) that enable the computer device 12 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Moreover, computer device 12 may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through network adapter 20. As shown in fig. 4, the network adapter 20 communicates with other modules of the computer device 12 via the bus 18. It should be appreciated that although not shown in fig. 4, other hardware and/or software modules may be used in connection with computer device 12, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

The processor unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, for example, implementing the automatic lateral-motion control takeover method provided by the embodiment of the present invention.

It should be noted that the term "comprising" and variants thereof as used herein is open ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below.

It should be noted that the terms "first," "second," and the like herein are merely used for distinguishing between different devices, modules, or units and not for limiting the order or interdependence of the functions performed by such devices, modules, or units.

It is to be understood that, although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are example forms of implementing the claims.

While several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the invention. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.

The above description is only illustrative of the preferred embodiments of the present invention and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in the present invention is not limited to the specific combinations of technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the spirit of the disclosure. Such as the above-mentioned features and the technical features disclosed in the present invention (but not limited to) having similar functions are replaced with each other.

Claims (10)

1. An autopilot lateral motion control takeover method, comprising:

acquiring a hand torque applied to a steering wheel, the duration of the hand torque and the current vehicle speed;

determining corresponding take-over conditions according to the current vehicle speed;

and when the hand torque and the duration time of the hand torque meet the connection pipe condition, controlling the electronic power steering system to withdraw from the transverse motion control function.

2. The method of claim 1, wherein determining the corresponding take over condition based on the current vehicle speed comprises:

when the current vehicle speed is greater than or equal to a vehicle speed threshold value, determining a first take-over condition;

the first takeover condition includes: the integral value of the hand torque over the duration is greater than or equal to an integral threshold.

3. The method of claim 1, wherein determining the corresponding take over condition based on the current vehicle speed comprises:

when the current vehicle speed is smaller than the vehicle speed threshold value, determining a second take-over condition;

the second takeover condition includes: the hand torque is greater than the torque threshold and the duration of the hand torque is greater than the time threshold.

4. The method of claim 1, wherein controlling the electronic power steering system to exit the lateral motion control function when the hand torque and the duration of the hand torque satisfy a take over condition comprises:

and when the hand torque and the duration of the hand torque meet the takeover condition, sending a request for exiting the transverse control to the electronic power steering system so that the electronic power steering system exits the transverse motion control of the vehicle in response to the request for exiting the transverse control.

5. An autopilot lateral motion control takeover apparatus, comprising:

an acquisition unit configured to acquire a hand torque applied to a steering wheel, a duration of the hand torque, and a current vehicle speed;

the takeover condition determining unit is used for determining corresponding takeover conditions according to the current vehicle speed;

and the control unit is used for controlling the electronic power steering system to withdraw from the transverse motion control function when the hand torque and the duration time of the hand torque meet the connection pipe condition.

6. The apparatus according to claim 5, wherein the takeover condition determining unit is specifically configured to:

when the current vehicle speed is greater than or equal to a vehicle speed threshold value, determining a first take-over condition;

the first takeover condition includes: the integral value of the hand torque over the duration is greater than or equal to an integral threshold.

7. The apparatus according to claim 1, wherein the takeover condition determining unit is specifically configured to:

when the current vehicle speed is smaller than the vehicle speed threshold value, determining a second take-over condition;

the second takeover condition includes: the hand torque is greater than the torque threshold and the duration of the hand torque is greater than the time threshold.

8. A vehicle comprising a controller for executing the automated lateral motion control takeover method according to any one of claims 1 to 4.

9. An autopilot lateral motion control takeover apparatus, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, which when executed, implements the autopilot lateral motion control takeover method as claimed in any one of claims 1 to 4.

10. An autopilot lateral motion control takeover system, comprising: an intelligent driving controller and an electronic power steering system;

the intelligent driving controller is used for acquiring hand torque applied to a steering wheel, duration time of the hand torque and current vehicle speed; determining corresponding take-over conditions according to the current vehicle speed; and when the hand torque and the duration time of the hand torque meet the connection pipe condition, controlling the electronic power steering system to withdraw from the transverse motion control function.

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