WO2020191734A1

WO2020191734A1 - Control method and control apparatus for automatic driving, and vehicle

Info

Publication number: WO2020191734A1
Application number: PCT/CN2019/080176
Authority: WO
Inventors: 应佳行; 马建云; 商志猛; 张华森
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-03-28
Filing date: 2019-03-28
Publication date: 2020-10-01
Also published as: CN111316181A

Abstract

Provided are a control method and control apparatus for automatic driving, and a vehicle. The control method comprises: determining the current driving state of a vehicle; detecting a state signal of a set operating part of the vehicle, and determining, according to the state signal of the set operating part, whether there is a driving state switching operation; if it is determined that there is a driving state switching operation in the vehicle, determining whether a driving state switching condition is satisfied; and if the driving state switching condition is satisfied, performing driving state switching, wherein the driving state switching comprises entering an automatic driving state and exiting the automatic driving state. According to the embodiments of the present invention, an automatic driving switch-in and switch-out control mechanism with a redundant design is provided in order to provide rich interactive interfaces for the switch-in and switch-out of an automatic driving mode, such that a user can simply and quickly realize the switch-in and switch-out of the automatic driving mode; moreover, due to the redundant design, the switch-in and switch-out of the automatic driving mode have a sufficient guarantee of validity.

Description

Control method, control device and vehicle for automatic driving

Manual

Technical field

The present invention relates to the field of automatic driving technology, and more specifically to a control method, control device and vehicle for automatic driving.

Background technique

In the field of autonomous driving, the autonomous driving system usually consists of an on-board computer, an environment perception system, and a car-by-wire execution system. In the process of autonomous driving, the on-board computer system receives the current road condition information fed back by the environment perception system to complete the path planning of the car , Issue steering, acceleration and deceleration control commands to the wire control execution system to realize autonomous control of the car. In addition, the on-board computer system will also realize the processing of driving mode conversion, especially it must have the logic of automatic driving cut in and out, that is, when the driver requests to enter automatic driving, if the road conditions permit, the on-board computer system can normally switch to automatic driving mode. Or when the driver requests to quit the automatic driving, the on-board computer system can safely and quickly hand over the control right to the driver to perform the driving operation of the car.

At present, the cut-in and cut-out function of automatic driving is generally realized by defining a function button in the center console of the car. When the driver presses this button, it will trigger the on-board computer system to switch in or out of the automatic driving mode. However, the design of the button, whether it is touch-type or mechanical, is not significantly different from other function buttons, which leads to the operation, especially in emergency conditions, it is easy to press wrong or not to press the button. Timely problems, or even if some differences can be made in the design, it is not easy for the driver to complete the quick and accurate operation due to the large number of buttons. In addition, the current scheme lacks redundant design and generally only provides a single interactive interface, without sufficient guarantee of effectiveness, resulting in insufficient safety.

Summary of the invention

The present invention is proposed to solve at least one of the above-mentioned problems. The present invention provides a control method, a control device, and a vehicle for automatic driving, which can provide an automatic driving cut-in and cut-out control mechanism with redundant design, and provide a rich interactive interface for the cut-in and cut-out of automatic driving mode, thereby making The user can simply and quickly realize the switch-in and switch-out of the automatic driving mode, and because of the redundant design, the cut-in and cut-out of the automatic driving mode have sufficient guarantee of effectiveness.

Specifically, the embodiment of the present invention provides a control method for automatic driving, which is used to enter or exit the automatic driving state, including:

Determining the current driving state of the vehicle, where the current driving state includes an automatic driving state and a non-automatic driving state;

Detecting the state signal of the setting operating member of the vehicle, and judging whether the vehicle has a driving state switching operation according to the state signal of the setting operating member;

If it is determined that the vehicle has a driving state switching operation, it is determined whether the driving state switching condition is satisfied, and if the driving state switching condition is satisfied, the driving state switching is performed, wherein the driving state switching includes entering an automatic driving state and exiting an automatic driving state.

The embodiment of the present invention also provides a control device for automatic driving, including:

A driving state determining unit, the driving state determining unit is used to determine the current driving state of the vehicle, wherein the current driving state includes an automatic driving state and a non-automatic driving state;

A detection unit, the detection unit is used to detect the state signal of the setting operation component of the vehicle, and determine whether the vehicle has a driving state switching operation according to the state signal of the setting operation component;

The control unit is configured to determine whether the driving state switching condition is satisfied when the detection unit determines that the vehicle has a driving state switching operation, and if the driving state switching condition is satisfied, control the vehicle to switch the driving state, wherein , The driving state switching includes entering the automatic driving state and exiting the automatic driving state.

The embodiment of the present invention also provides a vehicle with an automatic driving function, including:

One or more memories for storing one or more computer programs;

One or more processors;

The one or more processors are configured to execute the one or more computer programs to implement the control method for automatic driving according to an embodiment of the present invention.

The position sensor is used to detect the position of the vehicle's setting operating components and output a position detection signal;

The component wiring harness is used to turn on or off under the control of the vehicle component, thereby changing the state of the corresponding vehicle component;

A microcontroller, the signal input terminal of the microcontroller is connected to the output terminal of the position sensor, and is used to obtain the position detection signal, and determine the position of the setting operation component according to the position detection signal, so The signal input terminal of the microcontroller is also connected to the component harness, and is used to detect the voltage of the component harness, so as to determine whether the component harness is on or off;

A vehicle control module configured to control the vehicle to enter and exit the automatic driving mode according to the position of the set operating component and/or the state of the component harness detected by the microcontroller

The embodiment of the present invention provides a control method, control device, and vehicle for automatic driving, provides an automatic driving cut-in and cut-out control mechanism with redundant design, and provides a rich interactive interface for the cut-in and cut-out of automatic driving mode, thereby This allows users to simply and quickly realize the automatic driving mode switching in and out, and because of the redundant design, the automatic driving mode switching in and out has sufficient guarantee of effectiveness.

Description of the drawings

Fig. 1 shows a schematic block diagram of a vehicle with an automatic driving function according to an embodiment of the present invention;

2 shows a schematic block diagram of a throttle control unit and a left turn signal control unit of a vehicle with an automatic driving function according to an embodiment of the present invention;

Fig. 3 shows a schematic diagram of an output signal of a throttle position sensor according to an embodiment of the present invention;

Figure 4 shows a schematic diagram of the current left turn signal control principle;

5 shows a schematic block diagram of a vehicle with automatic driving function according to another embodiment of the present invention;

Fig. 6 shows a schematic flowchart of a control method for automatic driving according to an embodiment of the present invention;

FIG. 7 shows a schematic flowchart of a method for entering an automatic driving state based on the operation of a light pole according to an embodiment of the present invention;

FIG. 8 shows a schematic flowchart of a method for exiting an automatic driving state based on the operation of a light pole according to an embodiment of the present invention;

FIG. 9 shows a schematic flowchart of a method for exiting an automatic driving state based on operation of a brake pedal according to an embodiment of the present invention;

FIG. 10 shows a schematic flowchart of a method for exiting an automatic driving state based on operation of a steering wheel according to an embodiment of the present invention;

FIG. 11 shows a schematic flowchart of a method for exiting an automatic driving state based on an operation of a driving state switching button according to an embodiment of the present invention;

FIG. 12 shows a schematic flowchart of a control device for automatic driving according to an embodiment of the present invention;

FIG. 13 shows a schematic diagram of a shift strategy of a current mobile platform;

Figure 14 shows a schematic block diagram of a gear control module according to an embodiment of the present invention;

Figure 15 shows a schematic structural diagram of a gearbox according to an embodiment of the present invention;

FIG. 16 shows a schematic diagram of the connection relationship between the acceleration box, the oil pump and the hydraulic coupler of the movable platform according to an embodiment of the present invention.

detailed description

In order to make the objectives, technical solutions and advantages of the present invention more obvious, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments of the present invention. It should be understood that the present invention is not limited by the exemplary embodiments described herein. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without creative work should fall within the protection scope of the present invention.

In the following description, a lot of specific details are given in order to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features known in the art are not described.

It should be understood that the present invention can be implemented in different forms and should not be interpreted as being limited to the embodiments presented here. On the contrary, the provision of these embodiments will make the disclosure thorough and complete, and will fully convey the scope of the present invention to those skilled in the art.

The purpose of the terms used here is only to describe specific embodiments and not as a limitation of the present invention. When used herein, the singular forms of "a", "an" and "the/the" are also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "composition" and/or "including", when used in this specification, determine the existence of the described features, integers, steps, operations, elements and/or components, but do not exclude one or more other The existence or addition of features, integers, steps, operations, elements, parts, and/or groups. As used herein, the term "and/or" includes any and all combinations of related listed items.

In order to thoroughly understand the present invention, detailed steps and detailed structures will be presented in the following description to explain the technical solution proposed by the present invention. However, in addition to these detailed descriptions, the present invention may also have other embodiments.

Fig. 1 shows a schematic block diagram of a vehicle with an automatic driving function according to an embodiment of the present invention. As shown in FIG. 1, the vehicle 100 with automatic driving function provided in this embodiment includes an environment perception module 101, a vehicle control module 102 and a vehicle execution module 103. The environment perception module 101 is used to perceive the surrounding environment and road condition information of the vehicle. The environment perception module 101 includes sensors such as a camera, millimeter wave radar, laser radar, and ultrasonic radar to perceive surrounding environment information. The vehicle control module 102 includes one or more processing modules/processors and the like. The vehicle execution module 103 includes various execution systems of the vehicle, such as powertrain, chassis control, body control, entertainment control, diagnostic control, and so on. The vehicle control module 102 receives the current road condition information fed back by the environment perception module 101 to complete the path planning of the car, and issues steering, acceleration and deceleration control commands to the vehicle execution module 103 to realize autonomous control of the car. The vehicle control module 102 also has the logic of automatic driving cut-in and cut-out, that is, when the driver requests to enter automatic driving, if the road conditions permit, the vehicle control module 102 can normally switch to automatic driving mode, or when the driver requests to exit automatic driving, The vehicle control module 102 can safely and quickly hand over the control right to the driver to perform the driving operation of the car. In this embodiment, the vehicle control module 102 provides a variety of interactive interfaces to realize the switch in and out of the automatic driving mode to provide sufficient guarantee of effectiveness to ensure that the driver can enter or exit the automatic driving mode in time, especially in emergency situations. Exit the driving mode in time in the state.

The vehicle control module 102 realizes switching in and out of the automatic driving mode based on the set position information of the vehicle operating components. The set vehicle operating components include at least two of a driving state switching button, a light pole, a brake pedal, an accelerator, and a steering wheel. The vehicle is equipped with position sensors or component wiring harnesses that detect the positions or states of these setting operation components. The position sensor is used to detect the position of the vehicle's setting operating components and output a position detection signal. For example, the accelerator position sensor is used to detect the position of the accelerator and output the accelerator position detection signal, and the steering wheel torque sensor is used to detect the position of the steering wheel and output the steering wheel. Position detection signal. The component wire harness is used to turn on or off under the control of the vehicle component, thereby changing the state of the corresponding vehicle component. For example, the left turn signal wire harness can be turned on or off under the control of the left turn light pole to make the left turn signal light. Turn on or off.

The vehicle 100 with automatic driving function provided in this embodiment further includes one or more microcontrollers (MCU, microcontrol unit) for detecting and setting the state of the vehicle operating components. The one or more microcontrollers may or may not belong to the vehicle control module 102. The signal input terminal of the microcontroller is connected to the output terminal of the position sensor, and is used to obtain the position detection signal, and determine the position of the setting operation component according to the position detection signal, the microcontroller The signal input terminal of is also connected with the component wiring harness, and is used to detect the voltage of the component wiring harness, so as to determine whether the component wiring harness is on or off. The vehicle control module 102 is used to control the vehicle to enter and exit the automatic driving mode according to the position of the set operating component and/or the state of the component harness detected by the microcontroller, which will be described in detail later .

In some embodiments, the sensor includes a throttle position sensor, a steering wheel twist sensor, or a position sensor of a driving state switching button, and the component wiring harness includes a turn signal harness, a right turn signal harness, a door lock control harness, an ignition and flameout control harness, Double flash control wiring harness or headlight control wiring harness.

Further, the microcontroller is also used to control the components of the vehicle according to the control instructions of the vehicle control module 102. In some embodiments, the output terminal of the position sensor and the output terminal of the microcontroller are also connected to a switch component, the switch component is also connected to a control component of the vehicle, and the switch component is used in the micro Under the control of the controller, the position detection signal output by the sensor or the control signal output by the microcontroller is transmitted to the control part, so that the control part controls the setting operation part of the vehicle based on the received signal . A switch component is provided between the vehicle component corresponding to the component wiring harness and the power supply module, the microcontroller is connected to the switch component, and the microcontroller is used to control the switch component according to the voltage of the component wiring harness. Turn on or directly control the turn on of the switch component.

In some embodiments, the switch component is various relay switches, and the control component includes an engine control module or an electronic power steering module.

The automatic driving function of the vehicle provided in this embodiment is realized based on the modification of the existing vehicle machine. Through the modification of the existing vehicle, the accelerator control, steering control, headlight control, door lock control, brake control, and ignition control in automatic driving are realized. Etc., and does not affect the normal use of the vehicle's functions during manual control.

In some embodiments, the automatic driving function of the vehicle is implemented based on the detection or simulation of the existing vehicle analog signal. The principle will be exemplarily explained below with reference to FIGS. 2 to 4.

Fig. 2 shows a schematic block diagram of a throttle control unit and a left turn signal control unit of a vehicle with an automatic driving function according to an embodiment of the present invention; Fig. 3 shows a schematic diagram of output signals of a throttle position sensor according to an embodiment of the present invention ; Figure 4 shows a schematic diagram of the current left turn signal control principle.

The structure of the accelerator control unit of the vehicle with the automatic driving function of this embodiment is shown in the upper dashed box in FIG. 2. The accelerator position sensor is used to detect the position of the accelerator and output a position detection signal according to the position of the accelerator. The position detection signal is a continuous differential voltage. As shown in Figure 3, the accelerator position sensor can convert the accelerator pedal stroke into an analog differential with two linear changes. Voltage signal. In this embodiment, a double-pole double-throw relay is provided between the throttle position sensor and the engine control module (ECM), and the throttle position sensor and the engine control module (ECM) are connected to the double-pole double-throw relay. The two differential voltage signals VPA2 and VPA output by the throttle position sensor are respectively connected to the normally closed terminal of the double-pole double-throw relay, and the two output terminals of the double-pole double-throw relay are connected to the VPA2 and VPA terminals of the engine control module (ECM) end on. At the same time, the microcontroller (MCU) outputs a PWM wave with a constant frequency and adjustable duty cycle through the PWM module. This PWM wave is connected to the operational amplifier circuit through the voltage follower circuit, and the analog voltage PMW_VPA output by the operational amplifier is directly connected to the double pole. The normally open end of the double-throw relay, the other way outputs the analog voltage signal PWM_VPA2 after passing through the adder circuit, and PWM_VPA2 is connected to the other normally open end of the double-pole double-throw relay. By adjusting the duty cycle of the PWM, it can be ensured that the variation range of the output two channels of PWM_VPA2 and PWM_VPA modulated by the analog circuit is consistent with the two channels of simulator signals VPA2 and VPA output by the throttle position sensor.

Further, in this embodiment, the analog differential voltage signals VPA2 and VPA output by the throttle position sensor, and the modulated simulator voltage signals PWM_VPA2 and PWM_VPA output by the MCU are respectively connected to the ADC (analog-to-digital converter) of one MCU. aisle.

The working principle of the throttle control unit of this embodiment is: when the MCU is not needed to automatically control the throttle, the MCU controls the double-pole double-throw relay to turn on the VPA2 and VPA output by the throttle sensor and the engine control module (ECM) to ensure that the throttle is passed The pedal can control the vehicle normally. When it is necessary to automatically control the throttle through the MCU, the MCU connects the modulated simulator voltage signals PWM_VPA2 and PWM_VPA output by the MCU to the engine control module (ECM) by controlling the double-pole double-throw relay. The MCU adjusts the duty cycle of the PWM. Can realize linear control of vehicle throttle.

In addition, since the analog differential voltage signals VPA2 and VPA output by the throttle position sensor are connected to the ADC (analog-to-digital converter) channel of one MCU, when the MCU automatically controls the throttle, the MCU can detect the VPA2 and VPA signals output by the throttle sensor. Get the current accelerator pedal stroke, and realize the set automatic driving function based on the detection of the accelerator position during automatic driving. For example, in the process of automatic driving, if it is detected that the accelerator is stepped on, the automatic driving mode can be exited, or the acceleration can also be started.

In this embodiment, the double-pole double-throw relay is used to control the switching of the throttle sensor output signal and the modulated simulator voltage signal output by the MCU to the engine control module (ECM). Another obvious advantage is that this embodiment uses The normally closed relay module, in the case of abnormal operation of the MCU or power failure, through the normally open and normally closed characteristics of the relay, the output signal of the accelerator sensor can be switched to the engine control module (ECM) to ensure that the accelerator can be controlled by the accelerator pedal to improve Improve the security of the system.

In addition, the output of the steering wheel torque sensor is also an analog differential voltage signal, so based on a similar principle, the vehicle's steering control function can also be implemented in the automatic driving mode.

Please refer to FIG. 2 again. The structure of the left turn signal control unit of the vehicle with automatic driving function in this embodiment is shown in the lower dashed box in FIG. 2. Figure 4 is a simple schematic diagram of the left turn signal control of a general vehicle. The left turn signal rod can control the left turn signal wire harness to achieve conduction and disconnection, even if the left turn signal switch in Figure 4 is turned on or off. In this embodiment, in order to realize the control of the turn signal in both manual driving and automatic driving, as shown in 2, a single-pole single-throw relay is provided between the power supply module and the low beam light, and the power supply module's Connect the 12V voltage to the normally open terminal of the single-pole single-throw relay, and connect the left low beam lamp to the output terminal of the single-pole single-throw relay. At the same time, the left turn signal wire harness in the left turn signal light pole is connected to one ADC channel of the MCU after being divided by the voltage divider circuit. A GPIO pin of the MCU controls the voltage output of the voltage control module, and this voltage output is connected to the single pole single throw The control signal end of the switch, so that the MCU can determine whether the left turn signal light pole is in the on or off position by detecting the voltage of the left turn signal harness, and control the open/close state of the relay through GPIO. The working principle of the left turn signal control unit of this embodiment is that when the MCU is not needed to automatically control the left turn signal, the MCU detects the current voltage of the left turn signal harness through the ADC module to determine whether the left turn signal light pole is on or off The position status is controlled by controlling the opening and closing of the relay to control the conduction or disconnection of the power supply module and the left low beam to realize the left low beam control. When the MCU is required to automatically control the left turn signal, the MCU directly controls the closing of the relay through GPIO so as to automatically control the left low beam.

In addition, whether the left turn signal light pole is in the on or off position obtained by the MCU through the ADC can also be used to implement other automatic driving functions, such as detecting that the left turn signal light pole is in the on position, it can trigger automatic driving Left lane change function.

In addition, in this embodiment, right turn signal control, door lock control, ignition and flameout control, dual flash control, headlight control (including low beam, width indicator, front fog, rear fog and high beam The principle of) is similar to the principle and structure of the left turn signal control, and will not be repeated here.

In some embodiments, the automatic driving function of the vehicle is implemented based on the utilization of the existing vehicle CAN protocol. In some embodiments, steering control is realized by simulating the direction control in the automatic parking function of the original car, braking and acceleration control is realized by the adaptive cruise function of the original car of the simulator, and the gear command issued by the simulating gear detection module is realized Gear control. This method solves the problem that the new system cannot be connected to the vehicle CAN network and the safety hazard caused by the replacement of the original car's EPS system, brake system, etc., and also solves the problem of large space occupied by the installation of test robots. The following describes the principle of implementing automatic driving functions based on the use of the existing vehicle CAN protocol in conjunction with FIG. 5.

Fig. 5 shows a schematic block diagram of a vehicle with an automatic driving function according to another embodiment of the present invention. As shown in FIG. 5, the vehicle with automatic driving function in this embodiment includes a vehicle control module 201, a direction control module 202, a brake control module 203 and a gear position control module 204. The structure and function of the vehicle control module 201 are similar to the vehicle control module 102. In this embodiment, the vehicle control module 201 is used to send control instructions to the direction control module 202, the brake control module 203 and the gear control module 204 so that the direction control module 202, the brake control module 203 and the gear control module 204 can pass Change the instruction package to realize steering control, brake control and gear control. Specifically, the direction control module 202 is respectively connected to the vehicle's first CAN network CANx and the electronic power steering module EPS through two CAN network buses; the brake control module 203 is respectively connected to the vehicle's second CAN network CANy through two CAN network buses And the anti-lock brake module ABS; the gear control module 204 is respectively connected to the vehicle's third CAN network CANz and gear detection ECU through two CAN network buses; the direction control module 202, the brake control module 203 and the gear control The module 204 is also connected to the control CAN bus of the vehicle control module 201 through the CAN bus.

Wherein, the direction control module 202 is used to change the steering control enable command packet and the steering control steering wheel angle command packet from the first CAN network according to the control command sent by the vehicle control module 201, and change the higher steering control The enable command packet and the steering control steering wheel angle command packet are sent to the electronic power steering module EPS, and the command sent by the electronic power steering module EPS includes transmission to the first CAN network CANx. Specifically, when the vehicle control module 201 sends an automatic steering control command to the steering control module 202, the steering control module 202 changes the enable flag in the steering control enable command packet to valid, and other bytes remain the same as the original car; Change the steering wheel angle in the steering control steering wheel angle command packet to the target steering wheel angle, and the other bytes remain the same as the original car. The EPS performs the steering mechanism (such as wheels and steering) according to the received and steering control enable command packet and steering wheel angle command packet. Actuator) to control to achieve steering. In this embodiment, all the command packets sent and received by EPS (electronic power steering), including the steering control enable command packet and steering control steering wheel angle command packet after "tampering", are mutually transparently transmitted, and the direction control module 202 transparently transmits all received command packets of the original vehicle CAN network CAN X to the EPS (electronic power steering module), and transparently transmits all the received EPS (electronic power steering module) command packets to the original vehicle CAN network CAN X. In this way, the direction control module 202 is "disguised" as an automatic parking module to control the steering system of the vehicle without affecting other functions of the EPS.

The brake control module 203 is used to change the brake enable command packet or the brake enable command packet from the second CAN network CANy according to the control command sent by the vehicle control module 201, and set the higher brake enable command packet Or the brake enable command is sent to the anti-lock brake module ABS, and the command sent by the anti-lock brake module ABS includes transmission to the second CAN network CANy.

The gear control module 204 is used to change the gear instruction packet from the third CAN network CANz according to the control instruction sent by the vehicle control module 201, and send the higher gear instruction packet to the gear detection ECU, and the instruction sent by the gear detection ECU includes transmission to the third CAN network CANz.

The first CAN network, the second CAN network, or the third CAN network may be a body CAN network, or may be other CAN networks.

It should be understood that the direction control enable package is not sent by the automatic parking module of the original car, and the brake control enable package is not sent by the adaptive cruise module of the original car, but the final recipient is either the EPS module or the ABS module. Various types of steering control and braking control are also applicable to the method of this embodiment to realize the steering control and braking control in the automatic driving function.

It should also be understood that the foregoing description is an example of implementing partial functions in automatic driving based on an existing vehicle, and the vehicle with automatic driving function in this embodiment can still implement other functions based on the foregoing principles or other principles.

As mentioned earlier, in vehicles with automatic driving functions, the switch-in and cut-out of the automatic driving mode are necessary control logic. This embodiment provides a control method and control device for automatic driving with a redundant design, so that the automatic driving mode switching in and out has sufficient guarantee of effectiveness, and the safety of the vehicle is improved.

Fig. 6 shows a schematic flowchart of a control method for automatic driving according to an embodiment of the present invention.

The control method for automatic driving provided in this embodiment is used to enter or exit the automatic driving state, as shown in FIG. 6. The control method includes:

Step S101: Determine the current driving state of the vehicle, where the current driving state includes an automatic driving state and a non-automatic driving state.

Step S102: Detect the state signal of the setting operation component of the vehicle.

In some embodiments, the setting operation component includes at least two of a driving state switching button, a light pole, a brake pedal, an accelerator, and a steering wheel.

The status signal of the setting operating component includes a position signal on-off signal, and the status signal can set the output signal of the position sensor corresponding to the operating component, or can be the voltage signal of the wiring harness component corresponding to the setting operating component. The output signal of the position sensor or the voltage signal of the wiring harness component may be an analog voltage signal, such as a differential analog voltage signal, or a single analog voltage signal.

Step S103, judging whether there is a driving state switching operation according to the state signal of the setting operating component of the vehicle.

If the vehicle has a driving state switching operation, go to step S104, otherwise, continue to execute steps S101-S103.

The driving state switching operation is a setting operation of a setting operation member of the vehicle, such as a light pole toggle, a steering wheel rotation, a button depression, an accelerator pedal depression, a brake pedal depression, etc. In this embodiment, in order to ensure validity, the setting operation components include at least two types. Therefore, when it is determined that one setting operation component has a setting operation/action, it means that there is a driving state switching operation.

Step S104, it is judged whether the driving state switching condition is satisfied. If the driving state switching conditions are met, then go to step S105, otherwise, continue to execute steps S101 to S104.

The driving state switching condition includes a condition for entering an automatic driving state from a non-automatic driving state, and may also include a condition for exiting the automatic driving state.

In some embodiments, the driving state switching condition includes a condition for entering an automatic driving state from a non-autonomous driving state, which includes, for example, road condition information, traffic flow information, and people flow information.

Step S105: Perform driving state switching according to the driving state switching operation, wherein the driving state switching includes entering the automatic driving state and exiting the automatic driving state, and the driving state switching operation includes at least two types of exiting the automatic driving state. operating.

The specific driving state switching process will be described below in conjunction with Figures 7-11.

In some embodiments, the setting operation component includes a driving light pole, and the driving state switching operation includes turning the light pole to a set direction for a set number of times. Fig. 7 shows a schematic flowchart of a method for entering an automatic driving state based on the operation of a light pole. FIG. 8 shows a schematic flowchart of a method for exiting the automatic driving state based on the operation of the light pole.

As shown in Figure 7, when the vehicle is in a non-autonomous driving state, the method of entering the automatic driving state based on the operation of the light pole includes:

In step S201, it is detected whether the light pole is toggled in a set direction for a set number of times. In some embodiments, the set direction is upward or downward, and the set number of times is 2 times. Exemplarily, for example, it is detected whether the light pole is moved upward twice.

If yes, proceed to step S202, otherwise proceed to step S201.

In some embodiments, it is possible to determine whether the light pole is flipped to the set direction for a set number of times by detecting the wiring harness voltage signal of the set direction of the light pole. For example, a microcontroller (MCU) connected to the light pole wire harness can detect the on and off of the light pole wire harness, so as to determine whether the light pole is flipped a set number of times in a set direction. Exemplarily, for example, by detecting the voltage of the wire harness with which the light pole is moved up, it is determined whether the light pole is moved up for a set number of times by judging the number of conduction of the wire harness which is moved up by the light pole.

In step S202, it is determined whether the conditions for automatic driving are met. The automatic driving conditions can be preset conditions, which can be specifically set based on road condition information, traffic flow information, people flow information, etc., and are not specifically limited here.

When the automatic driving conditions are met, a cut-in request is triggered to control the vehicle to enter the automatic driving state, otherwise, it does not enter the automatic driving state, and steps S201-S202 are continued.

As an example, for example, when the vehicle is in a non-autonomous driving state, it is detected that the light pole is flipped up twice, which triggers a request to enter the automatic driving state. However, at this time, the current traffic or pedestrian flow is detected by the vehicle's environmental perception module. Or the current road condition is not good, for example, the curve is large, or the current vehicle is turning or accelerating. Based on the vehicle settings, it is not suitable for automatic driving. At this time, although the request to enter the automatic driving state is detected, it will not enter Autopilot state.

As shown in Figure 8, the method for exiting the automatic driving state based on the operation of the light pole includes:

In step S301, it is detected whether it is still in the automatic driving state, if yes, go to step S302, otherwise, go to step S301.

In step S302, it is detected whether the light pole is flipped in a set direction for a set number of times. In some embodiments, the set direction is upward or downward, and the set number of times is 2 times. Exemplarily, for example, it is detected whether the light pole is moved upward twice.

If the light pole is toggled in the set direction for a set number of times, a cut-out request is triggered, and the vehicle is controlled to exit the automatic driving state, otherwise, proceed to steps S301 to S302.

As an example, for example, when the vehicle is in the automatic driving state, it is detected that the light pole is toggled up twice, triggering a request to exit the automatic driving state, and the vehicle will immediately exit the automatic driving state at this time.

In some embodiments, the setting operation component includes a brake pedal, and the brake pedal is depressed to indicate exit from the automatic driving state.

Fig. 9 shows a schematic flowchart of a method for exiting the automatic driving state based on the operation of the brake pedal.

As shown in Figure 9, the method for exiting the automatic driving state based on the operation of the brake pedal includes:

In step S401, it is detected whether it is still in the automatic driving state, if it is, go to step S402, otherwise go to step S401.

In step S402, it is detected whether the brake pedal is stepped on. If it is detected that the brake pedal is depressed, a cut-out request is triggered to control the vehicle to exit the automatic driving state, otherwise, the process proceeds to continue to execute steps S401-S402.

In some embodiments, it is possible to determine whether the brake pedal is depressed by detecting the output signal of the position sensor of the brake pedal. The principle is similar to the principle of the accelerator position sensor mentioned above, or other principles can also be used to obtain the brake. The output signal of the pedal position sensor is used to determine whether the brake pedal is depressed.

In some embodiments, the setting operation component is a steering wheel, and the driving state switching operation includes the steering wheel rotation, wherein the steering wheel rotation indicates exit from the automatic driving state.

FIG. 10 shows a schematic flowchart of a method for exiting the automatic driving state based on the operation of the steering wheel.

As shown in Figure 10, the method for exiting the automatic driving state based on the operation of the steering wheel includes:

In step S501, it is detected whether it is still in the automatic driving state, if it is, go to step S502, otherwise go to step S501.

In step S502, it is detected whether the steering wheel is turned. If it is detected that the steering wheel is rotating, a cut-out request is triggered to control the vehicle to exit the automatic driving state, otherwise, steps S501-S502 are continued.

In some embodiments, whether the steering wheel is rotating can be determined by detecting the output signal of the torque sensor of the steering wheel. The detection of the output signal of the torque sensor is similar to the detection of the output signal of the aforementioned accelerator position sensor, and will not be repeated here.

In some embodiments, the setting operation component includes a driving state switching button, and the driving state switching operation includes pressing the driving state switching button, wherein the driving state switching button is pressed to indicate that the driving state switching button is pressed. The automatic driving state enters the automatic driving state, which can also mean exiting from the automatic driving state, or when the driving state switch button is pressed when the vehicle is in the non-automatic driving state, it means that the non-automatic driving state has entered the automatic driving state. When the driving state switching button is pressed in the driving state, it means exiting from the automatic driving state.

FIG. 11 shows a schematic flowchart of a method for exiting the automatic driving state based on the operation of the driving state switching button.

As shown in FIG. 11, the method for exiting the automatic driving state based on the operation of the driving state switching button includes:

In step S601, it is detected whether it is still in the automatic driving state, if yes, go to step S602, otherwise, go to step S601.

Step S602, detecting whether the driving state switching button is pressed, if it is detected that the driving state switching button is pressed, a switch-out request is triggered to control the vehicle to exit the automatic driving state, otherwise, steps S601-S602 are continued.

In some embodiments, it may be determined whether the driving state switching button is pressed by detecting the output signal of the position sensor of the driving state switching button.

It should be understood that in some embodiments, the automatic driving state can also be entered by pressing the driving state switching button. This method is similar to the process shown in FIG. 7 described above, and will not be repeated here.

According to the control method for automatic driving of this embodiment, a multi-link cut-in and cut-out control mode with redundant design is provided, and a rich interactive interface is provided for cut-in and cut-out of the automatic driving mode, including light pole cut-in and cut-out. , Driving state switching button cut in and cut out, steering wheel cut out, brake cut out, accelerator cut out, etc., which makes the switching of driving state, especially the exit from automatic driving state, has sufficient effectiveness guarantee and improves the safety of the vehicle .

Fig. 12 shows a schematic block diagram of a control device for automatic machine driving according to an embodiment of the present invention.

As shown in FIG. 12, the control device 300 for automatic driving includes a driving state determination unit 301, a detection unit 302 and a control unit 303.

The driving state determining unit 301 is used to determine the current driving state of the vehicle, where the current driving state includes an automatic driving state and a non-automatic driving state.

The detection unit 302 is used to detect the state signal of the setting operation member of the vehicle, and determine whether the vehicle has a driving state switching operation according to the state signal of the setting operation member. The setting operation component includes at least two of a driving state switching button, a light pole, a brake pedal, an accelerator, and a steering wheel.

The control unit 303 is configured to determine whether the driving state switching condition is satisfied when the detection unit determines that the vehicle has a driving state switching operation, and if the driving state switching condition is satisfied, control the vehicle to switch the driving state, wherein , The driving state switching includes entering the automatic driving state and exiting the automatic driving state.

In some embodiments, the driving state switching operation includes: the driving state switching button is pressed, wherein the driving state switching button is pressed to indicate that the driving state is changed from the non-autonomous driving state to the automatic driving state, or the driving state switching button is pressed. Status exit. The detection unit 302 is used for detecting the state signal of the driving state switching button, and judging whether the driving state switching button is pressed according to the state signal of the driving state switching button. The control unit 303 is used for when the detection unit 302 determines that the driving state switching button is pressed, if the vehicle is in a non-autonomous driving state, further determine whether the automatic driving conditions are met, and if so, control the vehicle to enter If the vehicle is in the automatic driving state, it will not enter the automatic driving state; otherwise, the vehicle is controlled to exit the automatic driving state.

Exemplarily, the state signal of the driving state switching button includes an output signal of a position sensor of the driving state switching button, and the output signal may be a voltage signal or a current signal.

In some embodiments, the driving state switching operation includes: the light pole is toggled in a set direction for a set number of times, wherein the light pole is toggled in a set direction for a set number of times, indicating that the state of non-automatic driving enters automatic Driving state, or exit from automatic driving state. The detection unit 302 is used to detect the state signal of the light pole, and determine whether the light pole is flipped in a set direction a set number of times according to the state signal of the light pole. The control unit 303 is used to determine if the vehicle is in a non-autonomous driving state when the detection unit 302 determines that the light pole is flipped in a set direction for a set number of times, and further determine whether the conditions for automatic driving are met, and if so, control all The vehicle enters the automatic driving state, otherwise, it does not enter the automatic driving state; if the vehicle is in the automatic driving state, the vehicle is controlled to exit the automatic driving state.

Exemplarily, the state signal of the light pole includes a wiring harness voltage signal of the set direction of the light pole.

Exemplarily, the setting direction is upward or downward, and the setting times are 2 times.

In some embodiments, the driving state switching operation includes: the brake pedal is depressed, and the pedal is depressed to indicate exit from the automatic driving state. The detection unit 302 is used to detect the state signal of the brake pedal, and determine whether the brake pedal is depressed according to the state signal of the brake pedal. The control unit 303 is configured to control the vehicle to exit the automatic driving state when the detection unit 302 determines that the brake pedal is stepped on, if the vehicle is in the automatic driving state. Exemplarily, the state signal of the brake pedal includes an output signal of a position sensor of the brake pedal.

In some embodiments, the driving state switching operation includes: turning the steering wheel, wherein the turning of the steering wheel indicates exit from the automatic driving state. The detection unit 302 is used to detect the state signal of the steering wheel, and determine whether the steering wheel is rotating according to the state signal of the steering wheel. The control unit 303 is configured to control the vehicle to exit the automatic driving state if the vehicle is in the automatic driving state when the detection unit 302 determines that the steering wheel is rotating.

Exemplarily, the state signal of the steering wheel includes an output signal of a torque sensor of the steering wheel, and the output signal may be a voltage signal.

The present invention also provides a vehicle with automatic driving function, including: one or more memories, and one or more processors.

Among them, one or more processors may be central processing units (CPU) or other forms of processing units with data processing capabilities and/or instruction execution capabilities, such as microcontrollers (MCUs), and can control the Other components to perform the desired function.

The one or more memories may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and/or nonvolatile memory. The volatile memory may include random access memory (RAM) and/or cache memory (cache), for example. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory and other permanent memories. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor may run the program instructions to implement the abnormal recording method in the above-mentioned embodiment of the present invention (implemented by the processor) And/or other desired functions. Various application programs and various data, such as various data used and/or generated by the application program, can also be stored in the computer-readable storage medium. Exemplarily, as described above, the random access memory (RAM) is configured to store user operation instructions. The non-volatile memory (for example, flash memory) is used to store global status information and abnormal data. As for the storage of user operation instructions, global status information and abnormal data as described above, no further details will be given here.

In this embodiment, the one or more memories stores one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors Implement the control method for automatic driving according to the embodiment of the present invention or implement the control device 300 for automatic driving according to the embodiment of the present invention, as well as the driving state determination unit 301, the detection unit 302, and the control unit 303.

The gear shift strategy of the traditional movable platform is shown in Figure 13. The gear shift strategy includes the following three layers: on the premise that the measured parameters are collected, the measured parameters include at least the moving speed of the movable platform and the engine speed And throttle and other parameters, the first layer matches the shift characteristic curve according to the shift mode, that is, the measured parameters are analyzed and processed, and the processed parameters are obtained. The analysis and processing include summation, filtering, averaging and weighting, etc. The latter parameters are matched with the shift characteristic curve. The second layer performs short-term transient response based on the measured parameters. The third layer responds to manual up/down gears according to the engine speed limit. It can be seen that the engine speed of the movable platform and the moving speed of the movable platform are matched with the gear position of the movable platform, that is, if the speed of the movable platform decreases, the gear position of the movable platform is reduced; if it is movable As the speed of the platform increases, the gear position of the movable platform is increased. The traditional gear shift strategy has the problem of poor control effect. For example, when the current road type of the movable platform is uphill, the movable platform is usually in a high-speed and high-gear state, resulting in insufficient power of the movable platform. Therefore, it is necessary to lower the gear of the movable platform to improve the mobile platform. Power through the uphill. According to the traditional gear shifting strategy, the movable platform can only be switched to a low gear after the moving speed is reduced, the control efficiency is low, and the traction provided to the movable platform is low.

Based on the problems existing in the existing gear shift strategy, in the embodiment of the present application, a gear control module is added between the instruction generation module and the gear execution module. The connection relationship between the various modules can be seen in FIG. The position control is separated from the speed of the movable platform, so that the movable platform can be in a suitable gear, and the control effect of the movable platform is improved. Specifically, in this application, the control device can obtain the target gear parameter of the movable platform, generate an analog signal (that is, the adjusted operation instruction) according to the target gear parameter, and control the gear of the movable platform according to the analog signal , In order to keep the gear of the movable platform in the highest efficiency range. In addition, there is no need to wait to reduce or increase the moving speed of the movable platform before switching the gears of the movable platform, and the gears of the movable platform can be directly converted to improve control efficiency.

For example, assuming that the current moving speed of the mobile platform is 50km/h, if the control device determines that the current road type of the mobile platform is uphill according to the sensor data, sensor data can be obtained. The sensor data includes driving environment information, such as driving The environmental information includes slope information, which is obtained by a video sensor or an inertial measurement unit (IMU), and the slope information includes the angle, length, etc. of the uphill. Further, the control device may determine the target gear of the movable platform according to the current moving speed and slope information of the movable platform, for example, the target gear is 1st gear. At this time, the control device can change the gear in the operation instruction to 1 gear, obtain the adjusted operation instruction, and send the operation instruction to the gear execution module without requiring a movable platform to reduce the moving speed. The gear execution module can Reducing the gear of the movable platform to the first gear, the movable platform uses a low gear and a high moving speed to pass uphill, which can increase the traction of the movable platform through the uphill, and can improve the movable platform to quickly pass uphill.

For another example, suppose that the current moving speed of the movable platform is 10km/h. If the control device determines that the current type of road on the movable platform is a turning road based on the sensor data, sensor data can be obtained. The sensor data includes driving environment information, such as The driving environment information includes the turning information of the turning road. The turning information may be obtained by a video sensor or an inertial measurement unit (IMU). The turning information includes the turning angle and length of the turning road. Further, the control device may determine the target gear of the movable platform according to the current moving speed and turning information of the movable platform, for example, the target gear is 3 gears. At this time, the control device can change the gear in the operation instruction to 3 gears, obtain the adjusted operation instruction, and send the operation instruction to the gear execution module without increasing the moving speed of the movable platform. The execution module can raise the gear position of the movable platform to 3 gears, so that the movable platform can use the high-end low moving speed to pass through the turning road, which can reduce the fuel consumption of the movable platform and achieve higher energy efficiency.

In one embodiment, the above-mentioned gear execution module may be a gear gearbox (hereinafter referred to as a gearbox). The structure of the gearbox of the movable platform can be seen in Figure 15. The gearbox is realized by planetary gears. The central axis is the sun gear, and the outside is surrounded by planetary gears. In order to fix the planetary gears rotating around the sun gear, one side of the planet carrier serves as a support to carry the planetary gears, and the other side performs coaxial power transmission. The outermost ring of the planetary gear is the internal gear (also called the ring gear). In order to improve the power transmission capability, some planetary gear sets are transformed into two sets of pinions to transmit power to each other. One group is in contact with the sun gear and the other group is in contact with the ring gear. It is called a double pinion planetary gear set.

In one embodiment, the connection relationship of the accelerator box, the oil pump and the hydraulic coupler of the movable platform can be seen in Fig. 16. From left to right in the figure, the hydraulic couplers are connected to the engine. Next to it is the oil pump, and then the power is transmitted to the first planetary gear set (that is, the gearbox). As mentioned before, it is composed of sun gear S1, planetary gear P1, planet carrier PT1 and ring gear H1. On the right side of the gearbox is a set of compound planetary gear sets. The two planetary gear sets share the inner ring gear H2, and respectively have two planetary gears P2/P3, planet carrier PT2 and sun gear S2/S3. 6 forward gears/1 reverse gears are combined by brake B1/B2 and clutch K1/K2/K3 composed of different multi-disc clutches.

Although the exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above-described exemplary embodiments are merely exemplary, and are not intended to limit the scope of the present invention thereto. Those of ordinary skill in the art can make various changes and modifications therein without departing from the scope and spirit of the present invention. All these changes and modifications are intended to be included in the scope of the present invention as claimed in the appended claims.

A person of ordinary skill in the art may be aware that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered as going beyond the scope of the present invention.

In the several embodiments provided in this application, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are merely illustrative, for example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or It can be integrated into another device, or some features can be ignored or not implemented.

In the instructions provided here, a lot of specific details are explained. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and technologies are not shown in detail, so as not to obscure the understanding of this specification.

Similarly, it should be understood that in order to simplify the present invention and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, figure , Or in its description. However, the method of the present invention should not be interpreted as reflecting the intention that the claimed invention requires more features than those explicitly stated in each claim. To be more precise, as reflected in the corresponding claims, the point of the invention is that the corresponding technical problems can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are thus explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present invention.

Those skilled in the art can understand that in addition to mutual exclusion between the features, any combination of all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and any method or device disclosed in this manner can be used. Processes or units are combined. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

In addition, those skilled in the art can understand that although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments means that they are within the scope of the present invention. Within and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

The various component embodiments of the present invention may be implemented by hardware, or by software modules running on one or more processors, or by their combination. Those skilled in the art should understand that a microprocessor or a digital signal processor (Digital Signal Processor, DSP) may be used in practice to implement some or all of the functions of some modules according to the embodiments of the present invention. The present invention can also be implemented as a device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein. Such a program for realizing the present invention may be stored on a computer-readable medium, or may have the form of one or more signals. Such signals can be downloaded from Internet websites, or provided on carrier signals, or provided in any other form.

It should be noted that the above-mentioned embodiments illustrate the present invention rather than limit the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be constructed as a limitation to the claims. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. do not indicate any order. These words can be interpreted as names.

The above are only specific implementations or descriptions of specific implementations of the present invention. The protection scope of the present invention is not limited thereto. Any person skilled in the art can easily fall within the technical scope disclosed by the present invention. Any change or replacement should be included in the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

A control method for automatic driving, characterized in that it comprises:

Determining the current driving state of the vehicle, where the current driving state includes an automatic driving state and a non-automatic driving state;

Detecting the state signal of the setting operating member of the vehicle, and judging whether the vehicle has a driving state switching operation according to the state signal of the setting operating member;

If it is determined that the vehicle has a driving state switching operation, it is determined whether the driving state switching condition is satisfied, and if the driving state switching condition is satisfied, the driving state switching is performed, wherein the driving state switching includes entering an automatic driving state and exiting an automatic driving state.
The control method according to claim 1, wherein the setting operation component includes at least two of a driving state switching button, a light lever, a brake pedal, an accelerator, and a steering wheel.
The control method according to claim 2, wherein the driving state switching operation includes the driving state switching button being pressed, wherein the driving state switching button is pressed to indicate that the driving state is switched from a non-autonomous driving state to an automatic driving state. Driving state, or exit from automatic driving state;

The control method includes:

Detecting the state signal of the driving state switching button, and judging whether the driving state switching button is pressed according to the state signal of the driving state switching button;

If it is determined that the driving state switching button is pressed, when the vehicle is in a non-automatic driving state, it is further determined whether the automatic driving conditions are met, and if it is satisfied, the vehicle is controlled to enter the automatic driving state, otherwise, it will not enter the automatic driving state;

When the vehicle is in the automatic driving state, the vehicle is controlled to exit the automatic driving state.
The control method according to claim 3, wherein the state signal of the driving state switching button comprises an output signal of a position sensor of the driving state switching button.
The control method according to claim 2, wherein the driving state switching operation includes

The light pole is toggled in the set direction for a set number of times, wherein the light pole is toggled in the set direction for a set number of times, indicating that the light pole is toggled to the automatic driving state from the non-automatic driving state, or exiting from the automatic driving state;

The control method includes:

Detecting the status signal of the light pole, and judging whether the light pole is flipped in a set direction a set number of times according to the state signal of the light pole;

If it is determined that the light pole has been toggled in the set direction for a set number of times, when the vehicle is in a non-autonomous driving state, it is further determined whether the automatic driving conditions are met. Autonomous driving state;

When the vehicle is in the automatic driving state, the vehicle is controlled to exit the automatic driving state.
The control method according to claim 5, wherein the state signal of the light pole includes a wiring harness voltage signal of the set direction of the light pole.
The control method according to claim 5, wherein the setting direction is upward or downward.
The control method according to claim 5, wherein the set number of times is 2 times.
The control method according to claim 2, wherein the driving state switching operation includes the brake pedal being stepped on, wherein the brake pedal being stepped on indicates exit from the automatic driving state;

The control method includes:

Detecting the state signal of the brake pedal, and judging whether the brake pedal is depressed according to the state signal of the brake pedal;

If it is determined that the brake pedal is depressed, when the vehicle is in the automatic driving state, the vehicle is controlled to exit the automatic driving state.
The control method according to claim 9, wherein the state signal of the brake pedal includes an output signal of a position sensor of the brake pedal.
The control method according to claim 2, wherein the driving state switching operation includes

The steering wheel rotates, wherein the steering wheel rotates to indicate exit from the automatic driving state;

The control method includes:

Detecting the state signal of the steering wheel, and judging whether the steering wheel is rotating according to the state signal of the steering wheel;

If it is determined that the steering wheel is rotating, when the vehicle is in the automatic driving state, the vehicle is controlled to exit the automatic driving state.
The control method according to claim 11, wherein the state signal of the steering wheel includes an output signal of a torque sensor of the steering wheel.
A control device for automatic driving, characterized in that it comprises:

A driving state determining unit, the driving state determining unit is used to determine the current driving state of the vehicle, wherein the current driving state includes an automatic driving state and a non-automatic driving state;

A detection unit, the detection unit is used to detect the state signal of the setting operation component of the vehicle, and determine whether the vehicle has a driving state switching operation according to the state signal of the setting operation component;

The control unit is configured to determine whether the driving state switching condition is satisfied when the detection unit determines that the vehicle has a driving state switching operation, and if the driving state switching condition is satisfied, control the vehicle to switch the driving state, wherein , The driving state switching includes entering the automatic driving state and exiting the automatic driving state.
The control device according to claim 13, wherein the setting operation component includes at least two of a driving state switching button, a light lever, a brake pedal, an accelerator, and a steering wheel.
The control device according to claim 14, wherein the driving state switching operation includes the driving state switching button being pressed, wherein the driving state switching button is pressed to indicate that the driving state is switched to automatic Driving state, or exit from automatic driving state;

The detection unit is used for detecting the state signal of the driving state switching button, and judging whether the driving state switching button is pressed according to the state signal of the driving state switching button;

The control unit is used for when the detection unit determines that the driving state switching button is pressed, if the vehicle is in a non-automatic driving state, further determine whether the automatic driving conditions are met, and if so, control the vehicle to enter automatic driving Status, otherwise it will not enter the autopilot status;

If the vehicle is in the automatic driving state, control the vehicle to exit the automatic driving state.
The control device according to claim 15, wherein the state signal of the driving state switching button includes an output signal of a position sensor of the driving state switching button.
The control device according to claim 14, wherein the driving state switching operation includes

The light pole is toggled in the set direction for a set number of times, wherein the light pole is toggled in the set direction for a set number of times, which indicates that the light pole is toggled to the automatic driving state from the non-automatic driving state, or to exit from the automatic driving state;

The detection unit is used to detect the status signal of the light pole, and determine whether the light pole is moved in a set direction for a set number of times according to the state signal of the light pole

The control unit is used to further determine whether the automatic driving conditions are met if the vehicle is in a non-automatic driving state when the detection unit determines that the light pole is flipped in a set direction for a set number of times, and if so, control the vehicle Enter the automatic driving state, otherwise it will not enter the automatic driving state;

If the vehicle is in the automatic driving state, control the vehicle to exit the automatic driving state.
The control device according to claim 17, wherein the state signal of the light pole includes a wiring harness voltage signal of the set direction of the light pole.
The control device according to claim 17, wherein the setting direction is upward or downward.
The control device according to claim 17, wherein the set number of times is 2 times.
The control device according to claim 14, wherein the driving state switching operation includes the brake pedal being stepped on, wherein the brake pedal being stepped on indicates exit from the automatic driving state;

The detection unit is used to detect the state signal of the brake pedal, and determine whether the brake pedal is depressed according to the state signal of the brake pedal;

The control unit is used for controlling the vehicle to exit the automatic driving state when the detection unit determines that the brake pedal is stepped on, if the vehicle is in the automatic driving state.
22. The control device according to claim 21, wherein the state signal of the brake pedal comprises an output signal of a position sensor of the brake pedal.
The control device according to claim 14, wherein the driving state switching operation includes

The steering wheel rotates, wherein the steering wheel rotates to indicate exit from the automatic driving state;

The detection unit is used to detect the state signal of the steering wheel, and determine whether the steering wheel is rotating according to the state signal of the steering wheel;

The control unit is used for controlling the vehicle to exit the automatic driving state when the detection unit determines that the steering wheel is rotating, if the vehicle is in the automatic driving state.
The control device according to claim 23, wherein the state signal of the steering wheel includes an output signal of a torque sensor of the steering wheel.
A vehicle with automatic driving function, characterized in that it includes:

One or more memories for storing one or more computer programs;

One or more processors;

The one or more processors are configured to execute the one or more computer programs to implement the control method for automatic driving according to any one of claims 1-12.
A vehicle with automatic driving function, characterized in that it includes:

The position sensor is used to detect the position of the vehicle's setting operating components and output a position detection signal;

The component wiring harness is used to turn on or off under the control of the vehicle component, thereby changing the state of the corresponding vehicle component;

A microcontroller, the signal input terminal of the microcontroller is connected to the output terminal of the position sensor, and is used to obtain the position detection signal, and determine the position of the setting operation component according to the position detection signal, so The signal input terminal of the microcontroller is also connected to the component harness, and is used to detect the voltage of the component harness, so as to determine whether the component harness is on or off;

The vehicle control module is configured to control the vehicle to enter and exit the automatic driving mode according to the position of the set operation component and/or the state of the component wiring harness detected by the microcontroller.
The vehicle according to claim 26, wherein the position sensor comprises a throttle position sensor, a steering wheel twist sensor, or a position sensor of a driving state switching button.
The vehicle according to claim 26, wherein the output terminal of the position sensor and the output terminal of the microcontroller are connected to a switch part, and the switch part is also connected to a control part of the vehicle, the The switch part is used to transmit the position detection signal output by the position sensor or the control signal output by the microcontroller to the control part under the control of the microcontroller, so that the control part can control the vehicle based on the received signal. The setting operation parts are controlled.
The vehicle according to claim 28, wherein the control component comprises an engine control module or an electronic power steering module.
The vehicle according to claim 28, wherein a modulation circuit is further provided between the output terminal of the microcontroller and the switch component for modulating the control signal output by the microcontroller.
The vehicle according to claim 26, wherein the component wiring harness comprises a turn signal wiring harness, a right turn signal wiring harness, a door lock control wiring harness, an ignition and flameout control wiring harness, a double flash control wiring harness or a headlight control wiring harness.
The vehicle according to claim 26, wherein a switch component is provided between the vehicle component corresponding to the component harness and the power supply module, the microcontroller is connected to the switch component, and the microcontroller is used for The conduction of the switch component is controlled according to the voltage of the component harness or the conduction of the switch component is directly controlled.
The vehicle according to claim 26, further comprising:

A direction control module, the direction control module is respectively connected to the first CAN network and the electronic power steering module of the vehicle through two CAN network buses;

A brake control module, which is respectively connected to the second CAN network and the anti-lock brake module of the vehicle through two CAN network buses;

A gear control module, which is respectively connected to the third CAN network and gear detection ECU of the vehicle through two CAN network buses;

The direction control module, the brake control module, and the gear control module are also connected to the control CAN bus of the vehicle control module through the CAN bus;

Wherein, the direction control module is used to modify the steering control enable command packet and the steering control steering wheel angle command packet from the first CAN network according to the control command sent by the vehicle control module, and enable higher steering control Sending a command packet and a steering control steering wheel angle command packet to the electronic power steering module, and sending the command sent by the electronic power steering module to the first CAN network;

The brake control module is used to modify the brake enable command packet or the brake enable command packet from the second CAN network according to the control command sent by the vehicle control module, and change the brake enable command packet or brake enable Sending an instruction to the anti-lock braking module, and sending the instruction sent by the anti-lock braking module to the second CAN network;

The gear control module is used to change the gear command packet from the third CAN network according to the control command sent by the vehicle control module, and send the higher gear command packet to the gear detection ECU, and The instruction sent by the gear detection ECU includes transmission to the third CAN network.
The vehicle according to claim 23, wherein the first CAN network, the second CAN network or the third CAN network comprises a body CAN network.