WO2020221124A1 - 一种自动驾驶车辆的控制方法及系统 - Google Patents
一种自动驾驶车辆的控制方法及系统 Download PDFInfo
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- WO2020221124A1 WO2020221124A1 PCT/CN2020/086692 CN2020086692W WO2020221124A1 WO 2020221124 A1 WO2020221124 A1 WO 2020221124A1 CN 2020086692 W CN2020086692 W CN 2020086692W WO 2020221124 A1 WO2020221124 A1 WO 2020221124A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/20—Means to switch the anti-theft system on or off
- B60R25/25—Means to switch the anti-theft system on or off using biometry
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
Definitions
- the invention relates to a control method and system for an automatic driving vehicle, belonging to the technical field of automatic driving.
- the switching between the vehicle's automatic driving mode and the manual driving mode is mainly realized through physical buttons, and the automatic driving mode and the manual driving mode do not interfere with each other and operate independently.
- the vehicle plans the route according to the set destination, and automatically drives according to the planned route.
- the driving process it constantly detects the current road conditions (including the current lane, the distance to the next intersection, and the traffic lights. , Nearby vehicle locations, etc.), refresh the current automatic driving control logic according to the detected current road conditions, and then continue to drive automatically.
- the driver since the route that the vehicle travels during the automatic driving process is planned in advance, it is generally not actively changed, but the driver’s needs may change. For example, on the current automatic driving route, the driver needs to temporarily change the route. To go to another location, and need to make a left turn at the next junction, the driver must first press the switch button to enter the manual driving mode, and then the driver controls the vehicle to turn left. There are some problems in this way: First, because the driver is temporarily taking over the vehicle, at this time the driver is not familiar with the current road condition information, and it is likely to make a wrong judgment and cause an accident; at the same time, enter after the vehicle turns left In the automatic driving mode, the route needs to be re-planned. At this time, the driver is still required to switch keys and reset the destination. This not only increases the operational burden, but also distracts the driver's attention, which poses certain safety risks.
- the purpose of the present invention is to provide a control method of an automatic driving vehicle to solve the problem of poor safety of existing vehicles when switching between automatic driving mode and manual driving mode according to demand; the present invention also provides an automatic driving
- the vehicle control system is used to solve the problem of poor safety of existing vehicles when switching between automatic driving mode and manual driving mode according to demand.
- the present invention provides a control method of an automatic driving vehicle.
- the control method includes the following steps:
- the driver's gesture information is detected in real time, and the driver's control intention is determined according to the driver's gesture information
- the beneficial effects of the automatic driving vehicle control method are: First, only when the driver’s identity is legal and his posture information meets the first set posture, can the vehicle be controlled to switch from the automatic driving mode to the manual driving mode, which not only ensures that the vehicle is only It can be manually taken over by a certified driver, thereby preventing illegal personnel from controlling the vehicle, reducing the risk of accidental attacks on the vehicle, improving driving safety, and ensuring that the driver is ready to take over the vehicle manually when taking over the vehicle , Which can further improve the driving safety; second, the driver’s control intention is determined according to the driver’s gesture information, without the driver’s various button operations, which is conducive to the driver’s concentration when taking over the vehicle manually, and can also improve Driving safety; third, in the manual driving mode, the control of the vehicle is the result of the combined effect of the surrounding conditions of the vehicle, the operating parameters of the vehicle, and the driver’s control intention.
- the driver’s status can only be determined based on the surrounding conditions of the vehicle body and the operating parameters of the vehicle. Only when the control intention is correct, the vehicle can be controlled in combination with the driver's control intention, which avoids accidents caused by the driver's unfamiliarity with the current road conditions and makes wrong judgments, and further improves driving safety.
- step 1) when the vehicle is controlled to switch from the automatic driving mode to the manual driving mode, a voice broadcast reminder is also performed.
- the first set posture includes the driver's gaze ahead and the driver's gesture is a manual driving mode.
- the second set posture is that the driver’s eyes are not looking ahead for more than the first set time
- the driver’s gesture is a non-manual driving mode
- the second set time is exceeded or the driver's gesture is a gesture of exiting manual driving.
- the vehicle In order to exit the manual driving mode in time when the driver is temporarily replaced by an illegal person in the manual driving mode, so as to prevent the illegal person from controlling the vehicle and further ensure driving safety. Furthermore, if the driver’s identity is illegal, It is determined whether the vehicle is in the manual driving mode. If it is in the manual driving mode and the driver's identity is still illegal after the third set time has passed, the vehicle is controlled to exit the manual driving mode and switch to the automatic driving mode.
- the present invention also provides a control system for an autonomous vehicle.
- the control system includes an intelligent controller, a face recognition device set on the center console directly in front of the driver's position, and a face recognition device set above the driver's seat.
- Gesture recognition device the face recognition device is used to recognize the driver’s identity and gaze direction
- the gesture recognition device is used to recognize the driver’s gesture information
- the intelligent controller runs with automatic driving control logic, so The intelligent controller is also used to determine whether the driver’s identity is legal during the driving of the vehicle, determine whether the driver’s posture information meets the first set posture, and when the driver’s identity is legal and the driver’s posture information meets the first 1.
- control the vehicle When setting the attitude, control the vehicle to switch from automatic driving mode to manual driving mode; in manual driving mode, determine the driver's control intention according to the driver's gesture information; judge the driver's control intention according to the surrounding conditions of the vehicle body and vehicle operating parameters Whether it is correct, if not, the vehicle is controlled according to the automatic driving control logic, and if it is correct, the vehicle is controlled in accordance with the driver's control intention.
- the beneficial effects of the control system of the self-driving vehicle are: First, only when the driver’s identity is legal and his posture information meets the first set posture, can the vehicle be controlled to switch from the automatic driving mode to the manual driving mode, which not only ensures that the vehicle is only It can be manually taken over by a certified driver, thereby preventing illegal personnel from controlling the vehicle, reducing the risk of accidental attacks on the vehicle, improving driving safety, and ensuring that the driver is ready to take over the vehicle manually when taking over the vehicle , Which can further improve the driving safety; second, the driver’s control intention is determined according to the driver’s gesture information, without the driver’s various button operations, which is conducive to the driver’s concentration when taking over the vehicle manually, and can also improve Driving safety; third, in the manual driving mode, the control of the vehicle is the result of the combined effect of the surrounding conditions of the vehicle, the operating parameters of the vehicle, and the driver’s control intention.
- the driver’s status can only be determined based on the surrounding conditions of the vehicle body and the operating parameters of the vehicle. Only when the control intention is correct, the vehicle can be controlled in combination with the driver's control intention, which avoids accidents caused by the driver's unfamiliarity with the current road conditions and makes wrong judgments, and further improves driving safety.
- the intelligent controller is also used to determine whether the driver’s posture information satisfies the first Second, set the posture, if it is satisfied, control the vehicle to exit the manual driving mode and switch to the automatic driving mode.
- control system further includes a voice player, which is used to give voice broadcast reminders when the vehicle is switched from the automatic driving mode to the manual driving mode.
- the face recognition device is a binocular camera
- the gesture recognition device is a monocular camera
- Figure 1 is a flow chart of switching the driving mode of a vehicle in an embodiment of the control system
- Fig. 2 is a response flow chart of manual control instructions in an embodiment of the control system
- Figure 3 is a schematic diagram of the conversion between driver gestures and manual control commands in an embodiment of the control system
- Figure 4-a is a side view of the installation positions of the face recognition device and the gesture recognition device in the embodiment of the control system;
- Figure 4-b is a top view of the installation positions of the face recognition device and the gesture recognition device in the embodiment of the control system;
- 1 is a face recognition device
- 2 is a gesture recognition device
- the present invention provides a control method and system for an automatic driving vehicle, which can verify whether the driver's identity is legal, and can realize that the vehicle is in the automatic driving mode according to the posture information of the legitimate driver during the automatic driving of the vehicle.
- Switching between manual driving mode and manual driving mode can also adjust the automatic driving control logic of the vehicle in combination with the driver's gesture information in the manual driving mode, which improves the driving safety of the vehicle.
- the control system of the autonomous vehicle in this embodiment includes an intelligent controller (such as a vehicle controller), a face recognition device (such as a binocular camera), and a gesture recognition device (such as a monocular camera).
- the intelligent controller runs with automatic driving control logic, and the intelligent controller is also used to implement a control method for an automatic driving vehicle (as shown in Figure 1 and Figure 2).
- Figure 1 and Figure 2 the schematic diagrams of the installation positions of the face recognition device and gesture recognition device are shown in Figure 4-a and Figure 4-b.
- the face recognition device 1 is set on the center console directly in front of the driver's position for recognition The driver's identity and gaze direction;
- the gesture recognition device 2 is arranged above the driver's seat and is used to recognize the driver's gesture information.
- the smart controller can also be a controller specially set to realize the control logic of automatic driving and the control method of the automatic driving vehicle;
- the face recognition device is not limited to the binocular camera, as long as the face and eyes can be recognized
- the gesture recognition device is not limited to a monocular camera, as long as it can recognize a gesture.
- the control system of this embodiment can realize the switching of the driving mode of the vehicle under the cooperation of the intelligent controller, the face recognition device and the gesture recognition device, as shown in Fig. 1:
- the driver’s identity is legal according to the facial recognition result of the facial recognition device. If the driver passes the facial recognition authentication, it means that the driver’s identity is legal; in this embodiment, in order to realize driving To determine whether the driver’s identity is legal, a large number of authenticated driver’s facial images are entered in the face recognition device in advance, and the driver’s facial images detected in real time by the facial recognition device and the driver’s facial images that have been entered are recorded in advance. If the comparison is successful, it means that the driver has passed the facial recognition authentication, which means that the driver's identity is legal and the driver is allowed to take over the vehicle manually. In this way, it can be ensured that the vehicle can only be manually taken over by an authenticated driver, thereby avoiding illegal personnel from controlling the vehicle, reducing the risk of accidental attacks on the vehicle, and improving driving safety.
- the vehicle If it is judged that the driver’s identity is illegal, then it is judged whether the vehicle is in manual driving mode. If it is in manual driving mode, the voice broadcast reminder time has expired (here refers to the driver’s status after exceeding the third set time (for example, 3 seconds) After the identity is still illegal), control the vehicle to exit the manual driving mode and switch to the automatic driving mode. In this way, when the vehicle is already in manual driving mode, accidents such as the temporary replacement of the driver by illegal persons (such as criminals or other people who have not passed the certification) occur, and the manual driving mode can be exited in time to avoid Illegal persons control the vehicle to further ensure driving safety.
- the intelligent controller After judging that the driver’s identity is legal, continue to judge whether the driver’s posture information satisfies the first set posture, and if so, control the vehicle to switch from the automatic driving mode to the manual driving mode; in this embodiment, the driver is judged After the posture information meets the first set posture, it also judges whether the driver's gesture is an exit manual driving gesture. When the first set posture is satisfied and is not an exit manual driving gesture, the intelligent controller will control the vehicle from the automatic driving mode Switch to manual driving mode.
- satisfying the first set posture means satisfying the following two conditions at the same time: (1) The face recognition device detects that the driver is looking forward; (2) The gesture recognition device detects that the driver’s gesture is a manual driving form .
- the control system in this embodiment also includes a voice player.
- the voice player is used to give voice broadcast reminders when the vehicle is switched from automatic driving mode to manual driving mode (for example, to remind the driver that Enter manual driving mode).
- the first set posture may be adjusted according to actual needs.
- the condition (1) in the first set posture may also be that the face recognition device detects that the driver is looking ahead for more than 3 seconds.
- the driver’s control intention is determined according to the driver’s gesture information; specifically, when the gesture recognition device detects that the driver’s gesture is a manual driving form, it will determine the driver’s control intention based on the detected driver’s gesture , And convert the driver’s control intention into corresponding manual control instructions, and send the manual control instructions to the intelligent controller.
- the gesture recognition device may also only send the detected driver's gesture to the intelligent controller, and the intelligent controller determines the driver's control intention, and converts the driver's control intention into manual control instructions.
- the manual driving mode means that the driver puts his fists in a set range (for example, 20cm-40cm) in front of his chest, and his gesture is one of the following four gestures: 1) Make fists with both hands and stretch forward; 2 ) Make a fist with both hands and pull back; 3) Make a fist with both hands and move to the left; 4) Make a fist with both hands and move to the right.
- the "forward”, “backward”, “left” and “right” mentioned here are all obtained by comparing the driver's gesture at the current moment with the driver's gesture at the previous moment. That is, to determine the driver’s control intention based on the detected driver’s gesture is a dynamic comparison process.
- the driver’s gesture at the current moment By comparing the driver’s gesture at the current moment with the driver’s gesture at the previous moment, it is determined whether the driver’s gesture at the current moment is earlier If there is a change at a time, if there is no change, the vehicle keeps the control logic of the previous time. If there is a change, the vehicle is controlled in accordance with the driver's control intention.
- the driver's gesture at the initial moment is the gesture at the moment when the automatic driving mode enters the manual driving mode. As shown in Figure 3, if the driver’s gesture is to make a fist and stretch forward compared to the previous moment, it means that the driver’s control intention is to accelerate.
- control intention will be converted into an acceleration command, which is The farther, the greater the driving force required; if the driver’s gesture is to make a fist and pull back compared to the previous moment, it means that the driver’s control intention is to decelerate, and the control intention will be converted into a deceleration command.
- the farther you pull back the greater the braking force required; if the driver’s gesture is to move left with both hands and fists compared to the previous moment, it means that the driver’s control intention is Turn left, at this time the control intention will be converted into a left turn command, in which the amplitude and speed of the movement of both hands will be converted into steering angle and steering angle speed accordingly; if the driver’s gesture is to make a fist with both hands compared to the previous moment Moving to the right means that the driver’s control intention is to turn the direction to the right. At this time, the control intention will be converted into a right turn command, where the amplitude and speed of the movement of both hands will be converted into steering angle and steering angle speed accordingly.
- the types and numbers of manual driving modes can be adjusted according to actual needs.
- the vehicle In the manual driving mode, it is determined whether the driver's posture information meets the second set posture, and if so, the vehicle is controlled to exit the manual driving mode and switch to the automatic driving mode; in this embodiment, meeting the second set posture means At least one of the following three conditions is met: (1) The face recognition device detects that the driver has not been looking ahead for more than the first set time (for example, 3 seconds), and the driver has not been detected for 3 seconds after the voice broadcast reminder The driver is looking ahead (that is, the voice broadcast reminder time has expired); (2) The gesture recognition device detects that the driver’s gesture is a non-manual driving form exceeding the second set time (for example, 5 seconds), and the voice broadcast reminder has not been 3 seconds It is detected that the driver’s gesture is a manual driving mode (that is, the voice broadcast reminder time is over); among them, the non-manual driving mode refers to other gestures that are not in the manual driving mode; (3) the gesture recognition device detects that the driver’s gesture is to quit manual driving Gestures (for example, cross your hands in
- the intelligent controller controls the vehicle to switch from manual driving mode to automatic driving mode.
- the second set posture, the first set time, the second set time and the exit manual driving gesture can all be adjusted according to actual needs.
- the condition (1) and condition (2) in the second set posture It may not contain the related content of the voice broadcast reminder.
- the vehicle by recognizing whether the driver’s gaze is looking ahead, and when it is determined that the driver has not been looking ahead for more than the first set time, the vehicle is controlled to switch from manual driving mode to automatic driving mode, which can reduce the driver’s burden. Vehicle accidents caused by God, improve driving safety.
- the intelligent controller in the manual driving mode, not only receives and processes perception data (including the surrounding conditions of the vehicle body and vehicle operating parameters), but also determines whether manual control instructions are received.
- the vehicle is controlled according to the automatic driving control logic, that is, the intelligent controller combines the surrounding conditions of the vehicle body and the vehicle operating parameters to perform path planning (select the optimal path) and speed planning, and then issue path and speed planning data.
- path planning selection the optimal path
- speed planning elect the optimal path
- the intelligent controller controls the operation of the vehicle; when the intelligent controller receives a manual control instruction, it first judges whether the manual control instruction is reasonable (that is, whether the driver’s control intention is correct). Specifically, the intelligent controller will determine whether the vehicle is running or not according to the surrounding conditions of the vehicle body and vehicle operating parameters.
- the vehicle Under current road conditions, according to the driver's control intention to control the vehicle whether it will be dangerous or analyze the probability of danger, etc., to judge whether the driver's control intention is correct. If it is correct, the vehicle will be controlled based on the driver’s control intention, that is, the intelligent controller will combine the surrounding conditions of the vehicle body, vehicle operating parameters and manual control instructions to perform path planning (select the optimal path) and speed planning, and then issue the path and Speed planning data to control the operation of the vehicle; if it is not correct, the vehicle is controlled according to the automatic driving control logic.
- the intelligent controller will combine the surrounding conditions of the vehicle body, vehicle operating parameters and manual control instructions to perform path planning (select the optimal path) and speed planning, and then issue the path and Speed planning data to control the operation of the vehicle; if it is not correct, the vehicle is controlled according to the automatic driving control logic.
- the manual control command is a left turn command and an acceleration command as an example to explain in detail under what circumstances the driver's control intention is correct or incorrect, and the corresponding processing process.
- the intelligent controller receives a left turn instruction, indicating that the driver wants to turn to the left, but at this time, the intelligent controller processes the perception data as follows: the vehicle is traveling too fast. Turning left is dangerous, or there is a vehicle in the left-turning lane that is very close to the vehicle. If you turn left immediately, a collision will occur. At this time, it is judged that the driver's control intention is incorrect, and the intelligent controller controls the vehicle not to execute the left-turn command .
- the smart controller receives an acceleration command, indicating that the driver wants to accelerate. If the smart controller processes the perception data at this time, the result is: there are no obstacles in front of the vehicle, and the speed of the vehicle is low Based on the current road condition speed limit value, it is judged that the driver's control intention is correct at this time, and the intelligent controller controls the vehicle to execute the acceleration command.
- the manual driving mode of the present invention means that the vehicle is still running in accordance with the original automatic driving mode, but at the same time it is also affected by the driver’s manual operation.
- the manual operation here refers to the driver’s setting
- the attitude sends control intentions such as acceleration, braking, left turn and right turn to the intelligent controller.
- the intelligent controller After the intelligent controller receives the corresponding control intentions, it must also make behavioral decisions based on the current road conditions (including the surrounding conditions of the vehicle body and vehicle operating parameters). Use the final control message to control the vehicle. Specifically: First, determine whether the driver's control intention is correct, that is, whether it can be executed according to the current road conditions.
- the current road conditions can execute the control intention, then combine the control intention to make behavioral decisions, that is, refresh the current automatic driving control logic (rerun Path planning, speed planning, optimal path selection, etc.), and control the vehicle to drive according to the refreshed automatic driving logic; if the current road conditions cannot execute the control intent, a reminder message will be issued, and the intelligent controller will make independent decisions and send the correct
- the control message controls the vehicle to ensure the safety of the vehicle; therefore, the manual driving mode of the present invention is an adjustment to the automatic driving mode, which is different from the existing manual driving mode.
- control method of the self-driving vehicle of the present invention has been described in detail in the control system embodiment, and will not be repeated here.
Abstract
一种自动驾驶车辆的控制方法及系统，属于自动驾驶领域。在车辆驾驶过程中判断驾驶员的身份合法且驾驶员的姿态信息满足第一设定姿态时，控制车辆由自动驾驶模式切换到人工驾驶模式；在人工驾驶模式下，实时检测驾驶员的手势信息，根据驾驶员的手势信息确定驾驶员的控制意图；根据车身周围情况和车辆运行参数判断驾驶员控制意图是否正确，若不正确，则按照自动驾驶控制逻辑进行车辆控制，若正确，则结合驾驶员的控制意图进行车辆控制。由于只有驾驶员的身份合法且其姿态信息满足第一设定姿态时，才切换到人工驾驶模式，且在人工驾驶模式下，车辆的控制是车辆周围情况、车辆运行参数及驾驶员控制意图综合作用下的结果，行车安全得以提高。
Description
本发明涉及一种自动驾驶车辆的控制方法及系统，属于自动驾驶技术领域。
随着自动驾驶技术和汽车电子技术的发展，汽车搭载的电子设备越来越多，功能越来越丰富，汽车越来越智能化、网联化，在未来，自动驾驶汽车甚至可能会逐步取消方向盘、驱动踏板和制动踏板，全部由车载控制系统进行自动控制。
现有技术中，车辆自动驾驶模式和人工驾驶模式间的切换主要是通过物理按键来实现的，自动驾驶模式与人工驾驶模式互不干扰、独立运行。在自动驾驶模式下，车辆按照设定好的目的地进行路线规划，根据规划好的路线进行自动行驶，在行驶过程中不断检测当前路况(包括当前所在车道、距下一路口的距离、红绿灯情况、附近车辆位置等内容)，根据检测到的当前路况刷新当前自动驾驶的控制逻辑，然后继续自动行驶。
但是，由于自动驾驶过程中车辆行驶的路线都是提前规划好的，一般不会主动改变，而驾驶人员的需求却有可能会发生变化，例如在当前自动行驶路线上，驾驶人员需要临时改变线路前往另一地点，并需要在下一路口进行左拐，此时驾驶人员需先按下切换按钮使车辆进入人工驾驶模式，然后由驾驶人员控制车辆进行左拐。这样就存在一些问题：首先由于驾驶人员是临时接管车辆的，此时驾驶人员对当前路况信息并不熟悉，很有可能作出错误的判断导致意外事故的发生；同时，在车辆左拐后再进入自动驾驶模式时，需要重新规划线路，此时仍需要驾驶人员进行按键切换、目的地重新设置等操作，不仅增加了操作负担，还会分散驾驶人员的注意力，存在一定的安全隐患。
发明内容
本发明的目的是提供一种自动驾驶车辆的控制方法，用以解决现有车辆根据需求在自动驾驶模式与人工驾驶模式之间切换时安全性不佳的问题；本发明还提供一种自动驾驶车辆的控制系统，用于解决现有车辆根据需求在自动驾驶模式与人工驾驶模式之间切换时安全性不佳的问题。
为实现上述目的，本发明提供了一种自动驾驶车辆的控制方法，该控制方法包括以下步骤：
1)在车辆驾驶过程中判断驾驶员的身份是否合法，判断驾驶员的姿态信息是否满足第一设定姿态，若驾驶员的身份合法且驾驶员的姿态信息满足第一设定姿态，则控制车辆由自动驾驶模式切换到人工驾驶模式；
2)在人工驾驶模式下，实时检测驾驶员的手势信息，根据驾驶员的手势信息确定驾驶员的控制意图；
3)根据车身周围情况和车辆运行参数判断驾驶员控制意图是否正确，若不正确，则按照自动驾驶控制逻辑进行车辆控制，若正确，则结合驾驶员的控制意图进行车辆控制。
该自动驾驶车辆的控制方法的有益效果是：第一，只有驾驶员的身份合法且其姿态信息满足第一设定姿态，才控制车辆由自动驾驶模式切换到人工驾驶模式，不仅能够保证车辆只能由经过认证的驾驶员人工接管，从而避免非法人员对车辆进行控制，降低车辆遭受意外攻击的风险，提高行车安全性，还能够保证驾驶员接管车辆时是做好了人工接管车辆的准备的，从而能进一步提高行车安全性；第二，驾驶员的控制意图根据驾驶员的手势信息确定，无需驾驶员进行各种按键操作，有利于驾驶员在人工接管车辆时集中注意力，同样能够提高行车安全性；第三，在人工驾驶模式下，车辆的控制是车辆周围情况、车辆运行参数以及驾驶员的控制意图综合作用下的结果，只有根据车身周围情况和车辆运行参数判断出驾驶员的控制意图是正确的情况下，才结合驾驶员的控制意图对车辆进行控 制，避免了驾驶员因对当前路况不熟悉而作出错误的判断导致意外事故的发生，进一步提高了行车安全性。
为了根据驾驶员的姿态信息及时实现车辆由人工驾驶模式切换到自动驾驶模式，保证行车安全，进一步地，在人工驾驶模式下，判断驾驶员的姿态信息是否满足第二设定姿态，若满足，则控制车辆退出人工驾驶模式，切换到自动驾驶模式。
为了帮助驾驶员及时获知车辆模式的切换信息，进一步地，所述步骤1)中当控制车辆由自动驾驶模式切换到人工驾驶模式时，还进行语音播报提醒。
为了辅助实现对驾驶员的姿态信息是否满足第一设定姿态的判断，进一步地，所述第一设定姿态包括驾驶员目光注视前方和驾驶员手势是人工驾驶形态。
为了辅助实现对驾驶员的姿态信息是否满足第二设定姿态的判断，进一步地，所述第二设定姿态为驾驶员目光未注视前方超过第一设定时间、驾驶员手势是非人工驾驶形态超过第二设定时间或者驾驶员手势是退出人工驾驶手势。
为了当在人工驾驶模式下发生驾驶员被非法人员临时替换等意外事件时，能及时退出人工驾驶模式，从而避免非法人员掌控车辆，进一步保证行车安全，进一步地，若驾驶员的身份不合法，则判断车辆是否为人工驾驶模式，若是人工驾驶模式，且在超过第三设定时间后驾驶员的身份仍不合法，则控制车辆退出人工驾驶模式，切换到自动驾驶模式。
本发明还提供了一种自动驾驶车辆的控制系统，该控制系统包括智能控制器、用于设置在驾驶员位置正前方中控台上的人脸识别装置和用于设置在驾驶员座位上方的手势识别装置，所述人脸识别装置用于识别驾驶员的身份和目光注视方向，所述手势识别装置用于识别驾驶员的手势信息，所述智能控制器中运行有自动驾驶控制逻辑，所述智能控制器还用于：在车辆驾驶过程中判断驾驶员的身份是否合法，判断驾驶员的姿态信息是否满足第一设定姿态，并在驾驶员的身份 合法且驾驶员的姿态信息满足第一设定姿态时，控制车辆由自动驾驶模式切换到人工驾驶模式；在人工驾驶模式下，根据驾驶员的手势信息确定驾驶员的控制意图；根据车身周围情况和车辆运行参数判断驾驶员控制意图是否正确，若不正确，则按照自动驾驶控制逻辑进行车辆控制，若正确，则结合驾驶员的控制意图进行车辆控制。
该自动驾驶车辆的控制系统的有益效果是：第一，只有驾驶员的身份合法且其姿态信息满足第一设定姿态，才控制车辆由自动驾驶模式切换到人工驾驶模式，不仅能够保证车辆只能由经过认证的驾驶员人工接管，从而避免非法人员对车辆进行控制，降低车辆遭受意外攻击的风险，提高行车安全性，还能够保证驾驶员接管车辆时是做好了人工接管车辆的准备的，从而能进一步提高行车安全性；第二，驾驶员的控制意图根据驾驶员的手势信息确定，无需驾驶员进行各种按键操作，有利于驾驶员在人工接管车辆时集中注意力，同样能够提高行车安全性；第三，在人工驾驶模式下，车辆的控制是车辆周围情况、车辆运行参数以及驾驶员的控制意图综合作用下的结果，只有根据车身周围情况和车辆运行参数判断出驾驶员的控制意图是正确的情况下，才结合驾驶员的控制意图对车辆进行控制，避免了驾驶员因对当前路况不熟悉而作出错误的判断导致意外事故的发生，进一步提高了行车安全性。
为了根据驾驶员的姿态信息及时实现车辆由人工驾驶模式切换到自动驾驶模式，保证行车安全，进一步地，所述智能控制器还用于在人工驾驶模式下，判断驾驶员的姿态信息是否满足第二设定姿态，若满足，则控制车辆退出人工驾驶模式，切换到自动驾驶模式。
为了帮助驾驶员及时获知车辆模式的切换信息，进一步地，所述控制系统还包括语音播放器，用于在车辆由自动驾驶模式切换到人工驾驶模式时进行语音播报提醒。
为了实现对驾驶员的身份和目光注视方向的识别，以及实现对驾驶员的手势信息的识别，所述人脸识别装置为双目相机，所述手势识别装置为单目相机。
图1是控制系统实施例中车辆驾驶模式的切换流程图；
图2是控制系统实施例中人工控制指令的响应流程图；
图3是控制系统实施例中驾驶员手势与人工控制指令间的转换示意图；
图4-a是控制系统实施例中人脸识别装置、手势识别装置的安装位置侧视图；
图4-b是控制系统实施例中人脸识别装置、手势识别装置的安装位置俯视图；
图中，1是人脸识别装置，2是手势识别装置。
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及具体实施例对本发明进行进一步详细说明。
本发明提供了一种自动驾驶车辆的控制方法及系统，能够对驾驶员的身份是否合法进行验证，并能够在车辆自动驾驶过程中，根据身份合法的驾驶员的姿态信息实现车辆在自动驾驶模式和人工驾驶模式之间的切换，还能够在人工驾驶模式下，结合驾驶员的手势信息对车辆的自动驾驶控制逻辑进行调整，提高了车辆的行车安全性。
控制系统实施例：
本实施例的自动驾驶车辆的控制系统(以下简称控制系统)，包括智能控制器(例如整车控制器)、人脸识别装置(例如双目相机)和手势识别装置(例如单目相机)。其中，智能控制器中运行有自动驾驶控制逻辑，智能控制器还用于实现一种自动驾驶车辆的控制方法(如图1和图2所示)。在实际运用中，人脸识别装置和手势识别装置的安装位置示意图如图4-a和图4-b所示，人脸识别装置1设置在驾驶员位置正前方中控台上，用于识别驾驶员的身份和目光注视方向； 手势识别装置2设置在驾驶员座位上方，用于识别驾驶员的手势信息。
作为其他实施方式，智能控制器还可以是为实现自动驾驶控制逻辑和自动驾驶车辆的控制方法而专门设置的控制器；人脸识别装置不限于双目相机，只要能识别出人脸和目光即可，手势识别装置也不限于单目相机，只要能识别出手势即可。
本实施例的控制系统，在智能控制器、人脸识别装置和手势识别装置的相互配合下，能够实现车辆驾驶模式的切换，具体如图1所示：
启动智能控制器中的自动驾驶程序(即自动驾驶控制逻辑)、启动人脸识别装置中的人脸识别程序和启动手势识别装置中的手势识别程序，车辆进入自动驾驶模式。
在车辆自动驾驶过程中，根据人脸识别装置的人脸识别结果判断驾驶员的身份是否合法，若驾驶员通过了人脸识别认证，即表明驾驶员身份合法；本实施例中，为了实现驾驶员身份是否合法的判断，在人脸识别装置中提前录入了大量通过认证的驾驶员人脸图像，通过将人脸识别装置实时检测到的驾驶员人脸图像与已录入的驾驶员人脸图像进行比对，若比对成功，则表示驾驶员通过了人脸识别认证，即说明驾驶员身份合法，允许该驾驶员人工接管车辆。通过这种方式，能够保证车辆只能由经过认证的驾驶员人工接管，从而避免了非法人员对车辆进行控制，降低了车辆遭受意外攻击的风险，提高了行车安全性。
若判断出驾驶员的身份不合法，则判断车辆是否为人工驾驶模式，若是人工驾驶模式，则在语音播报提醒时间超时(这里指在超过第三设定时间(例如3秒)后驾驶员的身份仍不合法)后，控制车辆退出人工驾驶模式，切换到自动驾驶模式。采取这种方式，能够在车辆已处于人工驾驶模式的情况下，出现驾驶员被非法人员(例如歹徒或未通过认证的其他人员)临时替换等意外事件时，能够及时退出人工驾驶模式，从而避免非法人员掌控车辆，进一步保证行车安全。
在判断出驾驶员身份合法后，继续判断驾驶员的姿态信息是否满足第一设定姿态，若满足，则控制车辆由自动驾驶模式切换到人工驾驶模式；本实施例中，在判断出驾驶员的姿态信息满足第一设定姿态后，还对驾驶员手势是否为退出人工驾驶手势进行判断，在满足第一设定姿态且不是退出人工驾驶手势时，智能控制器才控制车辆由自动驾驶模式切换到人工驾驶模式。作为其他实施方式，也可以在满足第一设定姿态后直接控制车辆由自动驾驶模式切换到人工驾驶模式，然后再对驾驶员手势是否为退出人工驾驶手势进行判断，当为退出人工驾驶手势时，控制车辆退出人工驾驶模式，进入自动驾驶模式。本实施例中，满足第一设定姿态是指同时满足以下2个条件：(1)人脸识别装置检测到驾驶员目光注视前方；(2)手势识别装置检测到驾驶员手势是人工驾驶形态。为了帮助驾驶员及时获知车辆模式的切换信息，本实施例中控制系统还包括语音播放器，语音播放器用于在车辆由自动驾驶模式切换到人工驾驶模式时进行语音播报提醒(例如提醒驾驶员即将进入人工驾驶模式)。作为其他实施方式，第一设定姿态可以根据实际需要进行调整，例如第一设定姿态中的条件(1)还可以为人脸识别装置检测到驾驶员目光注视前方超过3秒。
在人工驾驶模式下，根据驾驶员的手势信息确定驾驶员的控制意图；具体地，手势识别装置检测到驾驶员手势是人工驾驶形态时，会根据检测到的驾驶员手势确定驾驶员的控制意图，并将驾驶员的控制意图转换成相应的人工控制指令，将人工控制指令发送给智能控制器。当然，作为其他实施方式，手势识别装置还可以仅将检测到的驾驶员手势发送给智能控制器，由智能控制器判断驾驶员的控制意图，并将驾驶员的控制意图转换成人工控制指令。本实施例中，人工驾驶形态是指驾驶员双手握拳置于胸前设定范围(例如20cm-40cm)内，并且其手势为以下4种手势的一种：1)双手握拳向前伸；2)双手握拳向后拉；3)双手握拳向左移动；4)双手握拳向右移动。需要说明的是，此处所说的“向前”、“向后”、 “向左”和“向右”均是将当前时刻的驾驶员手势与前一时刻的驾驶员手势相比较得到的，即根据检测到的驾驶员手势确定驾驶员的控制意图是一个动态比较的过程，通过将当前时刻的驾驶员手势与前一时刻的驾驶员手势进行比较，判断当前时刻的驾驶员手势是否较前一时刻发生了变化，若没有变化，则车辆保持前一时刻的控制逻辑行驶，若发生了变化，则结合驾驶员的控制意图对车辆进行控制。其中，初始时刻的驾驶员手势为由自动驾驶模式进入到人工驾驶模式时刻的手势。如图3所示，若与前一时刻相比驾驶员的手势为双手握拳向前伸，则代表驾驶员的控制意图是加速，此时该控制意图会被转换成加速指令，向前伸的越远，表示需求的驱动力越大；若与前一时刻相比驾驶员的手势为双手握拳向后拉，则代表驾驶员的控制意图是减速，此时该控制意图会被转换成减速指令(也称制动指令)，向后拉的越远，表示需求的制动力越大；若与前一时刻相比驾驶员的手势为双手握拳向左移动，则代表驾驶员的控制意图是向左打方向，此时该控制意图会被转换成左转指令，其中双手移动的幅度和速度会被相应转换成转向角度和转向角速度；若与前一时刻相比驾驶员的手势为双手握拳向右移动，则代表驾驶员的控制意图是向右打方向，此时该控制意图会被转换成右转指令，其中双手移动的幅度和速度会被相应转换成转向角度和转向角速度。作为其他实施方式，人工驾驶形态的种类和数量均可根据实际需要进行调整。
在人工驾驶模式下，判断驾驶员的姿态信息是否满足第二设定姿态，若满足，则控制车辆退出人工驾驶模式，切换到自动驾驶模式；本实施例中，满足第二设定姿态是指满足以下3个条件中的至少一个：(一)人脸识别装置检测到驾驶员目光未注视前方超过第一设定时间(例如3秒)，且进行语音播报提醒后3秒仍未检测到驾驶员目光注视前方(即语音播报提醒时间超时)；(二)手势识别装置检测到驾驶员手势是非人工驾驶形态超过第二设定时间(例如5秒)，且进行语音播报提醒后3秒仍未检测到驾驶员手势是人工驾驶形态(即语音播报提醒时间 超时)；其中，非人工驾驶形态是指不属于人工驾驶形态的其他手势；(三)手势识别装置检测到驾驶员手势是退出人工驾驶手势(例如双手交叉呈X形状)。当满足这3个条件中的至少一个时，智能控制器控制车辆由人工驾驶模式切换到自动驾驶模式。作为其他实施方式，第二设定姿态、第一设定时间、第二设定时间和退出人工驾驶手势均可以根据实际需要调整，例如第二设定姿态中的条件(一)和条件(二)还可以不包含语音播报提醒的相关内容。
本实施例中，通过识别驾驶员的目光是否注视前方，并在判断出驾驶员未注视前方超过第一设定时间时，控制车辆从人工驾驶模式切换为自动驾驶模式，能够降低因驾驶员分神导致的车辆事故，提高行车安全。
如图2所示，在人工驾驶模式下，智能控制器不仅接收并处理感知数据(包括车身周围情况和车辆运行参数)，还对是否接收到人工控制指令进行判断，当智能控制器未接收到人工控制指令时，按照自动驾驶控制逻辑进行车辆控制，即智能控制器结合车身周围情况和车辆运行参数，进行路径规划(从中选择最优路径)和速度规划，然后下发路径和速度规划数据，控制车辆运行；当智能控制器接收到人工控制指令时，首先判断人工控制指令是否合理(即驾驶员控制意图是否正确)，具体地，智能控制器会根据车身周围情况和车辆运行参数，判断在当前路况下，根据驾驶员控制意图对车辆进行控制是否会发生危险或分析发生危险的概率等，以此判断驾驶员控制意图是否正确。若正确，则结合驾驶员的控制意图进行车辆控制，即智能控制器结合车身周围情况、车辆运行参数和人工控制指令，进行路径规划(从中选择最优路径)和速度规划，然后下发路径和速度规划数据，控制车辆运行；若不正确，则按照自动驾驶控制逻辑进行车辆控制。
下面以在人工驾驶模式下，人工控制指令为左转指令和加速指令为例，详细说明在什么情况下判断驾驶员控制意图正确或不正确，以及相应地处理过程。
例如，在人工驾驶模式下，智能控制器接收到左转指令，表示驾驶员想要向 左打方向，但此时智能控制器对感知数据的处理结果为：本车行驶速度过快，若立即左转会有危险，或者左转车道上有车辆距本车很近，若立即左转会发生碰撞事故，这时就判断驾驶员控制意图不正确，则智能控制器控制车辆不执行左转指令。
又例如，在人工驾驶模式下，智能控制器接收到加速指令，表示驾驶员想要加速，若此时智能控制器对感知数据的处理结果为：本车前方无障碍物，且本车车速低于当前路况限速值，这时就判断驾驶员控制意图正确，则智能控制器控制车辆执行加速指令。
综上所述，本发明的人工驾驶模式是指：车辆还是按照原有的自动驾驶模式进行行驶，但同时还要受到驾驶员人工操作的影响，这里的人工操作是指驾驶员通过设定的姿态向智能控制器发送加速、制动、左转和右转等控制意图，智能控制器接收到相应的控制意图后，还要结合当前路况(包括车身周围情况和车辆运行参数)进行行为决策，利用得到的最终控制报文对车辆进行控制。具体为：先结合当前路况判断驾驶员控制意图是否正确，即是否能够执行，如果当前路况能够执行该控制意图，则结合该控制意图进行行为决策，即对当前自动驾驶控制逻辑进行刷新(重新进行路径规划、速度规划、最优路径选择等)，并根据刷新后的自动驾驶逻辑控制车辆进行行驶；如果当前路况不能执行该控制意图，就发出提醒信息，智能控制器会自主决策并发送正确的控制报文对车辆进行控制，从而保证车辆行车安全；所以本发明的人工驾驶模式是对自动驾驶模式的一种调整，与现有的人工驾驶模式是不一样的。
控制方法实施例：
本发明的自动驾驶车辆的控制方法，已在控制系统实施例中进行了详细介绍，此处不再赘述。
Claims (10)
- 一种自动驾驶车辆的控制方法，其特征在于，该控制方法包括以下步骤：1)在车辆驾驶过程中判断驾驶员的身份是否合法，判断驾驶员的姿态信息是否满足第一设定姿态，若驾驶员的身份合法且驾驶员的姿态信息满足第一设定姿态，则控制车辆由自动驾驶模式切换到人工驾驶模式；2)在人工驾驶模式下，实时检测驾驶员的手势信息，根据驾驶员的手势信息确定驾驶员的控制意图；3)根据车身周围情况和车辆运行参数判断驾驶员控制意图是否正确，若不正确，则按照自动驾驶控制逻辑进行车辆控制，若正确，则结合驾驶员的控制意图进行车辆控制。
- 根据权利要求1所述的自动驾驶车辆的控制方法，其特征在于，在人工驾驶模式下，判断驾驶员的姿态信息是否满足第二设定姿态，若满足，则控制车辆退出人工驾驶模式，切换到自动驾驶模式。
- 根据权利要求1所述的自动驾驶车辆的控制方法，其特征在于，所述步骤1)中当控制车辆由自动驾驶模式切换到人工驾驶模式时，还进行语音播报提醒。
- 根据权利要求1所述的自动驾驶车辆的控制方法，其特征在于，所述第一设定姿态包括驾驶员目光注视前方和驾驶员手势是人工驾驶形态。
- 根据权利要求2所述的自动驾驶车辆的控制方法，其特征在于，所述第二设定姿态为驾驶员目光未注视前方超过第一设定时间、驾驶员手势是非人工驾驶形态超过第二设定时间或者驾驶员手势是退出人工驾驶手势。
- 根据权利要求1所述的自动驾驶车辆的控制方法，其特征在于，若驾驶员的身份不合法，则判断车辆是否为人工驾驶模式，若是人工驾驶模式，且在超过第三设定时间后驾驶员的身份仍不合法，则控制车辆退出人工驾驶模式，切换到自动驾驶模式。
- 一种自动驾驶车辆的控制系统，其特征在于，该控制系统包括智能控制器、用于设置在驾驶员位置正前方中控台上的人脸识别装置和用于设置在驾驶员座位上方的手势识别装置，所述人脸识别装置用于识别驾驶员的身份和目光注视方向，所述手势识别装置用于识别驾驶员的手势信息，所述智能控制器中运行有自动驾驶控制逻辑，所述智能控制器还用于：在车辆驾驶过程中判断驾驶员的身份是否合法，判断驾驶员的姿态信息是否满足第一设定姿态，并在驾驶员的身份合法且驾驶员的姿态信息满足第一设定姿态时，控制车辆由自动驾驶模式切换到人工驾驶模式；在人工驾驶模式下，根据驾驶员的手势信息确定驾驶员的控制意图；根据车身周围情况和车辆运行参数判断驾驶员控制意图是否正确，若不正确，则按照自动驾驶控制逻辑进行车辆控制，若正确，则结合驾驶员的控制意图进行车辆控制。
- 根据权利要求7所述的自动驾驶车辆的控制系统，其特征在于，所述智能控制器还用于在人工驾驶模式下，判断驾驶员的姿态信息是否满足第二设定姿态，若满足，则控制车辆退出人工驾驶模式，切换到自动驾驶模式。
- 根据权利要求7所述的自动驾驶车辆的控制系统，其特征在于，所述控制系统还包括语音播放器，用于在车辆由自动驾驶模式切换到人工驾驶模式时进行语音播报提醒。
- 根据权利要求7所述的自动驾驶车辆的控制系统，其特征在于，所述人脸识别装置为双目相机，所述手势识别装置为单目相机。
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