WO2020191734A1 - Procédé de commande et appareil de commande pour conduite automatisée, et véhicule - Google Patents

Procédé de commande et appareil de commande pour conduite automatisée, et véhicule Download PDF

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Publication number
WO2020191734A1
WO2020191734A1 PCT/CN2019/080176 CN2019080176W WO2020191734A1 WO 2020191734 A1 WO2020191734 A1 WO 2020191734A1 CN 2019080176 W CN2019080176 W CN 2019080176W WO 2020191734 A1 WO2020191734 A1 WO 2020191734A1
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WIPO (PCT)
Prior art keywords
driving state
vehicle
automatic driving
control
signal
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PCT/CN2019/080176
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English (en)
Chinese (zh)
Inventor
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
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/080176 priority Critical patent/WO2020191734A1/fr
Priority to CN201980005461.9A priority patent/CN111316181A/zh
Publication of WO2020191734A1 publication Critical patent/WO2020191734A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa

Definitions

  • 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.
  • the autonomous driving system usually consists of an on-board computer, an environment perception system, and a car-by-wire execution system.
  • 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.
  • 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.
  • 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.
  • 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.
  • the current scheme lacks redundant design and generally only provides a single interactive interface, without sufficient guarantee of effectiveness, resulting in insufficient safety.
  • 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.
  • 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;
  • 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 are 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 embodiment of the present invention also provides a vehicle with an automatic driving function, including:
  • 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.
  • Fig. 1 shows a schematic block diagram of a vehicle with an automatic driving function according to an embodiment of the present invention
  • 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 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
  • FIG. 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.
  • Fig. 1 shows a schematic block diagram of a vehicle with an automatic driving function according to an embodiment of the present invention.
  • 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.
  • 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.
  • the accelerator position sensor is used to detect the position of the accelerator and output the accelerator position detection signal
  • 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.
  • 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 .
  • the senor includes a throttle position sensor, a steering wheel twist sensor, or a position sensor of a driving state switching button
  • 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.
  • the microcontroller is also used to control the components of the vehicle according to the control instructions of the vehicle control module 102.
  • 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.
  • the switch component is various relay switches
  • 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.
  • 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.
  • 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.
  • the accelerator position sensor can convert the accelerator pedal stroke into an analog differential with two linear changes. Voltage signal.
  • 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.
  • 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.
  • 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
  • ECM engine control module
  • the pedal can control the vehicle normally.
  • 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.
  • 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.
  • 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).
  • ECM engine control module
  • 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.
  • FIG. 2 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.
  • 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.
  • 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.
  • the MCU directly controls the closing of the relay through GPIO so as to automatically control the left low beam.
  • 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.
  • 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.
  • the automatic driving function of the vehicle is implemented based on the utilization of the existing vehicle CAN protocol.
  • 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
  • gear command issued by the simulating gear detection module is realized Gear control.
  • Fig. 5 shows a schematic block diagram of a vehicle with an automatic driving function according to another embodiment of the present invention.
  • 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.
  • 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.
  • 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 module 204 is also connected to the control CAN bus of the vehicle control module 201 through the CAN bus.
  • 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.
  • 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.
  • all the command packets sent and received by EPS 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • step S104 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.
  • 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.
  • 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 setting operation component includes a driving light pole
  • 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.
  • the method of entering the automatic driving state based on the operation of the light pole includes:
  • step S201 it is detected whether the light pole is toggled in a set direction for a set number of times.
  • the set direction is upward or downward, and the set number of times is 2 times.
  • step S202 If yes, proceed to step S202, otherwise proceed to step S201.
  • 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.
  • MCU microcontroller
  • 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.
  • 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.
  • the vehicle 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.
  • the current traffic or pedestrian flow is detected by the vehicle's environmental perception module.
  • 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.
  • the request to enter the automatic driving state is detected, it will not enter Autopilot state.
  • the method for exiting the automatic driving state based on the operation of the light pole includes:
  • 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.
  • step S302 it is detected whether the light pole is flipped in a set direction for a set number of times.
  • the set direction is upward or downward, and the set number of times is 2 times.
  • the vehicle 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.
  • 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.
  • the method for exiting the automatic driving state based on the operation of the brake pedal includes:
  • 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.
  • 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.
  • 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.
  • the setting operation component is a steering wheel
  • 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.
  • the method for exiting the automatic driving state based on the operation of the steering wheel includes:
  • 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.
  • 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.
  • 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.
  • the setting operation component includes a driving state switching button
  • 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.
  • 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.
  • the method for exiting the automatic driving state based on the operation of the driving state switching button includes:
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the state signal of the light pole includes a wiring harness voltage signal of the set direction of the light pole.
  • the setting direction is upward or downward, and the setting times are 2 times.
  • 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.
  • the state signal of the brake pedal includes an output signal of a position sensor of the brake pedal.
  • 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.
  • 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.
  • 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.
  • CPU central processing units
  • MCUs microcontrollers
  • 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.
  • RAM random access memory
  • non-volatile memory for example, flash memory
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • 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.
  • the connection relationship of the accelerator box, the oil pump and the hydraulic coupler of the movable platform can be seen in Fig. 16.
  • the hydraulic couplers are connected to the engine.
  • the oil pump and then the power is transmitted to the first planetary gear set (that is, the gearbox).
  • the gearbox is composed of sun gear S1, planetary gear P1, planet carrier PT1 and ring gear H1.
  • the gearbox 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.
  • the disclosed device and method may be implemented in other ways.
  • 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.
  • 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.
  • a microprocessor or a digital signal processor 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention porte sur un procédé de commande et un système de commande pour conduite automatisée, et sur un véhicule. Le procédé de commande consiste à : déterminer l'état de conduite actuel d'un véhicule ; détecter un signal d'état d'une partie d'actionnement définie du véhicule, et déterminer, en fonction du signal d'état de la partie d'actionnement définie, s'il y a une opération de commutation d'état de conduite ; s'il est déterminé qu'il y a une opération de commutation d'état de conduite dans le véhicule, déterminer si une condition de commutation d'état de conduite est satisfaite ; et si la condition de commutation d'état de conduite est satisfaite, effectuer une commutation d'état de conduite, la commutation d'état de conduite comprenant le fait de passer à un état de conduite automatisée et de sortir de l'état de conduite automatisée. Selon les modes de réalisation de la présente invention, un mécanisme de commande d'activation et de désactivation de conduite automatisée ayant une conception redondante est décrit afin de fournir des interfaces interactives riches pour l'activation et la désactivation d'un mode de conduite automatisée, de telle sorte qu'un utilisateur puisse réaliser simplement et rapidement l'activation et la désactivation du mode de conduite automatisée ; en outre, du fait de la conception redondante, l'activation et la désactivation du mode de conduite automatisée ont une garantie de validité suffisante.
PCT/CN2019/080176 2019-03-28 2019-03-28 Procédé de commande et appareil de commande pour conduite automatisée, et véhicule WO2020191734A1 (fr)

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CN201980005461.9A CN111316181A (zh) 2019-03-28 2019-03-28 用于自动驾驶的控制方法、控制装置及车辆

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