Interactive system and method of automatic driving controller and vehicle control unit

Abstract

The invention relates to an interactive system of an automatic driving controller and a vehicle control unit. The interactive system comprises a whole vehicle switch, the automatic driving controller,a whole vehicle drive-by-wire controller and a whole vehicle control actuator. The method comprises the following steps: monitoring a whole vehicle control signal, L3 intervention information, L2 / L3mode switching information, whole vehicle drive-by-wire feedback information, automatic driving controller state information and an automatic driving mode; if the L2 / L3 mode switching information indicates entering from L2 to L3, setting the automatic driving mode to be L3; if the L2 / L3 mode switching information indicates returning from L3 to L2, setting the automatic driving mode to be L2; if the automatic driving mode is L2 level, obtaining the whole vehicle drive-by-wire instruction by forwarding the whole vehicle control signal received by the first L2 control input interface by the wholevehicle switch; and if the automatic driving mode is the L3 level, obtaining the whole vehicle drive-by-wire instruction through decision of the automatic driving controller. The automatic driving mode judgment main body is fixed, the logic of the interaction state machine is standardized, and the problem that instruction receiving and execution are disordered is solved.

Description

technical field [0001] The present invention relates to the technical field of automatic driving controllers, in particular to an interactive system and method for automatic driving controllers and vehicle controllers. Background technique [0002] At present, L3 autonomous driving is in its infancy in the field of commercial vehicles; an interaction strategy that can realize the interaction between the L3 automatic driving controller and the traditional vehicle controller to achieve the purpose of automatic driving, and has certain functional safety properties has not yet been formed. [0003] At present, there are many kinds of automatic driving control strategies adopted by major automatic driving manufacturers; among them, there are two mainstream technical solutions, and their respective technical characteristics and technical defects are as follows: [0004] 1. The automatic driving controller is connected to the original controller interface of the vehicle. In the L3 ...

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Problems solved by technology

[0008] In view of the above problems, the present invention provides an interactive system and method between the automatic driving controller and the vehicle controller, which is used to fix the judging subject for entering and exiting the automatic driving mode, and standardize the logic of the interactive state machine between the automatic driving controller and the vehicle controller , to solve the problem that the vehicle controller receives and executes the confusion of the driver's operation input and the command of the automatic driving controller;

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