CN116513242A - Driving mode switching method, driving mode switching device and computer readable storage medium - Google Patents

Abstract

The application provides a driving mode switching method, a driving mode switching device and a computer readable storage medium, and relates to the technical field of whole vehicle control. The method comprises the following steps: outputting an invalid control instruction according to the current mode and the mode switching instruction; controlling the vehicle to exit the current mode based on the invalid control instruction, and entering an invalid mode; acquiring an effective control instruction, and determining a target mode according to the effective control instruction; and sending a target operation instruction to the execution system based on the target mode so as to control the vehicle to switch to the target mode. The method and the device have the advantages that the corresponding invalid mode is set, when the driving mode is switched, the set invalid mode is switched, then the invalid mode is further judged, the corresponding target mode is switched, the uniformity of control instruction sources can be effectively improved when the driving mode is switched, the situation of instruction jump is reduced, the risk of vehicle out of control is reduced, and the safety of vehicle driving is improved.

Description

Driving mode switching method, driving mode switching device and computer readable storage medium

Technical Field

The present disclosure relates to the field of vehicle control technologies, and in particular, to a driving mode switching method and apparatus, and a computer readable storage medium.

Background

Under the development of automatic driving technology, a plurality of types of driving tasks can be generally realized on a current drive-by-wire chassis connected with a cockpit. For example, the sources of the driving instructions of the drive-by-wire chassis include a remote controller, an automatic driving controller, and a manual driving operation, and these 3 instruction sources respectively correspond to 3 driving modes of the drive-by-wire chassis, namely, a remote control mode, an automatic driving mode, and a manual driving mode.

However, during normal running of the drive-by-wire chassis, switching between different driving modes is generally involved, and if unexpected mode switching occurs, the vehicle may be out of control, dangerous, and adverse effect on driving safety may be caused.

Disclosure of Invention

In view of the foregoing, an object of the embodiments of the present application is to provide a driving mode switching method, apparatus and computer readable storage medium, so as to solve the problem of low safety during driving mode switching in the prior art.

In order to solve the above problem, in a first aspect, an embodiment of the present application provides a driving mode switching method, including:

outputting an invalid control instruction according to the current mode and the mode switching instruction;

Controlling the vehicle to exit the current mode based on the invalid control instruction, and entering an invalid mode;

acquiring an effective control instruction, and determining a target mode according to the effective control instruction;

and sending a target operation instruction to an execution system based on the target mode so as to control the vehicle to switch to the target mode.

In the implementation process, the corresponding invalid mode is set, so that when the driving mode is switched, the driving mode is switched to the set invalid mode according to the output invalid control instruction, and then judgment is further carried out on the invalid mode based on the obtained valid control instruction, so that the corresponding target mode is determined, and the corresponding target operation instruction is output to the execution system for control, so that the switching from the current mode to the target mode is realized. The control method can effectively improve the uniformity of control instruction sources during the switching of the driving modes, so as to reduce the condition of instruction jump and reduce the risk of vehicle out-of-control, thereby improving the safety during the driving of the vehicle.

Optionally, the effective control instruction includes: at least one of a whole vehicle instruction, a manual instruction, a gear instruction, a remote controller instruction and a driving instruction;

The obtaining the effective control instruction, and determining the target mode according to the effective control instruction includes:

acquiring a corresponding effective control instruction according to the mode switching instruction when the vehicle is in the ineffective mode;

and analyzing the effective control instruction to determine the corresponding target mode.

In the implementation process, corresponding effective control instructions can be acquired in an ineffective mode according to the mode switching instructions, so that corresponding target modes are determined by analyzing according to the types of the effective control instructions, the representation meanings and the like, and the determination efficiency and accuracy of the target modes are effectively improved.

Optionally, the analyzing the effective control instruction to determine the corresponding target mode includes:

if the whole vehicle instruction representation is judged to be stopped, the manual instruction representation manual driving mode is invalid, the remote control instruction representation remote controller is connected, the remote control driving mode is closed, the driving instruction representation connection is normal, and the driving is stopped, determining that the target mode is an automatic driving mode;

if the whole vehicle instruction representation is judged to be stopped, the manual instruction representation manual driving mode is effective, and the gear instruction representation is normal, determining the target mode to be a manual driving mode;

And if the whole vehicle instruction representation is judged to be stopped, the manual instruction representation manual driving mode is invalid, the remote control instruction representation remote controller is connected, the remote control driving mode is started and the remote control speed deflector rod is closed, determining that the target mode is the remote control driving mode.

In the implementation process, since the effective control instruction includes a plurality of instructions with different types and different meanings, the different meanings represented by the instructions with different numbers and different types can be analyzed, so that when corresponding instruction conditions are met, a plurality of different driving modes such as a corresponding automatic driving mode, a manual driving mode, a remote control driving mode and the like are determined as the target modes for switching. The driving mode can be judged from various states of the whole vehicle, and the accuracy and the effectiveness of the target mode are effectively improved.

Optionally, the outputting the invalid control instruction according to the current mode and the mode switching instruction includes:

determining the current mode under the condition of receiving the mode switching instruction;

and outputting the corresponding invalid control instruction based on the current mode.

In the implementation process, when the driving mode needs to be switched, the current mode under the current condition can be determined according to the received mode switching instruction, so that the corresponding invalid control instruction is determined and output based on the specific condition of the current mode, and the vehicle is controlled to exit the current mode and enter the corresponding invalid mode. The corresponding invalid control instruction can be output according to the current actual situation, and the accuracy and the effectiveness of the invalid control instruction are effectively improved.

Optionally, the invalidation control instruction includes: at least one of a whole car instruction, a manual instruction and a remote controller instruction;

the outputting, based on the current mode, the corresponding invalidation control instruction includes:

if the current mode is determined to be the automatic driving mode, the output invalid control instruction comprises: the manual instruction indicates that the manual driving mode is effective, or the remote control instruction indicates that a remote controller is connected and the remote control driving mode is started;

if the current mode is determined to be the manual driving mode, the output invalid control instruction comprises: the whole vehicle instruction represents stopping and the manual instruction represents that the manual driving mode is invalid;

if the current mode is determined to be a remote control driving mode, the output invalid control instruction comprises: and the manual instruction indicates that the manual driving mode is effective, or the remote control instruction indicates that the remote controller connection is ineffective, or the remote control instruction indicates that the remote control driving mode is closed.

In the implementation process, in order to exit the current driving mode and enter the invalid mode of the standby state, the relevant state when the vehicle is switched to the standby state needs to be determined according to the current mode, so that one or more instructions of corresponding types and representing corresponding meanings are output to correspondingly control the state of the vehicle.

Optionally, after outputting the invalid control instruction according to the current mode and the mode switching instruction, the method further includes:

and if the current mode is judged to be the manual driving mode, controlling the vehicle to stop based on the mode switching instruction.

In the implementation process, in order to further improve the safety of the vehicle during driving, when the current mode is the manual driving mode, the vehicle can be controlled to stop based on the mode switching instruction, then the manual driving mode is exited and the corresponding invalid mode is entered, so that the adverse conditions that the vehicle is suddenly stopped when the high-speed vehicle enters the invalid mode, discomfort and the like of drivers and passengers are caused are reduced. The driving mode can be switched more stably, and the driving experience of a user is effectively improved.

Optionally, after the controlling the vehicle to exit the current mode based on the invalidation control instruction and enter the invalidation mode, the method further includes:

controlling the vehicle to stop based on the invalid mode;

the invalid mode is a corresponding standby mode of controlling the drive-by-wire chassis of the vehicle to be in a standby state.

In the implementation process, since the driving state of the whole vehicle can be controlled by the drive-by-wire chassis, the invalid mode can be set to be the standby driving mode corresponding to the vehicle when the drive-by-wire chassis is in the standby state, so that the vehicle can be controlled to stop based on the invalid mode, the safety is improved, meanwhile, the preparation can be made for the subsequent entering of the target mode, the drive-by-wire chassis can be in the standby state, and the transition from the invalid mode to the target mode can be performed when the vehicle is in the stop state and the target mode corresponding to the valid control instruction is in the standby state.

Optionally, the execution system includes: a drive system, a brake system, a parking system, a steering system and a vehicle body control system; the target operation command includes at least one of a drive command, a brake command, a parking command, a steering command, and a vehicle body control command.

In the implementation process, since the vehicle has multiple driving modes of different types and the driving modes of different types have different controllers or operation modules, after the vehicle enters the target mode, multiple types of target operation instructions can be sent to multiple types of execution systems based on the controllers or operation modules corresponding to the target mode so as to control the vehicle to execute corresponding operations and realize the corresponding driving mode. The target operation instructions are uniformly sent by the corresponding view controller or the operation module, different types of execution systems can be controlled according to various different types of operation instructions, the out-of-control condition of the vehicle caused by instruction jump is reduced, the control of the whole vehicle state is realized, and the synchronism and the stability of the vehicle during control are improved.

In a second aspect, embodiments of the present application further provide a driving mode switching device, where the device includes: the device comprises an output module, an exit module, a determination module and a switching module;

The output module is used for outputting an invalid control instruction according to the current mode and the mode switching instruction;

the exit module is used for controlling the vehicle to exit the current mode based on the invalid control instruction and entering an invalid mode;

the determining module is used for acquiring an effective control instruction and determining a target mode according to the effective control instruction;

the switching module is used for sending a target operation instruction to an execution system based on the target mode so as to control the vehicle to switch to the target mode.

In the implementation process, when the driving mode is switched through the output module, a corresponding invalid control instruction is output according to the current mode and the mode switching instruction; the exit module is used for switching from the current mode to the set invalid mode according to the output invalid control instruction; further judging on the invalid mode based on the effective control instruction, thereby determining a corresponding target mode; and outputting a corresponding target operation instruction to an execution system to control based on the target mode through a switching module so as to realize switching from the current mode to the driving mode of the target mode.

In a third aspect, embodiments of the present application further provide a computer readable storage medium having stored therein computer program instructions that, when read and executed by a processor, perform steps in any implementation of the driving mode switching method described above.

In summary, the embodiments of the present application provide a driving mode switching method, apparatus and computer readable storage medium, which sets a corresponding invalid mode, so as to switch to the set invalid mode when switching the driving mode, and further determine the invalid mode, thereby switching to the corresponding target mode. The control method can effectively improve the uniformity of control instruction sources during the switching of the driving modes, so as to reduce the condition of instruction jump and reduce the risk of vehicle out-of-control, thereby improving the safety during the driving of the vehicle.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic block diagram of an electronic device according to an embodiment of the present application;

fig. 2 is a flow chart of a driving mode switching method according to an embodiment of the present application;

Fig. 3 is a detailed flowchart of step S400 provided in the embodiment of the present application;

fig. 4 is a detailed flowchart of step S200 provided in the embodiment of the present application;

fig. 5 is a schematic structural diagram of a driving mode switching device according to an embodiment of the present application.

Icon: 100-an electronic device; 111-memory; 112-a memory controller; 113-a processor; 114-a peripheral interface; 115-an input-output unit; 116-a display unit; 600-driving mode switching means; 610-an output module; 620-exit module; 630-a determination module; 640-a switching module.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the embodiments of the present application.

In the normal running process of the on-line chassis, the switching between different driving modes is usually involved, and if unexpected mode switching occurs, for example, when the mode is switched from the mode a to the mode B, other systems send other control instructions to influence the normal running of the mode B, or when the mode a is switched to the mode B, the system switches to the wrong mode C, and the like, so that the vehicle is out of control, dangerous situations occur, and the driving safety is adversely affected.

In order to solve the above-mentioned problems, the embodiment of the present application provides a driving mode switching method, which is applied to an electronic device, and the electronic device may be an electronic device with a logic calculation function, such as a drive-by-wire chassis, which is disposed on a vehicle, and is capable of controlling driving of the vehicle.

Optionally, referring to fig. 1, fig. 1 is a schematic block diagram of an electronic device according to an embodiment of the present application. The electronic device 100 may include a memory 111, a memory controller 112, a processor 113, a peripheral interface 114, an input output unit 115, and a display unit 116. Those of ordinary skill in the art will appreciate that the configuration shown in fig. 1 is merely illustrative and is not limiting of the configuration of the electronic device 100. For example, electronic device 100 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.

The above-mentioned memory 111, memory controller 112, processor 113, peripheral interface 114, input/output unit 115 and display unit 116 are electrically connected directly or indirectly to each other to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The processor 113 is used to execute executable modules stored in the memory.

The Memory 111 may be, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read Only Memory (ROM), a programmable Read Only Memory (Programmable Read-Only Memory, PROM), an erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc. The memory 111 is configured to store a program, and the processor 113 executes the program after receiving an execution instruction, and a method executed by the electronic device 100 defined by the process disclosed in any embodiment of the present application may be applied to the processor 113 or implemented by the processor 113.

The processor 113 may be an integrated circuit chip having signal processing capabilities. The processor 113 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (digital signal processor, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field Programmable Gate Arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. The general purpose processor may be a microprocessor, but in the alternative, it may be any conventional processor or the like.

The peripheral interface 114 couples various input/output devices to the processor 113 and the memory 111. In some embodiments, the peripheral interface 114, the processor 113, and the memory controller 112 may be implemented in a single chip. In other examples, they may be implemented by separate chips.

The input-output unit 115 described above is used to provide input data to a user. The input output unit 115 may be, but is not limited to, a key, a touch screen, or the like.

The display unit 116 described above provides an interactive interface (e.g., a user-operated interface) between the electronic device 100 and a user or is used to display image data to a user reference. In this embodiment, the display unit may be a vehicle-mounted display such as a liquid crystal display or a touch display. In the case of a touch display, the touch display may be a capacitive touch screen or a resistive touch screen, etc. supporting single-point and multi-point touch operations. Supporting single-point and multi-point touch operations means that the touch display can sense touch operations simultaneously generated from one or more positions on the touch display, and the sensed touch operations are passed to the processor for calculation and processing. In the embodiment of the present application, the display unit 116 may display the driving mode in which the vehicle is located.

The electronic device in the present embodiment may be used to execute each step in each driving mode switching method provided in the embodiments of the present application. The implementation of the driving mode switching method is described in detail below by several embodiments.

Referring to fig. 2, fig. 2 is a flowchart of a driving mode switching method according to an embodiment of the present application, and the method may include steps S200-S500.

Step S200, outputting an invalid control instruction according to the current mode and the mode switching instruction.

The current mode may be any one of effective driving modes, for example, a manual driving mode controlled manually by a driver, a remote control driving mode controlled by a remote controller, or an automatic driving mode controlled by no person, and the mode switching instruction may be an instruction issued after the driver selects, or may be an instruction automatically generated by controlling a drive-by-wire chassis of the vehicle based on the current actual situation. After the mode switching instruction is determined, namely, the switching requirement of the vehicle on the driving mode at present is represented, a corresponding invalid control instruction can be output to control the vehicle according to the actual condition of the current mode.

In addition, since the maximum vehicle speed in the manual driving mode is high, there is a risk of erroneous operation of the switch for exiting the manual driving mode in the cockpit, and if the current mode is determined to be the manual driving mode in order to further improve the safety of the vehicle during driving, the vehicle is controlled to stop based on the mode switching instruction. The vehicle can be controlled to stop based on the mode switching instruction, then the manual driving mode is exited and the corresponding invalid mode is entered, so that the disadvantages of the vehicle emergency stop triggered by the high-speed vehicle entering the invalid mode, such as discomfort of drivers and passengers, and the like are reduced. The driving mode can be switched more stably, and the driving experience of a user is effectively improved.

Step S300, controlling the vehicle to exit the current mode based on the invalid control instruction and entering an invalid mode;

when the driving mode is switched, the current mode is switched to the set invalid mode according to the output invalid control instruction, the invalid mode can be a standby mode (namely, one of the standby modes is stopped) corresponding to the vehicle in a stop state when the drive-by-wire chassis of the vehicle is controlled to be in the standby state, and transition processing is carried out by switching between the invalid mode and the driving mode.

It should be noted that the drive-by-wire chassis may control the vehicle to stop based on the inactive mode. The safety is improved, meanwhile, preparation can be made for the subsequent entering of the target mode, and the conversion from the invalid mode to the target mode can be carried out when the on-line control chassis is in a standby state, the vehicle is in a stop state and the target mode corresponding to the effective control instruction is in the standby state.

Step S400, obtaining an effective control instruction, and determining a target mode according to the effective control instruction.

The method comprises the steps of judging the whole vehicle state when the vehicle is in a stopped invalid mode, acquiring a corresponding effective control instruction, analyzing and determining a target mode to be converted based on the effective control instruction, and increasing judgment limit of the whole vehicle state, namely allowing a user to enter the corresponding target mode when the drive-by-wire chassis is in the stopped state and the target mode is in a standby state.

Alternatively, the target mode may be a plurality of different types of effective driving modes such as a manual driving mode manually controlled by a driver, a remote driving mode controlled by a remote controller, or an automatic driving mode controlled by no person. The target mode may be different from the current mode, and in some specific scenarios, the target mode may be the same as the current mode, for example, when the current mode is a manual driving mode and the initially determined target mode is a remote control driving mode, in the process of converting the current mode into the initially determined target mode, when an emergency occurs and needs to be processed by manual driving, the finally determined target mode is the manual driving mode and is the same as the current mode.

Because of having a plurality of different driving modes, and different driving modes have different controllers or operation modules, for example, a manual driving mode is controlled by a manual operation module such as a steering wheel, a clutch, a brake, a gear and the like, a remote control driving mode is controlled by a remote controller, an automatic driving mode is controlled by an automatic driving controller, and an effective control instruction can be an instruction for determining the states of all the controllers or operation modules in the whole vehicle so as to represent a plurality of states of the whole vehicle.

Step S500, a target operation instruction is sent to the execution system based on the target mode to control the vehicle to switch to the target mode.

The vehicle driving system comprises a plurality of driving modes, wherein the driving modes are provided with different controllers or operation modules, and therefore after entering the target mode, the vehicle driving system can send a plurality of types of target operation instructions to a plurality of types of execution systems based on the controllers or operation modules corresponding to the target mode so as to control the vehicle to execute corresponding operations, and the corresponding driving mode is realized. The target operation instructions are uniformly sent by the corresponding view controller or the operation module, different types of execution systems can be controlled according to various different types of operation instructions, the out-of-control condition of the vehicle caused by instruction jump is reduced, the control of the whole vehicle state is realized, and the synchronism and the stability of the vehicle during control are improved.

Optionally, the execution system may include: and various execution systems such as a driving system, a braking system, a parking system, a steering system, a vehicle body control system and the like. The target operation command may include one or more commands for controlling various execution systems, such as a driving command, a braking command, a parking command, a steering command, and a vehicle body control command. The driving command may include an enabling command and a corresponding torque command, the braking command may include an enabling command and a corresponding braking pressure command to control sudden stop of the vehicle, the parking command may include an enabling command and a corresponding pull-up/release command to control locking or braking of the vehicle, the steering command may include an enabling command and a corresponding angle command to control steering of the vehicle, and the body control command may include a horn and a light command to control the horn and lighting of the vehicle.

For example, the driving system may be a motor MCU driving system, the braking system may be an electronic hydraulic braking system, i.e., an EHB system, the parking system may be an electronic parking braking system, i.e., an EPB system, a steering system, i.e., an electric power steering system, i.e., an EPS system, and the vehicle body control system may be a BCM system. The driving system can detect the state of the driving system in real time and report the state to the whole vehicle controller; responding to a torque request of the whole vehicle controller; the brake system can detect the state of the brake system in real time and report the state to the whole vehicle controller; responding to a braking request of the whole vehicle controller and manual driving operation; the parking system can detect the state of the parking system in real time and report the state to the whole vehicle controller; responding to a vehicle locking request of the whole vehicle controller and manual driving operation; the steering system can detect the state of the braking system in real time and report the state to the whole vehicle controller; responding to a steering request of the whole vehicle controller and manual driving operation; the vehicle body control system can detect the state of the vehicle body system in real time and report the state to the whole vehicle controller; responding to a vehicle body control request of the whole vehicle controller.

Optionally, when the target mode is the manual driving mode, the corresponding target operation instruction may include: the method comprises a manual driving mode enabling instruction and a driving operation instruction of the drive-by-wire chassis, such as start starting, gear, accelerator, brake and the like; when the target mode is a remote control driving mode, a remote controller transmitting end can be manually operated, a target operation instruction is output to an execution system through a remote controller receiving end, and the target operation instruction can comprise a driving instruction for controlling the drive-by-wire chassis to advance/retreat, a steering instruction for controlling the steering of a vehicle, a braking instruction for controlling the braking of the vehicle and the like; when the target mode is the automatic driving mode, the target operation instruction may be an instruction to control a driving instruction, a steering instruction, a braking instruction, a vehicle body control instruction, or the like of the vehicle.

Optionally, a whole vehicle controller connected with the drive-by-wire chassis can be further arranged to receive various target operation instructions, switch driving modes in combination with the state of the drive-by-wire chassis, process the instructions and issue the instructions to each execution system; status information of each execution system can also be received and reported to the meter and autopilot controller and TBOX for query and processing.

In the embodiment shown in fig. 2, uniformity of control command sources during driving mode switching can be effectively improved, so that command jump conditions are reduced, risk of vehicle out-of-control is reduced, and safety during driving of the vehicle is improved.

Optionally, referring to fig. 3, fig. 3 is a detailed flowchart of step S400 provided in the embodiment of the present application, and step S400 may include steps S410-S420.

Step S410, when the vehicle is in an invalid mode, a corresponding valid control instruction is acquired according to the mode switching instruction.

According to the mode switching instruction, under the invalid mode, corresponding multiple effective control instructions in each controller or operation module can be obtained.

It should be noted that, the effective control instruction may include: one or more of various different types of instructions such as a whole vehicle instruction, a manual instruction, a gear instruction, a remote controller instruction, a driving instruction and the like.

For example, the whole vehicle instruction may be a state instruction indicating whether the whole vehicle is stopped, a stop may be denoted as a, a manual instruction may be a state instruction indicating whether a manual driving mode is started, a start may be denoted as b, a gear instruction may be a state instruction indicating gear data, a state instruction denoted as c, a remote controller instruction may include a state instruction indicating whether the remote controller is effectively connected, a state instruction indicating whether the remote controller is started, a state instruction indicating whether the remote driving mode is started, a state instruction indicating that the remote controller is started may be denoted as e, an input may be denoted as f, a driving instruction may be a state instruction indicating whether an ADCS (analog-to-digital converter) is normally connected and an ADCS driving instruction is stopped, and a normal connection and a stop may be denoted as g.

Step S420, analyze the effective control command to determine the corresponding target mode.

The method can analyze according to the types of the effective control instructions, the representation meanings and the like to determine the corresponding target modes, and effectively improves the determination efficiency and accuracy of the target modes.

It should be noted that, since the effective control instruction includes a plurality of instructions with different types and different meanings, the different meanings represented by the instructions with different numbers and different types can be analyzed, so as to determine, when the corresponding instruction condition is satisfied, a plurality of different driving modes, such as a corresponding automatic driving mode, a manual driving mode, a remote control driving mode, and the like, as the target mode for switching. If the whole vehicle instruction representation is judged to be stopped, the manual instruction representation manual driving mode is invalid, the remote control instruction representation remote controller is connected, the remote control driving mode is closed, the driving instruction representation is connected normally, and the driving is stopped, namely the obtained effective control instruction is as follows: a ≡! b & d ≡! e & g, the vehicle is represented to stop, and the manual driving mode and the remote control driving mode are invalid, and the determined target mode is an automatic driving mode. If the whole vehicle instruction representation is judged to be stopped and the manual instruction representation manual driving mode is effective and the gear instruction representation is normal, the obtained effective control instruction is as follows: a & b & c, the vehicle is represented to stop, and the remote control driving mode and the automatic driving mode are invalid, and the determined target mode is the manual driving mode. If the whole vehicle instruction representation is judged to be stopped, and the manual instruction representation manual driving mode is invalid, the remote control instruction representation remote controller is connected, the remote control driving mode is started and the remote control speed deflector rod is closed, the obtained effective control instruction is as follows: a ≡! b & d & e & f, the manual driving mode and the automatic driving mode are represented to be invalid, and the determined target mode is a remote control driving mode.

In the embodiment shown in fig. 3, the driving mode can be determined from various states of the whole vehicle, and the determination limit of the state of the whole vehicle is increased, so that the accuracy and the effectiveness of the target mode are effectively improved.

Optionally, referring to fig. 4, fig. 4 is a detailed flowchart of step S200 provided in the embodiment of the present application, and step S200 may include steps S210-S220.

Step S210, determining a current mode in the case of receiving the mode switching instruction.

When the driving mode needs to be switched, the current mode under the current condition can be determined according to the received mode switching instruction.

Step S220, based on the current mode, outputting a corresponding invalidation control instruction.

And determining and outputting a corresponding invalid control instruction based on the specific condition of the current mode so as to control the vehicle to exit the current mode and enter the corresponding invalid mode.

It should be noted that, the invalid control instruction may also include one or more of various status instructions characterizing each controller or operation module, such as a whole vehicle instruction, a manual instruction, a remote controller instruction, and the like.

For example, to exit the current driving mode, an inactive mode of entering a standby state requires determining a relevant state of going to standby according to the current mode, so as to output a corresponding type and one or more instructions characterizing the corresponding meaning, in order to control the state of the vehicle accordingly. Taking the instruction number in fig. 3 as an example, if it is determined that the current mode is the automatic driving mode, the output invalidation control instruction includes: the manual command indicates that the manual driving mode is effective, or the remote control command indicates that the remote controller is connected and the remote control driving mode is started, namely, the invalid control command is b or (d & e). If the current mode is determined to be the manual driving mode, the output invalid control instruction comprises: the whole vehicle instruction representation is stopped and the manual instruction representation manual driving mode is invalid, namely the invalid control instruction is-! b & e. If the current mode is determined to be the remote control driving mode, the output invalid control instruction comprises: the manual instruction indicates that the manual driving mode is effective, or the remote control instruction indicates that the remote controller connection is invalid, or the remote control instruction indicates that the remote control driving mode is closed, namely the invalid control instruction is b or-! d or! e.

In the embodiment shown in fig. 4, a corresponding invalid control instruction can be output according to the current actual situation, so that the accuracy and the effectiveness of the invalid control instruction are effectively improved.

Referring to fig. 5, fig. 5 is a schematic structural diagram of a driving mode switching device provided in an embodiment of the present application, and a driving mode switching device 600 may include: an output module 610, an exit module 620, a determination module 630, and a switching module 640;

the output module 610 is configured to output an invalidation control instruction according to the current mode and the mode switching instruction;

the exit module 620 is configured to control the vehicle to exit the current mode based on the invalidation control instruction and enter the invalidation mode;

the determining module 630 is configured to obtain an effective control instruction, and determine a target mode according to the effective control instruction;

the switching module 640 is configured to send a target operation instruction to the execution system based on the target mode, so as to control the vehicle to switch to the target mode.

In an alternative embodiment, the active control instruction includes: at least one of a whole vehicle instruction, a manual instruction, a gear instruction, a remote controller instruction and a driving instruction; the determining module 630 is specifically configured to: acquiring a corresponding effective control instruction according to a mode switching instruction when the vehicle is in an ineffective mode; and analyzing the effective control instruction to determine a corresponding target mode.

In an alternative embodiment, the determining module 630 is specifically configured to: if the whole vehicle instruction representation stop is judged, the manual instruction representation manual driving mode is invalid, the remote control instruction representation remote controller is connected, the remote control driving mode is closed, the driving instruction representation connection is normal, and the driving is stopped, the target mode is determined to be an automatic driving mode; if the whole vehicle instruction representation is judged to be stopped and the manual instruction representation manual driving mode is effective and the gear instruction representation is normal, determining that the target mode is the manual driving mode; and if the whole vehicle instruction representation is judged to be stopped, the manual instruction representation manual driving mode is invalid, the remote control instruction representation remote controller is connected, the remote control driving mode is started and the remote control speed deflector rod is closed, determining that the target mode is the remote control driving mode.

In an alternative embodiment, the output module 610 is specifically configured to: determining a current mode under the condition of receiving a mode switching instruction; based on the current mode, outputting a corresponding invalid control instruction.

In an alternative embodiment, wherein the invalidation control instruction comprises: at least one of a whole car instruction, a manual instruction and a remote controller instruction; the output module 610 is specifically configured to: if the current mode is determined to be the automatic driving mode, the output invalid control instruction comprises: the manual instruction indicates that the manual driving mode is effective, or the remote control instruction indicates that the remote controller is connected and the remote control driving mode is started; if the current mode is determined to be the manual driving mode, the output invalid control instruction comprises: the whole vehicle instruction representation is stopped and the manual instruction representation manual driving mode is invalid; if the current mode is determined to be the remote control driving mode, the output invalid control instruction comprises: the manual instruction indicates that the manual driving mode is effective, or the remote control instruction indicates that the remote controller is not connected, or the remote control instruction indicates that the remote control driving mode is closed.

In an alternative embodiment, the driving mode switching device 600 may further include a stopping module for controlling the vehicle to stop based on the mode switching instruction if the current mode is determined to be the manual driving mode.

In an alternative embodiment, the stopping module is further configured to control stopping of the vehicle based on the inactive mode; the invalid mode is a corresponding standby mode of controlling the drive-by-wire chassis of the vehicle to be in a standby state.

In an alternative embodiment, the execution system includes: a drive system, a brake system, a parking system, a steering system and a vehicle body control system; the target operation command includes at least one of a drive command, a brake command, a parking command, a steering command, and a vehicle body control command.

Since the principle of the driving mode switching device 600 in the embodiment of the present application to solve the problem is similar to the foregoing embodiment of the driving mode switching method, the implementation of the driving mode switching device 600 in the embodiment of the driving mode switching method may be referred to the description in the foregoing embodiment of the driving mode switching method, and the repetition is omitted.

The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores computer program instructions, and when the computer program instructions are read and executed by a processor, the steps in any one of the driving mode switching methods provided in the embodiment are executed.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus may be implemented in other ways. The apparatus embodiments described above are merely illustrative, for example, block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of devices according to various embodiments of the present application. In this regard, each block in the block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams, and combinations of blocks in the block diagrams, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, the functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely exemplary embodiments of the present application and is not intended to limit the scope of the present application, and various modifications and variations may be suggested to one skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

Claims (10)

1. A driving mode switching method, characterized in that the method comprises:

outputting an invalid control instruction according to the current mode and the mode switching instruction;

controlling the vehicle to exit the current mode based on the invalid control instruction, and entering an invalid mode;

acquiring an effective control instruction, and determining a target mode according to the effective control instruction;

and sending a target operation instruction to an execution system based on the target mode so as to control the vehicle to switch to the target mode.

2. The method of claim 1, wherein the active control instruction comprises: at least one of a whole vehicle instruction, a manual instruction, a gear instruction, a remote controller instruction and a driving instruction;

the obtaining the effective control instruction, and determining the target mode according to the effective control instruction includes:

acquiring a corresponding effective control instruction according to the mode switching instruction when the vehicle is in the ineffective mode;

and analyzing the effective control instruction to determine the corresponding target mode.

3. The method of claim 2, wherein analyzing the active control instructions to determine the corresponding target patterns comprises:

If the whole vehicle instruction representation is judged to be stopped, the manual instruction representation manual driving mode is invalid, the remote control instruction representation remote controller is connected, the remote control driving mode is closed, the driving instruction representation connection is normal, and the driving is stopped, determining that the target mode is an automatic driving mode;

if the whole vehicle instruction representation is judged to be stopped, the manual instruction representation manual driving mode is effective, and the gear instruction representation is normal, determining the target mode to be a manual driving mode;

and if the whole vehicle instruction representation is judged to be stopped, the manual instruction representation manual driving mode is invalid, the remote control instruction representation remote controller is connected, the remote control driving mode is started and the remote control speed deflector rod is closed, determining that the target mode is the remote control driving mode.

4. The method of claim 1, wherein outputting an invalidation control instruction according to a current mode and a mode switching instruction comprises:

determining the current mode under the condition of receiving the mode switching instruction;

and outputting the corresponding invalid control instruction based on the current mode.

5. The method of claim 4, wherein the invalidation control instruction comprises: at least one of a whole car instruction, a manual instruction and a remote controller instruction;

The outputting, based on the current mode, the corresponding invalidation control instruction includes:

if the current mode is determined to be the automatic driving mode, the output invalid control instruction comprises: the manual instruction indicates that the manual driving mode is effective, or the remote control instruction indicates that a remote controller is connected and the remote control driving mode is started;

if the current mode is determined to be the manual driving mode, the output invalid control instruction comprises: the whole vehicle instruction represents stopping and the manual instruction represents that the manual driving mode is invalid;

if the current mode is determined to be a remote control driving mode, the output invalid control instruction comprises: and the manual instruction indicates that the manual driving mode is effective, or the remote control instruction indicates that the remote controller connection is ineffective, or the remote control instruction indicates that the remote control driving mode is closed.

6. The method according to any one of claims 1-5, wherein after outputting an invalidation control instruction according to a current mode and a mode switching instruction, the method further comprises:

and if the current mode is judged to be the manual driving mode, controlling the vehicle to stop based on the mode switching instruction.

7. The method of any one of claims 1-5, wherein after controlling the vehicle to exit the current mode and enter an inactive mode based on the inactive control instructions, the method further comprises:

Controlling the vehicle to stop based on the invalid mode;

the invalid mode is a corresponding standby mode of controlling the drive-by-wire chassis of the vehicle to be in a standby state.

8. The method of any one of claims 1-5, wherein the execution system comprises: a drive system, a brake system, a parking system, a steering system and a vehicle body control system; the target operation command includes at least one of a drive command, a brake command, a parking command, a steering command, and a vehicle body control command.

9. A driving mode switching device, characterized in that the device comprises: the device comprises an output module, an exit module, a determination module and a switching module;

the output module is used for outputting an invalid control instruction according to the current mode and the mode switching instruction;

the exit module is used for controlling the vehicle to exit the current mode based on the invalid control instruction and entering an invalid mode;

the determining module is used for acquiring an effective control instruction and determining a target mode according to the effective control instruction;

the switching module is used for sending a target operation instruction to an execution system based on the target mode so as to control the vehicle to switch to the target mode.

10. A computer readable storage medium, characterized in that the readable storage medium has stored therein computer program instructions which, when executed by a processor, perform the steps of the method of any of claims 1-8.