CN117400963A - Automatic driving mode activation control method and device - Google Patents
Automatic driving mode activation control method and device Download PDFInfo
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- CN117400963A CN117400963A CN202311227676.XA CN202311227676A CN117400963A CN 117400963 A CN117400963 A CN 117400963A CN 202311227676 A CN202311227676 A CN 202311227676A CN 117400963 A CN117400963 A CN 117400963A
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- 230000004913 activation Effects 0.000 title claims abstract description 125
- 238000000034 method Methods 0.000 title claims abstract description 51
- 230000003213 activating effect Effects 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 11
- 230000003111 delayed effect Effects 0.000 claims description 5
- 230000035484 reaction time Effects 0.000 claims description 3
- 230000001172 regenerating effect Effects 0.000 claims description 3
- 230000009295 sperm incapacitation Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 230000006872 improvement Effects 0.000 description 4
- 230000006399 behavior Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 230000002401 inhibitory effect Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000009849 deactivation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000007420 reactivation Effects 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0051—Handover processes from occupants to vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
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Abstract
The invention relates to the technical field of automatic driving, and provides an automatic driving mode activation control method and device, wherein the method comprises the following steps: receiving an automatic driving activation instruction, and acquiring an automatic driving unable activation condition; when the type of the automatic driving incapacity condition is only a driver controllable type, reminding a driver of releasing the automatic driving incapacity condition of the driver controllable type; in the case where the driver controllable type of automatic driving failure activation condition is released, the automatic driving mode is activated. According to the invention, when the type of the automatic driving incapacity condition is only the controllable type of the driver, the automatic driving incapacity condition of the controllable type of the driver is reminded to be released, instead of directly reminding that the automatic driving can not be activated, and when the condition is released, the automatic driving mode is activated, repeated operation and activation of the driver are not required, and the problem that the continuous multiple activation fails due to repeated jump of various conditions when the automatic driving mode is activated is avoided.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to an automatic driving mode activation control method and device.
Background
With the advent and popularization of high-level autopilot technology in the automotive field, automobiles with autopilot functions are becoming more and more common. These autopilot vehicles also have a switching function between an autopilot (Automated Driving, AD) mode and a Manual Drive (MD) mode.
The autopilot system may determine in real time whether the current situation is suitable for the autopilot mode, and if the current condition is suitable for the autopilot mode, provide a human-machine interface (Human Machine Interface, HMI) alert for availability of autopilot, such as: icons, text, speech, etc.; otherwise, the autopilot activatable HMI reminder is not provided.
When the driver attempts to activate autopilot, the autopilot system (Automated Driving System, ADS) again determines whether the current situation is suitable for switching from manual to autopilot mode. If the current conditions are suitable, directly switching to an automatic driving mode; if the current conditions are not appropriate, the manual driving mode is continued to be maintained and an HMI alert is provided for the reason that the automatic driving mode cannot be entered.
However, in the actual use process, there are many changes in conditions such as the driver state, the vehicle running state, and the surrounding environment, and in the case where the change is rapid, there are the following problems:
the current condition is repeatedly switched between the available and unavailable automatic driving modes, and a driver tries to activate the automatic driving mode after being reminded by the HMI capable of being activated by automatic driving for a plurality of times in the manual driving process, and all the repeated jump of various conditions causes the failure of the continuous activation for a plurality of times, so that the use experience of the driver is influenced, and the use frequency of the automatic driving is potentially influenced.
For example, the following occurs:
a. the current condition is suitable for the automatic driving mode, and after the driver is reminded of the HMI capable of being activated by automatic driving, the driver tries to activate the automatic driving mode, but the following distance is not satisfied due to the shortened following distance during the operation reaction period, so that the activation fails;
b. when the driver adjusts the following distance, the driver gets the HMI prompt which can activate the automatic driving again, and tries to activate the automatic driving mode, but the lane keeping is not satisfied due to the fact that the vehicle deviates from the self-lane during the operation reaction period, and the reactivation fails;
c. when the driver adjusts to drive in the lane, the driver gets the HMI prompt that the automatic driving can be activated again, and tries to activate the automatic driving mode, but the steering wheel angle is increased during the operation reaction period, so that the steering wheel angle condition is not satisfied, and the activation fails again;
d. this is repeated.
In all of the above cases, attempts to activate the autopilot mode after being alerted by the autopilot activatable HMI may result in consecutive activation failures.
Disclosure of Invention
The invention provides an automatic driving mode activation control method and device, which are used for solving the problem that continuous and repeated activation fails due to repeated jump of various conditions when an automatic driving mode is attempted to be activated after an automatic driving activatable HMI (human machine interface) is obtained in the prior art.
The invention provides an automatic driving mode activation control method, which comprises the following steps:
receiving an automatic driving activation instruction, and acquiring an automatic driving unable activation condition;
when the type of the automatic driving incapacity condition is only a driver controllable type, reminding a driver of releasing the automatic driving incapacity condition of the driver controllable type;
in the case where the driver controllable type of automatic driving failure activation condition is released, an automatic driving mode is activated,
wherein the driver controllable type of autopilot not active condition indicates: an automatic driving disabled condition that can be released by the driver's control of himself and/or the vehicle.
According to the automatic driving mode activation control method provided by the invention, when the automatic driving unable activation condition of the driver controllable type is released, the automatic driving mode is activated, and the method comprises the following steps:
and in the preset time period, under the condition that the automatic driving incapacitating condition of the driver controllable type is released, activating an automatic driving mode, otherwise, stopping reminding the driver to release the automatic driving incapacitating condition of the driver controllable type after the preset time period is reached, wherein the starting timing time of the preset time period is as follows: the driver is reminded of the starting moment of the release of the driver controllable type of automatic driving incapacity condition.
According to the automatic driving mode activation control method provided by the invention, before stopping reminding a driver to release the automatic driving incapacity condition of the controllable type of the driver, the automatic driving mode activation control method further comprises the following steps:
and generating a countdown progress bar corresponding to the preset duration, visually displaying the countdown progress bar, and highlighting the countdown progress bar when the timing of the preset duration is finished.
According to the automatic driving mode activation control method provided by the invention, before stopping reminding a driver to release the automatic driving incapacity condition of the controllable type of the driver, the automatic driving mode activation control method further comprises the following steps: and if the automatic driving activation instruction is received within the preset time period, regenerating a countdown progress bar and restarting timing the preset time period.
According to the automatic driving mode activation control method provided by the invention, the preset duration is determined based on the response time of the driver to the automatic driving incapacity condition of the controllable type of the driver.
According to the automatic driving mode activation control method provided by the invention, when the automatic driving unable activation condition of the driver controllable type is released, the automatic driving mode is activated, and the method comprises the following steps:
and when the automatic driving non-activated condition of the driver controllable type is released, the automatic driving mode is activated after a preset first time period is delayed.
According to the automatic driving mode activation control method provided by the invention, after the automatic driving mode is activated, the automatic driving mode activation control method further comprises the following steps:
and in a preset second time period, controlling the respective variation of the steering wheel, the brake pedal and the accelerator pedal of the vehicle not to exceed respective preset variation thresholds, and the respective variation rate not to exceed respective preset variation rates.
The invention also provides an automatic driving mode activation control device, which comprises:
the condition acquisition module is used for receiving the automatic driving activation instruction and acquiring the condition that the automatic driving cannot be activated;
the auxiliary reminding module is used for reminding the driver of relieving the automatic driving incapacitating condition of the driver controllable type when the automatic driving incapacitating condition is only the driver controllable type;
an automatic driving mode activating module for activating an automatic driving mode in the case where the automatic driving non-activating condition of the driver controllable type is released,
wherein the driver controllable type of autopilot not active condition indicates: an automatic driving disabled condition that can be released by the driver's control of himself and/or the vehicle.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the automatic driving mode activation control method according to any one of the above when executing the program.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements an automatic driving mode activation control method as described in any one of the above.
According to the automatic driving mode activation control method and device, the automatic driving activation instruction is received to obtain the condition that the automatic driving cannot be activated; when the type of the automatic driving incapacity condition is only a driver controllable type, reminding a driver of releasing the automatic driving incapacity condition of the driver controllable type; in the case where the driver controllable type of automatic driving failure activation condition is released, an automatic driving mode is activated. In the invention, when the automatic driving activation instruction is received, if the automatic driving activation incapacity condition appears at the moment, judging the type of the automatic driving incapacity condition, when the type of the automatic driving incapacity condition is only the controllable type of the driver, reminding the driver to remove the controllable type of the automatic driving incapacity condition instead of directly reminding the driver to activate the automatic driving, and when the controllable type of the automatic driving incapacity condition is removed, automatically activating the automatic driving mode without repeated operation activation of the driver, thereby avoiding the problem that the continuous multiple activation fails due to repeated jump of various conditions when the automatic driving mode is activated.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an automatic driving mode activation control method provided by the invention;
FIG. 2 is one of the activation time flow diagrams in the automatic driving mode activation control method provided by the present invention;
FIG. 3 is a second active time flow diagram of the automatic driving mode active control method provided by the invention;
FIG. 4 is a third active time flow chart of the automatic driving mode active control method provided by the invention;
FIG. 5 is a fourth active time flow diagram in the automatic driving mode active control method provided by the present invention;
FIG. 6 is a schematic diagram of an automatic driving mode activation control device provided by the present invention;
fig. 7 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The flow of the automatic driving mode activation control method of the embodiment of the invention is shown in fig. 1, and the method can be used in an automatic driving system and comprises the following steps:
step S110: and receiving an automatic driving activation instruction, and acquiring an automatic driving incapacity activation condition. The automatic driving activating instruction is generated by triggering automatic driving through operation after the driver is reminded of the HMI capable of activating automatic driving, so that the automatic driving activating instruction is generated. The manner in which the driver operates the trigger autopilot includes: the driver presses the autopilot activation button or speaks "activate autopilot". After receiving the automatic driving activation instruction, simultaneously acquiring an automatic driving incapacity condition, wherein the automatic driving incapacity condition is generated by an event that an automatic driving mode cannot be activated, for example: when the driver presses the activation button, the front vehicle suddenly decelerates, resulting in a condition where the distance from the host vehicle to the front vehicle is less than the following distance that the automatic driving mode activation needs to achieve. Of course, the automatic driving incapacity condition is not acquired at this time, which means that no event is generated that the automatic driving mode can not be activated at present, and the automatic driving mode is activated directly.
Step S120: and prompting the driver to release the automatic driving incapacity condition of the driver controllable type when the type of the automatic driving incapacity condition is only the driver controllable type. Wherein the driver controllable type of autopilot not active condition indicates: an automatic driving disabled condition that can be released by the driver's control of himself and/or the vehicle. That is, when the type of the automatic driving incapacity condition is only the driver controllable type, the automatic driving mode is not activated directly, but the driver is reminded to remove the automatic driving incapacity condition of the driver controllable type through the HMI, so that the driver is guided to activate the automatic driving mode. The reminding mode can be voice and visual (presented in a large screen or head-up display of the vehicle) icon, text and flashing reminding.
Specifically, the types of the automatic driving incapacity condition are classified into a driver controllable type and a driver uncontrollable type, the driver uncontrollable type representing: the automatic driving incapacitation condition that can not be relieved by the driver's control over itself and/or the vehicle mainly includes: a vehicle or autopilot system failure condition, whether the vehicle is in an autopilot mode region. The classification of the autopilot inactivity conditions is shown in table 1 below:
TABLE 1 automatic driving fail to activate condition type List
As can be seen from table 1 above, the first and second conditions are the driver uncontrollable type, the third to sixth conditions are the driver controllable type, and the automatic driving incapacity conditions of the visible driver controllable type include: the driver's own state, the driver's operation control vehicle state, the vehicle running state, and the conditions as to whether the vehicle is in the AD-capable mode lane state. Wherein, whether the vehicle is in the AD-capable mode lane state is related to the external environment in which the vehicle is located, i.e. the driver can also release the automatic driving disabled condition by changing the external environment in which the vehicle is located, for example: the lane where the cone is provided is changed to a normal lane.
Of course, before the driver operates to trigger the automatic driving, the ADS system may determine the current automatic driving unable activation condition in real time, and if the automatic driving unable activation condition does not exist currently, directly remind the current automatic driving mode through the HMI that the automatic driving mode is activatable.
In this embodiment, the HMI level provides detailed operation improvement guidance when the driver fails to activate the autopilot mode only in such driver-controllable types of autopilot fail to activate conditions (i.e., the above-listed conditions three, four, five, and six). For example: after the driver fails to activate the automatic driving mode due to the reasons of unlocking the vehicle door, vehicle deviation and the like, detailed HMI text and voice reminding such as 'if the vehicle door needs to be activated, if the vehicle door needs to be locked', 'if the vehicle door needs to be activated, please drive in the middle', and the like are provided, and the specific reminding mode is shown in the following table 2:
table 2 automatic driving non-activated reminding mode
Step S130: in the case where the driver controllable type of automatic driving failure activation condition is released, an automatic driving mode is activated. Specifically, after the driver gets the related HMI prompt in step S120, the driver actively adjusts the state of the driver or the vehicle according to the prompt, so as to release the conditions from the third condition to the sixth condition, i.e. the condition that the driver cannot activate the automatic driving. After the driver controllable type of autopilot incapacity condition is released, the autopilot mode is automatically activated without requiring the driver to operate again to trigger autopilot, for example: the autopilot activation button is pressed again.
Of course, in step S110, if the autopilot disabled condition is not acquired, the autopilot mode is directly activated, and autopilot is entered. As shown in fig. 2, at time t, no autopilot disabled condition exists, an autopilot activatable HMI alert is given, and after the autopilot activatable HMI alert is received, the driver at t+t 1 At the moment, the driver operates to trigger the automatic driving, at this time, if the automatic driving incapacity condition is not obtained, the automatic driving mode is automatically activated, and the HMI reminds that the automatic driving is activated.
In the automatic driving mode activation control method of the embodiment, when an automatic driving activation instruction is received, if an automatic driving unable activation condition occurs at the moment, the type of the automatic driving unable activation condition is judged, when the type of the automatic driving unable activation condition is only a controllable type of a driver, the driver is reminded of canceling the automatic driving unable activation condition of the controllable type of the driver, instead of directly reminding that the automatic driving is unable to be activated, and when the automatic driving unable activation condition of the controllable type of the driver is canceled, the automatic driving mode is automatically activated without repeated operation and activation of the driver, so that the problem that continuous and repeated activation fails due to repeated jump of various conditions when the automatic driving mode is activated is avoided, the use experience of the driver on the automatic driving mode is improved, and the use frequency of the automatic driving can be potentially increased.
In some embodiments, step S130 includes: and in the preset time period, under the condition that the automatic driving incapacitating condition of the driver controllable type is released, activating an automatic driving mode, otherwise, stopping reminding the driver to release the automatic driving incapacitating condition of the driver controllable type after the preset time period is reached, wherein the starting timing time of the preset time period is as follows: the driver is reminded of the starting moment of the release of the driver controllable type of automatic driving incapacity condition. In this embodiment, the preset duration is set, and the autopilot system guides the driver to activate the autopilot mode within the preset duration, instead of guiding all the time, so as to avoid occupation of vehicle resources. Moreover, the inability to direct the automatic activation of the automatic driving mode for a long period of time also indicates that the current state of the vehicle is also unsuitable for the automatic driving mode, for example: the vehicle runs in a traffic flow with very complex traffic and exits the guide after a preset time length, so that the running safety is ensured. The preset time length can be set according to practical situations, for example, 10s.
In some embodiments, before stopping reminding the driver to release the driver controllable type of automatic driving incapacitation condition, further comprising: and generating a countdown progress bar corresponding to the preset duration, visually displaying the countdown progress bar, and highlighting the countdown progress bar when the timing of the preset duration is finished. Preferably, the countdown progress bar is generated and displayed while reminding the driver of the release of the condition of the driver controllable type that the automatic driving cannot be activated, and how much guidance left for the time of activating the automatic driving can be more intuitively reminded by the countdown progress bar display.
As shown in fig. 3, at t+t 1 At the time, if the condition three or the condition four is not satisfied, for example: the vehicle runs off the lane, displays a countdown progress bar and starts timing, and reminds 'if required to be activated, please drive in the middle', through t 2 (t 2 < 10 s), i.e. t+t is reached 1 +t 2 At the moment, the driver adjusts the vehicle to the condition three or the condition four according to the HMI reminding that the adjustment is carried out, the vehicle is driven in the middle of the lane, the condition three or the condition four is released, the automatic driving mode is automatically activated, the HMI reminding that the automatic driving is activated, and the countdown progress bar disappears.
As shown in FIG. 4, if 10 seconds elapse, t+t is reached 1 At time +10, the driver does not make a corresponding adjustment, the vehicle is still driving off the lane, either condition three or condition four is not released, the driver is not continuously guided to activate automatic driving, and the countdown progress bar is highlighted.
In some embodiments, before stopping reminding the driver to release the driver controllable type of automatic driving incapacitation condition, further comprising: and if the automatic driving activation instruction is received within the preset time period, regenerating a countdown progress bar and restarting timing the preset time period. As shown in fig. 5, at t+t 1 +t 3 Time (t) 3 And < 10 s), the driver presses the automatic driving activation button again, and at the moment, the countdown progress bar is regenerated, and the preset duration is counted again. If at t+t 1 +t 3 +t 4 Time (t) 4 < 10 s), by adjustment of the driver, the third or fourth condition is released, prompting that the automatic driving is activated, and the countdown progress bar disappears. And when the driver operates the automatic driving trigger again within the preset time period, the preset time period is restarted to be timed, so that the time for guiding the driver to activate the automatic driving is prolonged, and when the automatic driving trigger is operated again, the automatic driving unable activation condition may be different, and the timing is restarted, so that the driver has enough time to make corresponding adjustment. For example: at t+t 1 At the moment, the driver presses the automatic driving activation button for the first time, and the vehicle does not run in the middle at the moment, so that the HMI is obtained for reminding' if the driver needs to activate, please centerDriving, wherein the driver adjusts the steering wheel to drive the vehicle centrally, but the ADS system still does not automatically activate the automatic driving mode because the rotating speed of the steering wheel is too high, so that the driver presses an automatic driving activation button again within a preset time period of 10s, obtains an HMI prompt that the driver is required to activate, returns to the positive steering wheel, regenerates a countdown progress bar and reckons, and the driver reminds and adjusts the vehicle according to the HMI in the preset time period at t+t 1 +t 3 +t 4 Time (t) 4 < 10 s), the steering wheel has been returned, the third or fourth condition is released, the ADS system automatically activates the autopilot mode, and the HMI alerts the autopilot to the activation and the countdown progress bar disappears.
In some embodiments, the preset time period is determined based on a reaction time of the driver to the driver controllable type of autopilot inactivity condition. Specifically, according to the automatic driving incapacity condition of different driver controllable types, data can be obtained through a certain driver driving test, and most of the situations (for example, 99% of the situations are confirmed, the specific value is adjustable) of the driver are confirmed, and the preset duration required by the automatic driving incapacity condition is improved, so that the specific preset duration is designed for the automatic driving incapacity condition of each driver controllable type, and the automatic driving incapacity condition is more humanized. For example:
a) Aiming at the occurrence of an event that only the accelerator pedal is deeply stepped on to inhibit the activation of the AD mode, an improvement time window (namely a preset duration) of 5s is provided, and the AD mode is automatically activated only when the accelerator pedal is timely released within 5s of a driver, so that the occurrence of other conditions such as overhigh vehicle speed and the like for inhibiting the activation of the AD mode caused by overlong time of deep stepping on the accelerator pedal of the driver is prevented.
b) When the vehicle is in the lane departure, the driver needs to control the steering wheel to restore the vehicle to the vehicle and drive the vehicle, and the steering wheel is reset to ensure that the torque, the rotation angle and the rotation speed are all in a reasonable range, so that the condition of the AD mode activation can be met, an improvement time window of 10s can be provided, and the driver can finish the improvement under the condition of 99 percent of conditions.
In some embodiments, step S130 includes: when the driver controllable type of automatic driving incapacity condition is released, the automatic driving mode is activated after a preset first time period (for example, 0.5 s) is delayed, and different settings are made for different situations of automatic driving incapacity condition release. By delaying the first period of time, the AD mode is automatically activated again, which may be more interactive for the driver.
For example: the occurrence of this event of inhibiting the activation of the AD mode, which results in failure of the activation of the AD mode, causes the driver to change the deactivation conditions within a time window (e.g., 5 s), and if the ADs activates the AD mode immediately, which corresponds to the driver just wearing the belt, the ADs system can activate the AD mode typically within 0.1s to 0.2s and provide an HMI alert of "autopilot activated". This situation is too consistent and fast and not driver friendly, so that for some driver-controllable types of autopilot-disabled conditions, ADS is delayed for a short period of time (e.g. 0.5 s) after the driver releases the conditions, and AD mode is automatically activated, making it more humanized.
It should be noted that: when not all the driver controllable types of automatic driving fail to activate the condition is released, the automatic AD mode is activated again after a first period of time, and whether the first period of time is delayed or not is determined according to different situations.
In some embodiments, after step S130, further comprising: and in a preset second time period, controlling the respective variation of the steering wheel, the brake pedal and the accelerator pedal of the vehicle not to exceed respective preset variation thresholds, and the respective variation rate not to exceed respective preset variation rates. For example: the turning angle variation of the steering wheel is not more than 5-10 degrees, the steering rate is not more than 10-30 degrees per second, the respective opening variation of the brake pedal and the accelerator pedal is not more than 10-15% of the total opening, and the opening variation rate is not more than 10-30% per second of the total opening.
Namely, after the driver changes and releases the automatic driving incapacity condition of the controllable type of the driver within the preset duration and automatically activates the AD mode, the automatic driving behavior of the AD mode is limited within a second time period (for example, the specific value is adjustable), so that the automatic driving behavior is not greatly changed from the previous manual driving behavior, and better driving experience is obtained.
For example: when the driver releases the brake pedal in time within a time window of 5s only when the event of deep stepping of the brake pedal, which suppresses activation of the AD mode, the ADs controls the vehicle for a certain period of time (for example, 5 s) before the ADs automatically activates the AD mode, and the accelerator pedal control output value of the ADs is limited. The method prevents the driver from deeply stepping on the brake in the MD mode before activation, releases the brake pedal, and provides larger accelerator pedal opening output immediately after the ADS activates the AD mode, so that the acceleration/brake is switched too quickly and greatly, and the discomfort of the driver is brought.
The automatic driving mode activation control apparatus provided by the present invention will be described below, and the automatic driving mode activation control apparatus described below and the automatic driving mode activation control method described above may be referred to correspondingly to each other.
The automatic driving mode activation control device provided by the invention, as shown in fig. 6, comprises:
the condition acquisition module 610 is configured to receive an autopilot activation instruction and acquire an autopilot incapacity condition that occurs.
The auxiliary reminding module 620 is configured to remind the driver to release the driver controllable type of the automatic driving incapacity condition when the automatic driving incapacity condition is only the driver controllable type.
An autopilot mode activation module 630 for activating an autopilot mode in the event that the driver controllable type of autopilot fail to activate condition is released.
Wherein the driver controllable type of autopilot not active condition indicates: an automatic driving disabled condition that can be released by the driver's control of himself and/or the vehicle.
In the automatic driving mode activation control device, when an automatic driving activation instruction is received, if an automatic driving incapacitation condition occurs at the moment, the type of the automatic driving incapacitation condition is judged, when the type of the automatic driving incapacitation condition is only a controllable type of a driver, the driver is reminded of releasing the automatic driving incapacitation condition of the controllable type of the driver, instead of directly reminding that the automatic driving can not be activated, and when the automatic driving incapacitation condition of the controllable type of the driver is released, the automatic driving mode is automatically activated without repeated operation and activation of the driver, so that the problem that continuous repeated activation fails due to repeated jump of various conditions when the automatic driving mode is activated is avoided, the use experience of the driver on the automatic driving mode is promoted, and the use frequency of the automatic driving can be potentially increased.
Optionally, the automatic driving mode activation module 630 is specifically configured to activate the automatic driving mode when the automatic driving disabled condition of the driver controllable type is released within a preset duration, otherwise, after the preset duration is reached, stop reminding the driver to release the automatic driving disabled condition of the driver controllable type, where a starting timing time of the preset duration is: the driver is reminded of the starting moment of the release of the driver controllable type of automatic driving incapacity condition.
Optionally, the automatic driving mode activation control apparatus further includes:
and the progress bar display module is used for generating a countdown progress bar corresponding to the preset duration, visually displaying the countdown progress bar, and highlighting the countdown progress bar when the timing of the preset duration is finished.
Optionally, the progress bar display module is further configured to, if an automatic driving activation instruction is received within the preset duration, regenerate a countdown progress bar and restart timing the preset duration.
Optionally, the preset duration is determined based on a reaction time of the driver to the driver controllable type of automatic driving inactivity condition.
Optionally, the automatic driving mode activating module 630 is specifically configured to delay activating the automatic driving mode after a preset first period of time when the driver controllable type of automatic driving disabled condition is released.
Optionally, the automatic driving mode activation control apparatus further includes: the change amount control module is used for controlling respective change amounts of a steering wheel, a brake pedal and an accelerator pedal of the vehicle not to exceed respective preset change thresholds and respective change rates not to exceed respective preset change rates in a preset second time period.
Fig. 7 illustrates a physical schematic diagram of an electronic device, as shown in fig. 7, which may include: processor 710, communication interface (Communications Interface) 720, memory 730, and communication bus 740, wherein processor 710, communication interface 720, memory 730 communicate with each other via communication bus 740. Processor 710 may invoke logic instructions in memory 730 to execute an autopilot mode activation control method comprising:
and receiving an automatic driving activation instruction, and acquiring an automatic driving incapacity activation condition.
And prompting the driver to release the automatic driving incapacity condition of the driver controllable type when the type of the automatic driving incapacity condition is only the driver controllable type.
In the case where the driver controllable type of automatic driving failure activation condition is released, an automatic driving mode is activated.
Wherein the driver controllable type of autopilot not active condition indicates: an automatic driving disabled condition that can be released by the driver's control of himself and/or the vehicle.
Further, the logic instructions in the memory 730 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention 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, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. 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.
In another aspect, the present invention also provides a computer program product, the computer program product including a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of executing the automatic driving mode activation control method provided by the above methods, the method comprising:
and receiving an automatic driving activation instruction, and acquiring an automatic driving incapacity activation condition.
And prompting the driver to release the automatic driving incapacity condition of the driver controllable type when the type of the automatic driving incapacity condition is only the driver controllable type.
In the case where the driver controllable type of automatic driving failure activation condition is released, an automatic driving mode is activated.
Wherein the driver controllable type of autopilot not active condition indicates: an automatic driving disabled condition that can be released by the driver's control of himself and/or the vehicle.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the automatic driving mode activation control method provided by the above methods, the method comprising:
and receiving an automatic driving activation instruction, and acquiring an automatic driving incapacity activation condition.
And prompting the driver to release the automatic driving incapacity condition of the driver controllable type when the type of the automatic driving incapacity condition is only the driver controllable type.
In the case where the driver controllable type of automatic driving failure activation condition is released, an automatic driving mode is activated.
Wherein the driver controllable type of autopilot not active condition indicates: an automatic driving disabled condition that can be released by the driver's control of himself and/or the vehicle.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An automatic driving mode activation control method, characterized by comprising:
receiving an automatic driving activation instruction, and acquiring an automatic driving unable activation condition;
when the type of the automatic driving incapacity condition is only a driver controllable type, reminding a driver of releasing the automatic driving incapacity condition of the driver controllable type;
in the case where the driver controllable type of automatic driving failure activation condition is released, an automatic driving mode is activated,
wherein the driver controllable type of autopilot not active condition indicates: an automatic driving disabled condition that can be released by the driver's control of himself and/or the vehicle.
2. The automatic driving mode activation control method according to claim 1, wherein activating the automatic driving mode in the case where the automatic driving non-activation condition of the driver controllable type is released, comprises:
and in the preset time period, under the condition that the automatic driving incapacitating condition of the driver controllable type is released, activating an automatic driving mode, otherwise, stopping reminding the driver to release the automatic driving incapacitating condition of the driver controllable type after the preset time period is reached, wherein the starting timing time of the preset time period is as follows: the driver is reminded of the starting moment of the release of the driver controllable type of automatic driving incapacity condition.
3. The automatic driving mode activation control method according to claim 2, characterized by further comprising, before stopping reminding a driver to cancel the driver controllable type of automatic driving non-activation condition:
and generating a countdown progress bar corresponding to the preset duration, visually displaying the countdown progress bar, and highlighting the countdown progress bar when the timing of the preset duration is finished.
4. The automatic driving mode activation control method according to claim 3, characterized by further comprising, before stopping reminding a driver to cancel the driver controllable type of automatic driving non-activation condition: and if the automatic driving activation instruction is received within the preset time period, regenerating a countdown progress bar and restarting timing the preset time period.
5. The automatic driving mode activation control method according to claim 2, wherein the preset time period is determined based on a reaction time of a driver to the automatic driving incapacity condition of the driver controllable type.
6. The automatic driving mode activation control method according to claim 1, wherein activating the automatic driving mode in the case where the automatic driving non-activation condition of the driver controllable type is released, comprises:
and when the automatic driving non-activated condition of the driver controllable type is released, the automatic driving mode is activated after a preset first time period is delayed.
7. The automatic driving mode activation control method according to any one of claims 1 to 6, characterized by further comprising, after activating the automatic driving mode:
and in a preset second time period, controlling the respective variation of the steering wheel, the brake pedal and the accelerator pedal of the vehicle not to exceed respective preset variation thresholds, and the respective variation rate not to exceed respective preset variation rates.
8. An automatic driving mode activation control apparatus, characterized by comprising:
the condition acquisition module is used for receiving the automatic driving activation instruction and acquiring the condition that the automatic driving cannot be activated;
the auxiliary reminding module is used for reminding the driver of relieving the automatic driving incapacitating condition of the driver controllable type when the automatic driving incapacitating condition is only the driver controllable type;
an automatic driving mode activating module for activating an automatic driving mode in the case where the automatic driving non-activating condition of the driver controllable type is released,
wherein the driver controllable type of autopilot not active condition indicates: an automatic driving disabled condition that can be released by the driver's control of himself and/or the vehicle.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the automatic driving mode activation control method according to any one of claims 1 to 7 when executing the program.
10. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the automatic driving mode activation control method according to any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311227676.XA CN117400963A (en) | 2023-09-21 | 2023-09-21 | Automatic driving mode activation control method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311227676.XA CN117400963A (en) | 2023-09-21 | 2023-09-21 | Automatic driving mode activation control method and device |
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| CN202311227676.XA Pending CN117400963A (en) | 2023-09-21 | 2023-09-21 | Automatic driving mode activation control method and device |
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