Vehicle control method, device, and vehicle

Abstract

Embodiments of the present application provide a vehicle control method, a device, and a vehicle. The method comprises: when a vehicle is in an autonomous driving state, on the basis of a hand torque of a steering operation input by a driver, determining a travel trajectory; and on the basis of the travel trajectory, determining a first assist torque, wherein the first assist torque is indicated by an intelligent driving domain controller, thereby avoiding a direct exit from the autonomous driving state when the driver intervenes in steering control, which would cause a sudden change in force leading to a jerk perceived by the driver and affecting the driving experience.

Description

Control method and device of vehicle and vehicle

[0001] The present application claims priority to the Chinese patent application No. 202411027366.8, filed on July 29, 2024, and entitled "Control method and device of vehicle and vehicle", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of intelligent vehicles, in particular to a control method and device of vehicle and vehicle. BACKGROUND

[0003] In the process of intelligent driving, the intelligent vehicle can control the driving direction of the vehicle through the intelligent driving system, such as determining the steering torque to make the steering mechanism turn under the action of the steering torque. However, the driver often needs to intervene in the driving direction of the vehicle in the process of intelligent driving, such as controlling the vehicle to change lanes, drive on the left or drive on the right. In this case, the driver's operation of the steering wheel will cause the intelligent vehicle to exit the intelligent driving mode, and after exiting the intelligent driving mode, the intelligent driving control domain no longer controls the torque output, and the sudden change of force will make the driver feel a jerk, affecting the driving experience. SUMMARY

[0004] The control method and device of vehicle and vehicle provided by the embodiments of the present application can adjust the assist torque to meet the steering intention of the driver when the driver inputs the steering operation torque, rather than exiting the intelligent driving control, and can adjust the assist torque during the process of exiting the intelligent driving control to avoid the sudden change of force, thereby avoiding the driver feeling a jerk and improving the driving experience.

[0005] In a first aspect, the embodiments of the present application provide a control method of vehicle. The execution subject of the method can be a domain controller in the vehicle, or the domain controller can be replaced by a chip or a chip system, or other functional modules capable of calling and executing programs. For ease of understanding, the domain controller is taken as the execution subject in the following description.

[0006] For example, when the vehicle is in an automatic driving state, the domain controller determines a driving trajectory according to the steering operation hand torque input by the driver, and then determines a first assist torque according to the driving trajectory, so that the first assist torque acts on the steering control of the vehicle. This can avoid the driver directly exiting the automatic driving when intervening in the steering control, thereby avoiding the sudden change of assist torque from the calibration value in the automatic driving state to the calibration value in the manual driving when the automatic driving exits, and the resulting sudden change of force causing the driver to feel a jerk and affecting the driving experience.

[0007] In a possible implementation, the domain controller can determine the driving trajectory according to the hand torque when the hand torque is less than the first threshold, and then determine the first assist torque according to the driving trajectory. In this case, when the hand torque is less than the first threshold, the driving trajectory of the vehicle is adjusted, and the first assist torque is determined or adjusted, to realize human-machine co-driving; when the torque is greater than the first threshold, the automatic driving state is exited. The control intention of the driver to the vehicle can be considered to realize human-machine co-driving.

[0008] In a possible implementation, the domain controller can determine the first assist torque according to the driving trajectory and the hand torque. For example, in some scenarios, the hand torque can act on the steering mechanism to participate in steering control, and however, the steering torque in the automatic driving state is provided by the first assist torque by default. At this time, the hand torque is equivalent to an interference value for the calculation process of the first assist torque. When determining the first assist torque, the hand torque is considered as an input together, the interference of the hand torque on the steering control is excluded, the accuracy of the steering control is improved, and the vehicle can more accurately track the driving trajectory.

[0009] In a possible implementation, the domain controller can output the driving trajectory to the display, and the driver presents the driving trajectory through the display to realize interaction or feedback of the steering operation of the driver, so that the driver can clearly know whether the driving direction of the vehicle meets the expectation of the steering control of the driver, and the driving experience is improved.

[0010] In a second aspect, an embodiment of the present application provides a control method of a vehicle.

[0011] For example, when the vehicle is in the automatic driving state, the domain controller adjusts the first assist torque according to the hand torque of the steering operation input by the driver for multiple times, and the difference between the first assist torque after the i th adjustment and the second assist torque is less than the difference between the first assist torque after the i-1 th adjustment and the second assist torque, where the first assist torque is indicated by the intelligent driving domain controller, and the second assist torque is determined based on the hand torque. The first assist torque is continuously adjusted to approach the second assist torque, to avoid the driver directly exiting the automatic driving when the driver intervenes in the steering control, so that the assist torque is suddenly changed from the calibration value in the automatic driving state to the calibration value in the manual driving when the automatic driving is exited, and the force generated by the sudden change is avoided, so that the driver does not feel the jerk, and the driving experience is improved.

[0012] In a possible implementation, the domain controller can adjust the first assist torque according to the hand torque for multiple times when the hand torque is greater than or equal to the first threshold or the vehicle receives an exit automatic driving instruction. In this case, it is identified that the driver has a strong control intention for the vehicle, and the first assist torque is adjusted according to the hand torque for multiple times to make the first assist torque approach the second assist torque, that is, to avoid the sudden change of the assist torque from the calibration value in the automatic driving state to the calibration value in the manual driving, thereby avoiding the sense of frustration of the driver caused by the sudden change of force when the automatic driving state is exited.

[0013] In a possible implementation, the domain controller ends the automatic driving state when the steering torque is adjusted for multiple times until a preset condition is met, wherein the preset condition includes:

[0014] The first condition: the time length during which the difference between the first assist torque and the second assist torque is less than the second threshold is greater than or equal to the second preset time length within the first preset time length; or,

[0015] The second condition: the first condition is not met, and a third preset time length is reached after the first preset time length ends.

[0016] When the first condition is met, the difference between the first assist torque and the second assist torque can be kept within the constraint range of the second threshold for a period of time, and the automatic driving state is ended in this case, which can ensure that there is no sudden change of force after the automatic driving state is ended, thereby avoiding the sense of frustration of the driver. The automatic driving state is ended in the case where the second condition is met, which can forcibly exchange the control right of the vehicle to the driver to meet the vehicle control intention of the driver.

[0017] In the process of adjusting the first assist torque for multiple times, in order to further improve the driving experience and prevent the sudden change of force in each adjustment process or control the size of the sudden change of force in each adjustment process, thereby avoiding the sense of frustration of the driver, the following two possible ways can be used:

[0018] The first way is that the first assist torque can be less than or equal to the third threshold when the first assist torque is adjusted each time, which avoids the excessive adjustment of the first assist torque and increases the difference between the first assist torque and the second assist torque. For example, the first assist torque after the i th adjustment is less than or equal to the third threshold. The smaller the difference between the first assist torque and the second assist torque, the smaller the sense of frustration of the driver, and the better the driving experience.

[0019] In the second mode, the first assist torque is adjusted each time, and the increment of the first assist torque is less than or equal to the fourth threshold value, so as to avoid the sudden change of the first assist torque and the jerk feeling of the driver. For example, the difference between the first assist torque after the i adjustment and the second assist torque after the i-1 adjustment is less than or equal to the fourth threshold value.

[0020] In the third aspect, the application provides a domain controller. The domain controller comprises: a trajectory determination unit configured to determine a driving trajectory according to a hand torque of a steering operation input by a driver when the vehicle is in an automatic driving state; and a torque determination unit configured to determine a first assist torque according to the driving trajectory, the first assist torque being indicated by an intelligent driving domain controller.

[0021] In a possible implementation, the torque determination unit is specifically configured to: when the hand torque is less than a first threshold value, determine the driving trajectory according to the hand torque.

[0022] In a possible implementation, the torque determination unit is specifically configured to: determine the first assist torque according to the driving trajectory and the hand torque.

[0023] In a possible implementation, the domain controller further comprises: an output unit configured to output the driving trajectory to a display.

[0024] In the fourth aspect, the application provides a domain controller. The domain controller comprises: a torque determination unit configured to adjust a first assist torque multiple times according to a hand torque of a steering operation input by a driver when the vehicle is in an automatic driving state, the first assist torque being indicated by an intelligent driving domain controller; and wherein the difference between the first assist torque after the i adjustment and a second assist torque is less than the difference between the first assist torque after the i-1 adjustment and the second assist torque, the second assist torque being determined based on the hand torque.

[0025] In a possible implementation, the torque determination unit is specifically configured to: when the hand torque is greater than or equal to the first threshold value or the vehicle receives an exit automatic driving instruction, adjust the first assist torque multiple times according to the hand torque.

[0026] In a possible implementation, the domain controller further comprises: a driving control unit configured to end the automatic driving state when the steering torque is adjusted multiple times until a preset condition is met; and wherein the preset condition comprises:

[0027] The first condition: the difference between the first assist torque and the second assist torque is less than the second threshold value for a time period greater than or equal to a second preset time period within a first preset time period; or

[0028] The second condition: the first condition is not met, and a third preset time period is reached after the first preset time period ends.

[0029] In a possible implementation, the first assist torque after the i-th adjustment is less than or equal to a third threshold value; and / or, a difference between the first assist torque after the i-th adjustment and the first assist torque after the (i-1)-th adjustment is less than or equal to a fourth threshold value.

[0030] In a fifth aspect, the present application provides a smart driving system, including the domain controller in the third aspect, the fourth aspect or the possible implementation.

[0031] In a possible implementation, the smart driving system further includes a steering wheel sensor connected to the domain controller and a steering system connected to the domain controller; when the vehicle is in the automatic driving state, the steering wheel sensor is configured to acquire a hand torque of a steering operation input by a driver; and the domain controller is configured to output control information, the control information being configured to instruct the steering system to implement steering control based on the first assist torque.

[0032] In a possible implementation, the steering system includes an electric power steering control system and a steering mechanism connected to the electric power steering control system; and the electric power steering control system is configured to output the first assist torque to the steering mechanism according to the control information.

[0033] In a sixth aspect, the present application provides an electronic device, including a processor and a memory, the memory being configured to store a computer program, and the processor being configured to invoke and run the computer program stored in the memory to execute the method in the first aspect, the second aspect or the possible implementation.

[0034] In a seventh aspect, the present application provides a chip, including a processor configured to invoke and run computer instructions from a memory, so that a device installed with the chip executes the method in the first aspect, the second aspect or the possible implementation.

[0035] In an eighth aspect, the present application provides a computer readable storage medium configured to store computer program instructions, the computer program instructions causing a computer to execute the method in the first aspect, the second aspect or the possible implementation.

[0036] In a ninth aspect, the present application provides a computer program product, including computer program instructions, the computer program instructions causing a computer to execute the method in the first aspect, the second aspect or the possible implementation.

[0037] In a tenth aspect, the present application provides a vehicle, including the method in the fifth aspect or the possible implementation. BRIEF DESCRIPTION OF DRAWINGS

[0038] FIG. 1a is a schematic diagram of a hardware structure of a vehicle according to an embodiment of the present application.

[0039] FIG. 1b is a schematic diagram of a hardware structure of a vehicle according to an embodiment of the present application.

[0040] FIG. 2 is a flowchart of a control method of a vehicle according to an embodiment of the present application.

[0041] FIG. 3 is an interaction flowchart of a control method of a vehicle according to an embodiment of the present application.

[0042] FIG. 4 is a flowchart of a control method of a vehicle according to an embodiment of the present application.

[0043] FIG. 5 is a flowchart of a control method of a vehicle according to an embodiment of the present application.

[0044] FIG. 6 is a schematic block diagram of a control device of a vehicle according to an embodiment of the present application.

[0045] FIG. 7 is a schematic structural diagram of an electronic device 500 according to an embodiment of the present application. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

[0047] The vehicle in the embodiments of the present application can be an intelligent vehicle, such as an automatic driving vehicle in which all functions are realized as automatic control, or an assisted driving vehicle in which part of the functions are realized as automatic control to provide driving assistance. For ease of description, the vehicle is referred to as a vehicle hereinafter. The automobile driving automation classification can include six automatic driving levels L0 to L5, where L0 is manual driving, L1 is driving automation, L2 is assisted driving, L3 is automatic assisted driving, L4 is automatic driving, and L5 is unmanned driving. The technical solutions in the present application are particularly suitable for vehicles of automatic driving levels L2 and above.

[0048] FIGS. 1a and 1b are schematic diagrams of a hardware structure of a vehicle according to an embodiment of the present application. As shown in FIGS. 1a and 1b, the vehicle 100 includes a steering wheel 110, a steering wheel sensor 120, a steering mechanism 130, an electric power steering control system 140, a chassis domain controller 150, and an intelligent driving domain controller 160.

[0049] The steering wheel 110 is connected to the steering wheel sensor 120, the steering wheel sensor 120 is connected to the electric power steering control system 140, and the electric power steering control system 140 is connected to the steering mechanism 130 and the chassis domain controller 150. The electric power steering control system 140 can be implemented as an electric power steering (EPS) system.

[0050] Referring to FIG. 1a, in a non-intelligent driving control process, the electric power steering control system 140 controls the steering of the vehicle through interaction with the steering wheel sensor 120. For example, the steering wheel sensor 120 collects the hand torque input by the driver through the operation of the steering wheel 110, generates a hand torque signal, and sends the hand torque signal to the electric power steering control system 140. The electric power steering control system 140 controls the steering mechanism 130 according to the hand torque signal and the vehicle speed information obtained through the chassis domain controller 150, and in turn controls the steering of the vehicle.

[0051] In some scenarios, the steering wheel 110 and the steering mechanism 130 can be physically connected, where the steering mechanism 140 may, for example, include but is not limited to part or all of the steering shaft, the steering gear box, and the steering linkage. When the driver inputs a hand torque through the operation of the steering wheel 120, the hand torque can be transmitted to the steering mechanism 140, and the hand torque and the assist torque jointly act on the steering mechanism 130 to form a first steering torque, thereby realizing the steering control of the vehicle, where the assist torque is determined by the electric power steering control system 140 according to the hand torque signal and the vehicle speed information obtained through the chassis domain controller 150.

[0052] In other scenarios, the steering mechanism 130 can be implemented as a steer-by-wire steering mechanism. In this case, the hand torque input by the driver through the operation of the steering wheel is not directly transmitted to the steering mechanism 130. Instead, the electric power steering control system 140 determines a first steering torque acting on the steering mechanism according to the hand torque signal and the vehicle speed information obtained through the chassis domain controller 150, and in turn controls the steering mechanism 130 based on the first steering torque to realize the steering control of the vehicle.

[0053] The intelligent driving domain controller 160 is connected to the electric power steering control system 140. The intelligent driving domain controller 160 can be used to implement the advanced driving assist system (ADAS) function, for example, can be a control chip of the ADAS. The intelligent driving domain controller 160 can be deployed with an intelligent driving system, which can be implemented as a software system; or the intelligent driving domain controller 160 can be deployed in an intelligent driving system, which can be implemented as a hardware system, and when the intelligent driving domain controller 160 is deployed in the intelligent driving system, it can interact with other devices to realize intelligent driving; or the intelligent driving domain controller 160 can be implemented as an intelligent driving system, which can be implemented as a software system or a hardware system, which is not limited in the present application. The intelligent driving system can be referred to as the intelligent driving system.

[0054] Referring to FIG. 1b, in the process of intelligent driving control, the intelligent driving domain controller 160 can interact with the electric power steering control system 140 to control the steering of the vehicle, so that the vehicle realizes automatic driving or assisted driving. For example, the intelligent driving domain controller 160 can generate a control signal by analyzing the information of the perceived surrounding environment, and send the control signal to the electric power steering control system 140, and the electric power steering control system 140 outputs a second steering torque to the steering mechanism 130 according to the control signal, so as to realize automatic steering control of the steering of the vehicle.

[0055] It should be noted that the above control process of intelligent driving can be executed in an intelligent driving mode, and the vehicle in the intelligent driving mode can also be described as: the vehicle is in an intelligent driving state or an automatic driving state; the above control process of non-intelligent driving can be executed in a non-intelligent driving mode, or in the case of exiting the intelligent driving mode, the non-intelligent driving mode can also be referred to as a human driving mode, etc., and the vehicle in the non-intelligent driving mode can also be described as: the vehicle is in a non-intelligent driving state or a non-automatic driving state or a human driving state, etc.

[0056] Optionally, the vehicle 100 can also include a display 170. The display 170 can be used to present relevant data in the intelligent driving process; or the display 170 can present a human-computer interaction interface to realize human-computer interaction with a user (such as a driver). The implementation of the display 170 is not limited in the present application, for example, the display 170 can be a central control screen, a head-up display (HUD), etc.

[0057] In some scenarios, the driver often intervenes in the control process of intelligent driving to control the driving direction of the vehicle, such as controlling the vehicle to change lanes, the vehicle to drive on the left or the right, etc., so the driver will intervene in the steering control of the vehicle by operating the steering wheel. In this case, the intelligent driving domain controller 160 is connected with the steering wheel sensor 120, the intelligent driving domain controller 160 detects the hand torque signal sent by the steering wheel sensor 120, and the vehicle will immediately exit the intelligent driving mode and switch to the non-intelligent driving mode. That is, the intelligent driving domain controller 160 stops outputting the control signal to the electric power steering control system 140. When switching to the non-intelligent driving mode, the electric power steering control system 140 controls the steering mechanism 130 in the manner shown in FIG. 1a.

[0058] Due to this mode switching manner, the steering torque output by the electric power steering control system 140 changes from the second steering torque to the first assist torque or the first steering torque, and in the case that the second steering torque and the first assist torque / first steering torque are not equal, there is a force mutation, which causes the driver to feel a jerk, thereby affecting the driving experience.

[0059] Therefore, in the embodiments of the present application, when the vehicle is in the automatic driving state and the driver inputs the hand torque, on one hand, the torque acting on the steering mechanism is controlled to make the driving trajectory of the vehicle meet the steering intention of the driver, instead of exiting the intelligent driving control, and on the other hand, the torque acting on the steering mechanism is adjusted in the process of exiting the intelligent driving control to avoid the generation of a sudden force, thereby improving the driving experience.

[0060] Hereinafter, the method provided by the embodiments of the present application is described with the domain controller in the vehicle as the execution subject, which may be, for example, the intelligent driving domain controller 160 or a component in the intelligent driving domain controller 160 in FIG. 1, and may be replaced by a chip or a chip system, or other functional modules capable of calling and executing programs.

[0061] However, it should be understood that this should not constitute any limitation on the execution subject of the method provided by the present application. As long as the method provided by the embodiments of the present application can be implemented by running the program in which the code of the method provided by the embodiments of the present application is recorded, the execution subject of the method provided by the embodiments of the present application can be used.

[0062] FIG. 2 is a flowchart of a control method 200 of a vehicle provided by the embodiments of the present application. As shown in FIG. 2, the method 200 can include the following steps or all the steps.

[0063] S210, when the vehicle is in the automatic driving state, determining the driving trajectory according to the hand torque of the steering operation input by the driver.

[0064] S220, determining the first assist torque according to the driving trajectory.

[0065] When the vehicle is in the automatic driving state, if the driver inputs the hand torque of the steering operation through the steering wheel, it indicates that the driver has the intention to control the steering of the vehicle, and the domain controller obtains the driver hand torque signal from the steering wheel sensor to identify the steering intention of the driver. In this case, the domain controller can determine the driving trajectory of the vehicle according to the input hand torque, or update the driving trajectory of the vehicle, and then control the steering of the vehicle according to the determined driving trajectory, which can avoid the feeling of being shocked when the automatic driving state of the vehicle is directly exited, and can also take into account the steering intention of the driver to automatically control the driving of the vehicle, thereby realizing a man-machine co-driving state.

[0066] In the above S210, the domain controller can determine the driving trajectory of the vehicle in real time, or in other words, dynamically determine the driving trajectory of the vehicle. In this case, the driving trajectory of the vehicle changes with the change of the input hand torque. Correspondingly, in the above S220, the domain controller can determine the first assist torque in real time according to the driving trajectory determined in real time, or in other words, dynamically determine the first assist torque, that is, the first assist torque changes with the change of the driving trajectory.

[0067] The present application does not limit the implementation scenario of man-machine co-driving. For example, in the automatic driving state, during the process of the vehicle driving straight, when the hand torque of the left (or right) steering input by the driver through the steering wheel is obtained, the domain controller can control the vehicle to adjust the position left (or right) in the lane according to the hand torque, or control the vehicle to change the lane left (or right) according to the hand torque, or control the vehicle to turn left (or right) according to the hand torque, and so on; during the process of the vehicle turning left, for example, adjusting the position left in the lane, or changing the lane left, or turning left, etc., when the hand torque of the left steering input by the driver through the steering wheel is obtained, the left steering can be deepened, and when the hand torque of the right steering input by the driver through the steering wheel is obtained, the left steering can be weakened or changed to right steering; during the process of the vehicle turning right, for example, adjusting the position right in the lane, or changing the lane right, or turning right, etc., when the hand torque of the right steering input by the driver through the steering wheel is obtained, the right steering can be deepened, and when the hand torque of the left steering input by the driver through the steering wheel is obtained, the right steering can be weakened or changed to left steering.

[0068] As a first example, in the automatic driving state, the steering torque is provided by the first assist torque by default, and if the hand torque of the steering operation input by the driver directly acts on the steering mechanism, the hand torque at this time is equivalent to the interference value of the first assist torque calculation process. In this case, the domain controller can determine the first assist torque according to the driving trajectory of the vehicle and the hand torque. For example, the domain controller determines the steering torque required by the steering mechanism when the vehicle drives according to the driving trajectory, and then the domain controller determines the first assist torque in combination with the hand torque. When determining the first assist torque, the hand torque is considered as an input, which excludes the interference of the hand torque on the steering control and improves the accuracy of the steering control, so that the vehicle can more accurately track the driving trajectory. Referring to FIG. 3, the intelligent domain controller 160 can determine the first assist torque and send a control signal to the electric steering control system 140 to indicate the first assist torque. The electric steering control system 140 outputs the first assist torque in response to the control signal. In this case, the steering torque acting on the steering mechanism can be understood as the resultant force of the hand torque and the first assist torque.

[0069] In the first example, the hand torque and the current boost torque can be co-directional torques, for example, when the vehicle is turning left, the hand torque input by the driver operating the steering wheel is a left turning torque, in this case, the hand torque and the current boost torque are co-directional torques. Or the hand torque and the current boost torque can be opposite torques, for example, when the vehicle is turning left, the hand torque input by the driver operating the steering wheel is a right turning torque, in this case, the hand torque and the current boost torque are opposite torques; or the current boost torque can be 0, for example, when the vehicle is straight driving, the hand torque input by the driver operating the steering wheel is a left turning torque.

[0070] For example, when the difference between the steering torque and the current steering torque is greater than the hand torque, the first boost torque is greater than the current boost torque; when the difference between the steering torque and the current steering torque is less than the hand torque, the first boost torque is less than the current boost torque; or when the difference between the steering torque and the current steering torque is equal to the hand torque, the first boost torque is equal to the current boost torque. The above-mentioned torque-related calculations are all vector calculations.

[0071] In the first example, the domain controller can determine the difference between the steering torque and the hand torque as the first boost torque.

[0072] As a second example, the first boost torque determined by the domain controller according to the driving trajectory of the vehicle can be a steering torque acting on the steering mechanism (as shown by the dashed line in FIG. 3). In this case, the hand torque input by the driver operating the steering does not directly act on the steering mechanism, and does not interfere with the calculation of the first boost torque. Referring to FIG. 3, the intelligent domain controller 160 can determine the steering torque and send a control signal to the electric steering control system 140 to indicate the steering torque, and the electric steering control system 140 outputs the steering torque in response to the control signal. In this case, the hand torque input by the driver through the steering wheel does not directly act on the steering mechanism.

[0073] For example, the domain controller can determine the first boost torque according to the driving trajectory of the vehicle and the second boost torque. The second boost torque is determined according to the hand torque. The second boost torque can be understood as the boost torque in the non-automatic driving state. For example, as shown in FIG. 1a, the electric steering control system 140 can determine the hand torque according to the hand torque signal sent by the steering wheel sensor 120, and obtain the vehicle speed information from the chassis domain controller 150, and then determine the second boost torque according to the hand torque and the vehicle speed information. Then, the electric steering control system 140 sends a second boost torque signal to the intelligent driving domain controller 160, and the intelligent driving domain controller 160 generates a control signal according to the determined driving trajectory and in combination with the second boost torque, and sends the control signal to the electric steering control system 140.

[0074] Optionally, the intelligent driving domain controller 160 can receive the hand torque signal sent by the electric power steering control system 140.

[0075] Therefore, in the embodiments of the present application, the domain controller determines the driving trajectory according to the hand torque of the steering operation input by the driver when the vehicle is in the automatic driving state, and then determines the first assist torque according to the driving trajectory, so that the first assist torque acts on the steering control of the vehicle. It can be avoided that the driver directly exits the automatic driving when intervening in the steering control, thereby avoiding that the assist torque suddenly changes from the calibration value in the automatic driving state to the calibration value in the manual driving when the automatic driving exits, and the force generated by the sudden change causes the driver to feel a jerk, affecting the driving experience.

[0076] Further, the domain controller determines the driving trajectory expected by the driver based on the hand torque, and then determines the first assist torque required when controlling the vehicle to travel according to the driving trajectory, to realize a driving control in a man-machine co-driving state.

[0077] In some embodiments, the domain controller can output the driving trajectory determined according to the hand torque. Referring to FIG. 3, the intelligent domain controller 160 can send the driving trajectory information to the display 170, and the display 170 can display the received driving trajectory. To realize the interaction or feedback of the steering operation of the driver, and improve the driving experience.

[0078] In some embodiments, the domain controller can determine whether to exit the automatic driving state according to the hand torque of the steering operation input by the driver. For example, when the hand torque is large, the automatic driving state is exited, and when the hand torque is small, the automatic driving state is maintained. It should be noted that the domain controller considers that the vehicle is still in the automatic driving state when the vehicle steering control is combined with the hand torque. For example, the domain controller can determine whether to maintain the automatic driving state according to the first threshold value. For example, when the hand torque is less than the first threshold value, the domain controller determines the driving trajectory according to the hand torque, determines the first assist torque according to the driving trajectory, and then controls the vehicle to steer based on the first assist torque. For another example, when the hand torque is greater than or equal to the first threshold value, the domain controller exits the automatic driving state. It can be understood that when the hand torque is compared with the first threshold value, the hand torque can be the absolute value of the hand torque.

[0079] FIG. 4 is a flowchart of a control method 300 of a vehicle provided by an embodiment of the present application. As shown in FIG. 4, the method 300 can include the following step S310.

[0080] S310, when the vehicle is in the automatic driving state, adjusting the first assist torque according to the hand torque of the steering operation input by the driver.

[0081] In one implementation, the first assist torque can act together with the hand torque on the steering mechanism, in which case the steering torque of the steering mechanism can be understood as the resultant of the hand torque and the first assist torque. Referring to FIG. 3, the electric power steering control system 140 outputs the first assist torque to the steering mechanism 130, and the steering wheel 110 outputs the hand torque to the steering mechanism 130. In another implementation, the first assist torque can be the steering torque acting on the steering mechanism, referring to FIG. 3, the electric power steering control system 140 outputs the steering torque (see the dashed line mark) to the steering mechanism 130. The difference between the two implementations is whether the first assist torque needs to exclude the interference of the hand torque in the case of human-machine co-driving. Regardless of which implementation the first assist torque is in, it can be determined by the intelligent driving domain controller 160, and the intelligent domain controller 160 sends control information to the electric power steering control system 140 to indicate the corresponding first assist torque.

[0082] When the vehicle is in an automatic driving state, if the driver inputs a steering operation hand torque through the steering wheel, it indicates that the driver has the intention to control the steering of the vehicle, and the domain controller obtains the driver hand torque signal from the steering wheel sensor, thereby identifying that the driver expects to intervene in the steering control of the vehicle. In this case, the domain controller can adjust the first assist torque multiple times according to the input hand torque to avoid the jerk feeling brought to the driver when directly exiting the automatic driving state of the vehicle.

[0083] For example, in order to reduce the jerk feeling caused by the sudden change of force, the domain controller can gradually adjust the first assist torque to be consistent or close to consistent with the second assist torque. Wherein, close to consistent can be constrained by a second threshold, for example, when the difference between the first assist torque and the second assist torque is less than or equal to the second threshold, it is considered that the two are close to consistent. Wherein, the second assist torque can be determined based on the hand torque input by the driver, and the second assist torque can be a virtual torque, i.e. a torque that does not actually act on the steering mechanism, which is equivalent to the assist torque generated by the electric power steering control system 140 in the human driving mode, such as the assist torque determined by the electric power steering control system 140 in FIG. 1a. For example, the electric power steering system 140 can receive the hand torque signal sent by the steering wheel sensor 120 and the vehicle speed signal sent by the chassis domain controller 150, and then can determine the second assist torque according to the hand torque and the vehicle speed, and send the second assist torque signal to the intelligent driving domain controller 160, and the intelligent driving domain controller 160 adjusts the first assist torque after receiving the second assist torque signal.

[0084] In the above examples, the second assist torque is determined by the electric power steering system 140, but the present application is not limited thereto, for example, the second assist torque can also be determined by the intelligent driving domain controller 160, for example, the intelligent driving domain controller 160 can determine the second assist torque based on the hand torque signal and the vehicle speed signal, the intelligent driving domain controller 160 can receive the hand torque signal sent by the steering wheel sensor 120 and the vehicle speed signal sent by the chassis domain controller 150, or the intelligent driving domain controller 160 can receive the hand torque signal and / or the vehicle speed signal forwarded by the electric power steering control system 140, and the present application is not limited thereto.

[0085] It can be understood that when the difference between the first assist torque and the second assist torque is compared with the second threshold, the difference between the first assist torque and the second assist torque can be compared with the second threshold in terms of absolute value.

[0086] In the above examples, the second assist torque can change with the change of the hand torque and / or the vehicle speed, for example, the electric power steering control system 140 can dynamically (or in real time) determine the second assist torque and generate the second assist torque signal. Dynamically (or in real time) determining the second assist torque can be periodically determining the current second assist torque according to the current hand torque and the current vehicle speed.

[0087] In the process of multiple adjustments of the first assist torque by the domain controller, any two adjustments are taken as an example for illustration. For example, the difference between the first assist torque after the ith adjustment and the second assist torque is less than the difference between the first assist torque after the i-1th adjustment and the second assist torque. For example, in the i adjustment process, the domain controller can determine the adjustment of the first assist torque according to the current first assist torque (such as the first assist torque after the i-1th adjustment) and the second assist torque, so that the first assist torque is more close to the current second assist torque. Referring to FIG. 3, in the above i adjustment process, the electric power steering control system 140 determines the second assist torque according to the hand torque and the vehicle speed, and sends the second assist torque signal and the current first assist torque signal to the intelligent driving and control system 160, the intelligent driving domain controller 160 determines the first assist torque according to the second assist torque and the current first assist torque, and then sends a control signal to the electric power steering control system 140 to indicate the first assist torque, and then the electric power steering control system 140 outputs the first assist torque to the steering mechanism 130 to realize the steering control of the vehicle.

[0088] It can be understood that in the above adjustment process, the difference between the assist torques after the two adjustments can be a comparison between the absolute values of the differences, for example, the absolute value of the difference between the first assist torque after the ith adjustment and the second assist torque is less than the absolute value of the difference between the first assist torque after the i-1th adjustment and the second assist torque.

[0089] For example, during the i-th adjustment process, the domain controller can adjust the first assist torque based on the following formula.

[0090] in, This is the first assist torque after the (i-1)th adjustment. The current second assist torque is given by p, m, and n, which are all preset parameters, and D(x) is a difference function.

[0091] For example, each time the first assist torque is adjusted, the first assist torque can be less than or equal to the third threshold to avoid adjusting the first assist torque too much, which would increase the difference between the first assist torque and the second assist torque. For instance, in the i-th adjustment process, the domain controller determines the first assist torque... Less than or equal to the third threshold. Optionally, the third threshold used to constrain the first assist torque for the i-th adjustment can be different from the third threshold used to constrain the first assist torque for the (i-1)-th adjustment. For example, the third threshold can be related to the magnitude of the current second assist torque, or the value of the third threshold can be determined based on the current second assist torque.

[0092] For example, each time the first assist torque is adjusted, the increment of the first assist torque can be less than or equal to the fourth threshold to avoid sudden changes in force in the first assist torque, which could cause a jerking sensation to the driver. For instance, during the i-th adjustment process, the domain controller determines the first assist torque... With the second assist torque The difference is less than or equal to the fourth threshold. Optionally, the fourth threshold used to constrain the first assist torque for the i-th adjustment can be different from the fourth threshold used to constrain the first assist torque for the (i-1)-th adjustment. For example, the fourth threshold can be related to the magnitude of the current second assist torque, or the value of the fourth threshold can be determined based on the current second assist torque.

[0093] It is understandable that when the first assist torque is equal to or close to the second assist torque, exiting the vehicle's autonomous driving mode, or switching the vehicle from autonomous driving to human driving mode, will not result in a sudden change in force. Therefore, this application embodiment considers ending the vehicle's autonomous driving mode without causing a sudden change in force.

[0094] For example, the domain controller can adjust the steering torque multiple times until a preset condition is met, and the autonomous driving state is ended. In this case, the driving domain controller stops outputting the control signal indicating the first assist torque, or the output control signal is 0. For example, after the autonomous driving state is ended, the intelligent driving domain controller 160 does not output a control signal to the electric power steering control system 140, and the electric power steering control system 140 determines the second assist torque according to the steering operation hand torque input by the driver and the current vehicle speed, and then outputs the second assist torque to the steering mechanism 130 to control the vehicle steering, thereby realizing the steering control in the manual driving mode.

[0095] In some embodiments, the preset condition can include a first condition. The first condition is that, within the first preset time length (such as t1), the time length during which the difference between the first assist torque and the second assist torque is less than the second threshold value is greater than or equal to the second preset time length (such as t2). For example, when t1 is equal to 1s and t2 is equal to 0.6s, if the time length during which the difference between the first assist torque and the second assist torque is less than or equal to the second threshold value is greater than or equal to 0.6s within the time length from the initial time to 1s, the first condition is met. If the time length during which the difference between the first assist torque and the second assist torque is less than or equal to the second threshold value is less than 0.6s within the time length from the initial time to 1s, the first condition is not met. That is, the domain controller determines whether the difference between the first assist torque and the second assist torque being less than the second threshold value has lasted for the second preset time length within the first preset time length. When the domain controller determines that the first assist torque and the second assist torque meet the above-mentioned first condition, the autonomous driving state can be ended. When the domain controller determines that the first assist torque and the second assist torque do not meet the above-mentioned first condition, the autonomous driving state can be maintained, and the determination of whether the first condition is met can be continuously performed in the autonomous driving state. Ending the autonomous driving state when the first condition is met can ensure that there is no force mutation after the autonomous driving state is ended, thereby avoiding the feeling of jerk for the driver.

[0096] In the above-mentioned embodiments, in an example, the preset condition can further include a second condition. The second condition is that the above-mentioned first condition is not met, and a third preset time length (such as t3) is reached after the first preset time length (such as t1) ends. For example, when t1 is equal to 1s, t2 is equal to 0.6s, and t3 is equal to 1s, if the time length during which the difference between the first assist torque and the second assist torque is less than or equal to the second threshold value is less than 0.6s within the time length from the initial time to 1s, and 1s is delayed after 1s, the second condition is met. That is, the domain controller ends the autonomous driving state after waiting for the third preset time length when the above-mentioned first condition is not met. In this case, the domain controller forcibly ends the autonomous driving state, that is, forcibly switches from the autonomous driving state to the manual driving state, and exchanges the control right of the vehicle with the driver to meet the vehicle control intention of the driver.

[0097] In another example, after the above embodiments, in the case where the first condition is not met, the domain controller can continue to adjust the first assist torque one or more times and end the automatic driving state after the adjustment. For example, the domain controller can adjust the first assist torque M1 according to the following formula:

[0098] M1 = k * M2 + (1 - k) * M’

[0099] where M2 is the second assist torque, M’ is the current first assist torque acting on the steering mechanism, and k is a coefficient. Each time the first assist torque is adjusted, the value of k can be increased, such as the value of k in the jth adjustment being the sum of the value of k in the (j-1)th adjustment and d k , so as to continuously increase the weight of the second assist torque until the adjustment of the first assist torque ends when k equals 1, and the automatic driving state ends.

[0100] In some embodiments, the domain controller can perform the embodiment shown in FIG. 4 after confirming the process of entering and exiting the automatic driving state, that is, the domain controller adjusts the first assist torque according to the hand torque multiple times after confirming the process of entering and exiting the automatic driving state, so as to make the first assist torque equal to or close to the second assist torque, thereby avoiding the sudden change in force causing the driver to feel a sense of driving stagnation.

[0101] As an example, the domain controller can identify that the driver has a strong control intention for the vehicle when the hand torque of the steering operation input by the driver is greater than or equal to a first threshold value, and then confirm the process of entering and exiting the automatic driving state, so as to adjust the first assist torque according to the hand torque multiple times.

[0102] As another example, the domain controller can enter the process of exiting the automatic driving state when the vehicle receives an exit automatic driving instruction, so as to adjust the first assist torque according to the hand torque multiple times. For example, referring to FIG. 3, a user (such as a driver or a passenger) can output an operation of exiting the automatic driving through an interactive interface presented by the display 170, the display 170 generates a control instruction in response to the operation of the user, and sends the control instruction to the intelligent driving domain controller 160, and the intelligent driving domain controller 160 receives the control instruction, and then enters the process of exiting the automatic driving.

[0103] Therefore, in the embodiment of the present application, when the vehicle is in the automatic driving state, the domain controller adjusts the first assist torque multiple times according to the hand torque of the steering operation input by the driver, wherein the difference between the first assist torque after the i th adjustment and the second assist torque is less than the difference between the first assist torque after the i-1 th adjustment and the second assist torque. By continuously adjusting the first assist torque to make the first assist torque approach the second assist torque, the driver's intervention in steering control is avoided when the automatic driving is directly exited, thereby avoiding the sudden change of the assist torque from the calibration value in the automatic driving state to the calibration value in the manual driving state when the automatic driving is exited, and the resulting sudden change of force causes the driver to feel a jerk, affecting the driving experience.

[0104] In the present application, a control method of a vehicle is provided, which determines how to adjust the first assist torque based on the first threshold value, thereby avoiding the jerk caused by the sudden change of force affecting the driver's driving.

[0105] Referring to S1 shown in FIG. 5, in the case of starting intelligent driving, or in the automatic driving state, the domain controller can determine whether to end the automatic driving state. As described above, the domain controller can determine to end the automatic driving state when the hand torque of the steering operation input by the driver is greater than or equal to the first threshold value, or the domain controller can determine to end the automatic driving state when the vehicle receives an instruction to exit the automatic driving.

[0106] If it is determined not to end the automatic driving state, the domain controller can perform the following S3 and S4 to realize human-machine co-driving, which can avoid the jerk caused by directly exiting the automatic driving state of the vehicle affecting the driver's driving experience, and can also take into account the steering intention of the driver to automatically control the driving of the vehicle. If it is determined to end the automatic driving state, the domain controller can perform at least part of the steps in S5 to S8 to avoid the jerk caused by directly exiting the automatic driving state of the vehicle affecting the driver.

[0107] Referring to S3 and S4 shown in FIG. 5, the domain controller can determine the driving trajectory according to the hand torque, and determine the first assist torque according to the hand torque and the driving trajectory. The specific implementation of S3 and S4 in the embodiment of the present application can refer to the possible implementation modes of S210 and S220 in the foregoing FIG. 3, and will not be described again for brevity.

[0108] Referring to S5 to S8 shown in FIG. 5, the controller can adjust the first assist torque according to the hand torque for multiple times, and determine whether the first condition is met according to the first assist torque obtained through the multiple adjustments. In the case where the first condition is met, S8 is executed, i.e., the automatic driving state is ended; in the case where the first condition is not met, the controller can execute S7, i.e., determine whether the second condition is met, or continue to detect whether the first condition is met until the first condition is met and the automatic driving state is ended. In the process of executing S7, if the second condition is met, S8 is executed, i.e., the automatic driving state is ended; if the second condition is not met, the detection process is continued until the second condition is met and the automatic driving state is ended.

[0109] The specific implementation of S5 to S8 in the embodiments of the present application can refer to the possible implementation manners in the foregoing embodiment shown in FIG. 4, and will not be described in detail.

[0110] FIG. 6 is a schematic block diagram of a control device of a vehicle according to an embodiment of the present application. As shown in FIG. 6, the control device 400 of the vehicle can be implemented as the domain controller or deployed in the domain controller. The control device 400 can include part or all of a trajectory determination unit 410, a torque determination unit 420 and an output unit 430.

[0111] When the control device 400 is used to implement the method embodiment shown in FIG. 2, the trajectory determination unit 410 can be configured to determine a driving trajectory according to a hand torque of a steering operation input by a driver when the vehicle is in an automatic driving state; and the torque determination unit 420 can be configured to determine a first assist torque according to the driving trajectory, the first assist torque being indicated by the intelligent driving domain controller.

[0112] In a possible implementation, the torque determination unit 420 is specifically configured to: when the hand torque is less than a first threshold, determine the driving trajectory according to the hand torque.

[0113] In a possible implementation, the torque determination unit 420 is specifically configured to: determine the first assist torque according to the driving trajectory and the hand torque.

[0114] In a possible implementation, the output unit 430 is configured to output the driving trajectory to a display.

[0115] When the control device 400 is used to implement the method embodiment shown in FIG. 2, the torque determination unit 420 can be configured to, when the vehicle is in the automatic driving state, adjust the first assist torque according to the hand torque of the steering operation input by the driver, the first assist torque being indicated by the intelligent driving domain controller; wherein the difference between the first assist torque after the i th adjustment and the second assist torque is less than the difference between the first assist torque after the (i-1) th adjustment and the second assist torque, the second assist torque being determined based on the hand torque.

[0116] In a possible implementation, the torque processing unit is specifically configured to: when the hand torque is greater than or equal to a first threshold or the vehicle receives an exit automatic driving instruction, adjust the first assist torque according to the hand torque.

[0117] In a possible implementation, the control device 400 further includes a driving control unit configured to, when the steering torque is adjusted for a plurality of times until a preset condition is met, end the automatic driving state; wherein the preset condition includes:

[0118] The first condition: within a first preset time length, the time length during which the difference between the first assist torque and the second assist torque is less than a second threshold is greater than or equal to a second preset time length; or,

[0119] The second condition: the first condition is not met, and after the first preset time length ends, a third preset time length is reached.

[0120] In a possible implementation, the first assist torque after the i th adjustment is less than or equal to a third threshold; and / or, the difference between the first assist torque after the i th adjustment and the first assist torque after the (i-1) th adjustment is less than or equal to a fourth threshold.

[0121] It should be understood that the specific processes in which the respective units / modules perform the above-mentioned corresponding steps have been described in detail in the above-mentioned method embodiments, and for the sake of brevity, will not be described here again.

[0122] It should be understood that the division of the units / modules in the above device 400 is only a logical division, and in actual implementation, all or part of the units / modules can be integrated into one physical entity, or can be physically separated.

[0123] FIG. 7 is a schematic structural diagram of an electronic device 500 according to an embodiment of the present application. The electronic device 500 can include a processor 510 and a memory 520, which communicate with each other through an internal connection path. The memory 520 is configured to store instructions, and the processor 510 is configured to execute the instructions stored in the memory 520.

[0124] Optionally, the memory 520 can include a read-only memory and a random access memory, and provide instructions and data for the processor 510. The memory 520 can be a separate device, or integrated in the processor 510.

[0125] In some embodiments, the electronic device 500 can further include an input interface 530. The processor 510 can control the input interface 530 to communicate with other devices or chips, and specifically, can obtain information or data sent by other devices or chips.

[0126] In some embodiments, the electronic device 500 can further include an output interface 540. The processor 510 can control the output interface 540 to communicate with other devices or chips, and specifically, can output information or data to other devices or chips.

[0127] In some embodiments, the electronic device 500 can implement the corresponding processes of the various methods in the embodiments of the present application. For brevity, they will not be repeated here.

[0128] It should be understood that the processor of the embodiments of the present application can be an integrated circuit chip having a processing capability of signals. In the implementation process, each step of the above method embodiments can be completed by the integrated logic circuit of hardware or the instruction in the form of software in the processor. The processor mentioned above can be a general processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a ready programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The disclosed methods, steps and logic block diagrams in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor for execution. The software module can be located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register or other mature storage medium in the art. The storage medium is located in the memory, and the processor reads the information in the memory, and combines the hardware to complete the steps of the above method.

[0129] It is to be understood that the memory in the embodiments of the present application can be a volatile memory or a nonvolatile memory, or can include both volatile and nonvolatile memory. Among them, the nonvolatile memory can be a read-only memory (Read-Only Memory, ROM), a programmable read-only memory (Programmable ROM, PROM), an erasable programmable read-only memory (Erasable PROM, EPROM), an electrically erasable programmable read-only memory (Electrically EPROM, EEPROM) or a flash memory. The volatile memory can be a random access memory (Random Access Memory, RAM) used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), synchronous dynamic random access memory (Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (Synchlink DRAM, SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DR RAM). It should be noted that the memory of the system and method described herein is intended to include, but not limited to, these and any other suitable types of memory.

[0130] It should be understood that the above-mentioned memory is exemplary but not limiting, for example, the memory in the embodiments of the present application can also be static random access memory (static RAM, SRAM), dynamic random access memory (dynamic RAM, DRAM), synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (synch link DRAM, SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DR RAM) and the like. That is, the memory in the embodiments of the present application is intended to include, but not limited to, these and any other suitable types of memory.

[0131] The embodiment of the present application further provides a computer readable storage medium for storing the computer program.

[0132] In some embodiments, the computer program enables the computer to perform the corresponding procedures in each of the methods of the embodiments of the present application, which will not be repeated here for brevity.

[0133] The embodiment of the present application further provides a computer program product comprising computer program instructions.

[0134] In some embodiments, the computer program instructions enable the computer to perform the corresponding procedures in each of the methods of the embodiments of the present application, which will not be repeated here for brevity.

[0135] The embodiment of the present application further provides a computer program.

[0136] In some embodiments, when the computer program runs on the computer, it enables the computer to perform the corresponding procedures in each of the methods of the embodiments of the present application, which will not be repeated here for brevity.

[0137] The embodiment of the present application further provides a vehicle.

[0138] In some embodiments, the intelligent vehicle comprises the domain controller in the embodiments of the present application.

[0139] In some embodiments, the intelligent vehicle further comprises the steering wheel sensor connected with the domain controller and the steering system connected with the domain controller in the embodiments of the present application.

[0140] In some embodiments, the steering system comprises the electric power steering control system and the steering mechanism connected with the electric power steering control system.

[0141] In some embodiments, the intelligent vehicle comprises the steering wheel sensor in the embodiments of the present application.

[0142] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0143] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for controlling a vehicle, characterized in that, include: When the vehicle is in autonomous driving mode, the driving trajectory is determined based on the steering torque input by the driver. Based on the driving trajectory, a first assist torque is determined, which is indicated by the intelligent driving domain controller.

2. The method according to claim 1, characterized in that, The step of determining the driving trajectory based on the steering torque input by the driver includes: The driving trajectory is determined based on the hand torque, which is less than a first threshold.

3. The method according to claim 1 or 2, characterized in that, Determining the first assist torque based on the driving trajectory includes: The first assist torque is determined based on the driving trajectory and the hand torque.

4. The method according to any one of claims 1 to 3, characterized in that, Also includes: The driving trajectory is output to the display.

5. A method for controlling a vehicle, characterized in that, include: When the vehicle is in autonomous driving mode, the first assist torque is adjusted multiple times based on the steering input torque provided by the driver. This first assist torque is indicated by the intelligent driving domain controller. The difference between the first assist torque and the second assist torque after the i-th adjustment is less than the difference between the first assist torque and the second assist torque after the (i-1)-th adjustment, and the second assist torque is determined based on the hand torque.

6. The method according to claim 5, characterized in that, The process of adjusting the first power assist torque multiple times based on the steering torque input by the driver includes: When the hand torque is greater than or equal to the first threshold or the vehicle receives a command to exit autonomous driving, the first assist torque is adjusted multiple times based on the hand torque.

7. The method according to claim 5 or 6, characterized in that, Also includes: The steering torque is adjusted multiple times until a preset condition is met, at which point the automatic driving state ends; wherein, The preset conditions include: First condition: Within a first preset duration, the duration for which the difference between the first assist torque and the second assist torque is less than a second threshold is greater than or equal to the second preset duration; or, Second condition: The first condition is not met, and the third preset duration is reached after the first preset duration has ended.

8. The method according to any one of claims 5 to 7, characterized in that, The first assist torque after the i-th adjustment is less than or equal to the third threshold; and / or, The difference between the first assist torque after the i-th adjustment and the first assist torque after the (i-1)-th adjustment is less than or equal to the fourth threshold.

9. A domain controller, characterized in that, include: The trajectory determination unit is used to determine the driving trajectory based on the steering torque input by the driver when the vehicle is in autonomous driving mode. A torque determination unit is used to determine a first assist torque based on the driving trajectory, wherein the first assist torque is indicated by the intelligent driving domain controller.

10. The domain controller according to claim 9, characterized in that, The torque determination unit is specifically used for: The driving trajectory is determined based on the hand torque, which is less than a first threshold.

11. The domain controller according to claim 9 or 10, characterized in that, The torque determination unit is specifically used for: The first assist torque is determined based on the driving trajectory and the hand torque.

12. The domain controller according to any one of claims 9 to 11, characterized in that, Also includes: The output unit is used to output the driving trajectory to the display.

13. A domain controller, characterized in that, include: A torque determination unit is used to adjust the first assist torque multiple times based on the steering torque input by the driver when the vehicle is in autonomous driving mode. The first assist torque is indicated by the intelligent driving domain controller. The difference between the first assist torque and the second assist torque after the i-th adjustment is less than the difference between the first assist torque and the second assist torque after the (i-1)-th adjustment, and the second assist torque is determined based on the hand torque.

14. The domain controller according to claim 13, characterized in that, The torque processing unit is specifically used for: When the hand torque is greater than or equal to the first threshold or the vehicle receives a command to exit autonomous driving, the first assist torque is adjusted multiple times based on the hand torque.

15. The domain controller according to claim 13 or 14, characterized in that, Also includes: The driving control unit is used to adjust the steering torque multiple times until a preset condition is met, at which point the automatic driving state is terminated; wherein... The preset conditions include: First condition: Within a first preset duration, the duration for which the difference between the first assist torque and the second assist torque is less than a second threshold is greater than or equal to the second preset duration; or, Second condition: The first condition is not met, and the third preset duration is reached after the first preset duration has ended.

16. The domain controller according to any one of claims 13 to 15, characterized in that, The first assist torque after the i-th adjustment is less than or equal to the third threshold; and / or, The difference between the first assist torque after the i-th adjustment and the first assist torque after the (i-1)-th adjustment is less than or equal to the fourth threshold.

17. An intelligent driving system, characterized in that, include: The domain controller as described in any one of claims 9 to 16.

18. The system according to claim 17, characterized in that, Also includes: A steering wheel sensor connected to the domain controller and a steering system connected to the domain controller; When the vehicle is in autonomous driving mode, the steering wheel sensor is used to acquire the steering torque input by the driver. The domain controller outputs control information, which is used to instruct the steering system to implement steering control based on the first assist torque.

19. The system according to claim 18, characterized in that, The steering system includes an electric steering control system and a steering mechanism connected to the electric steering control system; The steering control system is used to output the first assist torque to the steering mechanism according to the control information.

20. A vehicle, characterized in that, include: The intelligent driving system as described in any one of claims 17 to 19.

21. A chip, characterized in that, include: A processor for retrieving and executing computer instructions from memory, causing a device having the chip mounted to perform the method as described in any one of claims 1 to 8.

22. An electronic device, characterized in that, include: A processor and a memory for storing a computer program, the processor for calling and running the computer program stored in the memory to perform the method as described in any one of claims 1 to 8.

23. A computer program product, characterized in that, It includes computer program instructions that cause a computer to perform the method as described in any one of claims 1 to 8.

24. A computer-readable storage medium, characterized in that, Used to store computer program instructions, the computer program causing a computer to perform the method as described in any one of claims 1 to 8.

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