Control method, device and vehicle for a vehicle

Abstract

The embodiment of the application provides a vehicle control method, device and vehicle. The vehicle control method is provided with a safety backup controller. When receiving a user takeover instruction sent by a takeover device, whether a quit request output by an automatic driving controller is received is detected. If the quit request is not received, an emergency quit instruction is generated, and the vehicle body stabilizing system controller is sent, so that the vehicle body stabilizing system controller releases the automatic driving state of the vehicle according to the emergency quit instruction. When the vehicle automatic driving controller fails, the vehicle can still exit the automatic driving mode, the safety of the automatic driving vehicle is improved, and the risk of personal injury of the driver caused by the vehicle out of control is reduced.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and more specifically, to a vehicle control method, device, and vehicle. Background Technology

[0002] With the development of artificial intelligence technology, advanced driver assistance systems (ADAS) or autonomous driving systems in automobiles are becoming increasingly mature. Once a vehicle enters autonomous driving mode, the autonomous driving system controls its movement. This system plans the vehicle's route based on environmental information and controls functions such as steering, acceleration, and deceleration.

[0003] When the driver presses the physical button to cancel autonomous driving or presses the brake / accelerator pedal, the BCM (Body Control Module) sends the signal from the physical button or brake / accelerator pedal to the ACU (Automated-driving Control Unit). Upon receiving the signal, the ACU sends a request to the ESP (Electronic Stability Program) to disengage from autonomous driving. The ESP then exits the controlled state, causing the car to exit autonomous driving mode.

[0004] However, when the ACU itself malfunctions and fails to send a request to the ESP to exit autonomous driving, the car cannot exit autonomous driving mode properly. The driver cannot cancel the autonomous driving function and therefore cannot take over the vehicle, making the autonomous vehicle uncontrollable and posing a risk of loss of control. Summary of the Invention

[0005] This application addresses the shortcomings of existing methods by proposing a vehicle control method, device, and vehicle to solve the problem of reduced vehicle safety caused by the inability to exit the autonomous driving state in existing autonomous driving technologies.

[0006] In a first aspect, embodiments of this application provide a vehicle control method, including:

[0007] When the vehicle is in autonomous driving mode, upon receiving a user takeover command from the takeover device, it checks whether an exit request has been received from the autonomous driving controller.

[0008] When it is detected that no exit request has been received, an emergency exit command is generated for the vehicle stability system controller and sent to the vehicle stability system controller, so that the vehicle stability system controller can deactivate the automatic driving state according to the emergency exit command.

[0009] Optionally, the user takeover command sent by the takeover device includes:

[0010] The off signal sent by the automatic driving switch and the pedal-pressing signal sent by the sensor located on the brake pedal and / or accelerator pedal.

[0011] Optionally, when it is detected that no exit request has been received, an emergency exit command is generated for the vehicle stability system controller and sent to the vehicle stability system controller, causing the vehicle stability system controller to deactivate the autonomous driving state according to the emergency exit command, and further includes:

[0012] When it is detected that no exit request has been received, a disconnect command is generated for the vehicle stability system controller and sent to the vehicle stability system controller, so that the vehicle stability system controller disconnects from the autonomous driving controller according to the disconnect command.

[0013] Optionally, when it is detected that no exit request has been received, a disconnect command is generated for the vehicle stability system controller and sent to the vehicle stability system controller, and the method further includes:

[0014] An alarm command is generated and sent to the alarm device.

[0015] Secondly, embodiments of this application provide a vehicle control device, including:

[0016] Automatic driving controller;

[0017] The safety backup controller, connected to the autonomous driving controller, is used to detect whether the autonomous driving controller outputs an exit request when the vehicle is in autonomous driving mode and receives a user takeover command, and to generate an emergency exit command when no exit request is received.

[0018] The takeover device is connected to the automatic driving controller and the safety backup controller respectively, and is used to send user takeover commands to the automatic driving controller and the safety backup controller.

[0019] The vehicle stability system controller is connected to both the autonomous driving controller and the safety backup controller. It receives exit requests from the autonomous driving controller and emergency exit commands from the safety backup controller, causing the vehicle to exit autonomous driving mode.

[0020] Optionally, the pipe fitting device includes:

[0021] An autonomous driving switch device is electrically connected to the autonomous driving controller and the safety backup controller respectively. It is used to generate a shutdown signal and send it to the autonomous driving controller and the safety backup controller when the vehicle is in autonomous driving mode and is triggered.

[0022] The sensing device is installed on the brake pedal and / or accelerator pedal of the vehicle and is electrically connected to the automatic driving controller and the safety backup controller, respectively, to detect the pedal pressing signal of the brake pedal and / or accelerator pedal in real time when the vehicle is in automatic driving mode.

[0023] Optionally, the sensing device includes a pressure sensor disposed on the brake pedal and / or accelerator pedal to detect the pressure applied to the brake pedal and / or accelerator pedal in real time.

[0024] Optionally, the control device also includes an alarm device electrically connected to the safety backup controller, used to receive alarm commands sent by the safety backup controller and output warning information.

[0025] Optionally, the control device also includes a vehicle electronic controller, which is connected to the takeover device, the automatic driving controller, and the safety backup controller, respectively, for transmitting user takeover commands issued by the takeover device to the automatic driving controller and the safety backup controller.

[0026] Thirdly, embodiments of this application provide a vehicle, including the control equipment for the vehicle provided in the above embodiments.

[0027] The beneficial technical effects of the technical solutions provided in this application include:

[0028] The vehicle control method provided in this application embodiment, by setting a safety backup controller, simultaneously detects whether an exit request has been received from the autonomous driving controller upon receiving a user takeover command from the takeover device. If no exit request is received, an emergency exit command is generated and sent to the vehicle stability system controller, causing the vehicle stability system controller to deactivate the vehicle's autonomous driving state based on the emergency exit command. This ensures that the vehicle can still exit autonomous driving mode even when the vehicle's autonomous driving controller malfunctions, improving the safety of autonomous vehicles and reducing the risk of personal injury to the driver caused by vehicle loss of control.

[0029] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0030] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0031] Figure 1 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application;

[0032] Figure 2This is a schematic diagram of the network architecture of the vehicle control equipment in the vehicle platform provided in the embodiments of this application;

[0033] Figure 3 This is a flowchart illustrating a vehicle control method provided in an embodiment of this application;

[0034] Figure 4 This is a flowchart illustrating another vehicle control method provided in an embodiment of this application.

[0035] Detailed explanation of the reference numerals in the attached figures:

[0036] 100-Gateway; 101-Powertrain CAN; 102-Chassis CAN; 103-Body CAN; 104-Entertainment CAN;

[0037] 10-Automatic driving controller; 20-Safety backup controller; 30-Task takeover device; 40-Vehicle stability system controller; 50-Alarm device; 60-Vehicle electronic controller; 70-Vehicle controller; 80-Entertainment equipment;

[0038] 31-Automatic driving switch device; 32-Sensing device. Detailed Implementation

[0039] This application is described in detail below. Examples of embodiments of this application are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. Furthermore, detailed descriptions of known technologies that are unnecessary for the features of this application are omitted. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0040] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0041] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or wireless coupling. The term “and / or” as used herein includes all or any units and all combinations of one or more associated listed items.

[0042] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments.

[0043] This application provides a vehicle control device, the structural schematic diagram of which is shown below. Figure 1 As shown, the system includes: an autonomous driving controller 10; a safety backup controller 20, connected to the autonomous driving controller 10, used to detect whether the autonomous driving controller 10 outputs an exit request when a user takeover command is received while the vehicle is in autonomous driving mode, and to generate an emergency exit command when no exit request is received; a takeover device 30, connected to both the autonomous driving controller 10 and the safety backup controller 20, used to send the user takeover command to both the autonomous driving controller 10 and the safety backup controller 20; and a vehicle stability system controller 40, connected to both the autonomous driving controller 10 and the safety backup controller 20, used to receive the exit request output by the autonomous driving controller 10 and the emergency exit command output by the safety backup controller 20, thereby causing the vehicle to exit the autonomous driving mode.

[0044] The vehicle control device provided in this application embodiment, by setting a safety backup controller, simultaneously detects whether it has received an exit request from the autonomous driving controller when receiving a user takeover command from the takeover device. If no exit request is received, an emergency exit command is generated and sent to the vehicle stability system controller, causing the vehicle stability system controller to deactivate the vehicle's autonomous driving state according to the emergency exit command. This ensures that the vehicle can still exit autonomous driving mode even when the vehicle's autonomous driving controller malfunctions, improving the safety of autonomous vehicles and reducing the risk of personal injury to the driver caused by vehicle loss of control.

[0045] It should be noted that, in this embodiment, the autonomous driving controller 10 includes an Automated-driving Control Unit (ACU), which is the core controller of an autonomous vehicle or an ADAS (Advanced Driving Assistance System) vehicle. Through the ACU, the vehicle can achieve autonomous driving or advanced driver assistance functions. The vehicle stability system controller 40 includes an Electronic Stability Program (ESP). The ESP receives exit requests from the ACU or emergency exit commands output by the safety backup controller 20. When the ESP exits the controlled state, it no longer responds to acceleration commands from the ACU, thereby causing the vehicle to exit autonomous driving mode and allowing the driver to take over control of the vehicle.

[0046] The takeover device 30 in the control device provided in this application embodiment requires user operation to be triggered. Specifically, the takeover device 30 is connected to the automatic driving controller 10 and the safety backup controller 20 respectively. When the vehicle is in automatic driving mode, the user operates the takeover device 30, and the takeover device 30 will send user takeover commands to the automatic driving controller 10 and the safety backup controller 20 respectively.

[0047] It should be noted that in this embodiment, the safety backup controller 20 is mainly responsible for receiving user takeover commands, detecting whether the automatic driving controller 10 has malfunctioned, and sending emergency exit commands. Its structure and functions are simpler than the automatic driving controller 10, and its purpose is singular, thereby improving the stability and reliability of the safety backup controller 20, and consequently improving the reliability and stability of the control equipment. The safety backup controller 20 can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. In actual use, the safety backup controller 20 uses a microcontroller, which is widely used in the industrial control field. Microcontrollers are not demanding in terms of the working environment and can be used in complex environments, thereby further improving the reliability and stability of the control equipment.

[0048] In one embodiment of this application, the takeover device 30 includes: an automatic driving switch 31, electrically connected to the automatic driving controller 10 and the safety backup controller 20 respectively, for generating a shutdown signal and sending it to the automatic driving controller 10 and the safety backup controller 20 when the vehicle is in automatic driving mode; and a sensing device 32, disposed on the brake pedal and / or accelerator pedal of the vehicle and electrically connected to the automatic driving controller 10 and the safety backup controller 20 respectively, for detecting the pedal pressing signal of the brake pedal and / or accelerator pedal in real time when the vehicle is in automatic driving mode.

[0049] In this embodiment, the autonomous driving switch 31 can be configured as a physical button, located in a position easily accessible to the driver, such as in the vehicle's dashboard panel. When the vehicle is in autonomous driving mode, after the driver presses the autonomous driving switch 31, the switch 31 generates a shutdown signal and sends it to the autonomous driving controller 10 and the safety backup controller 20, respectively. Similarly, to facilitate the driver's ability to exit the autonomous driving mode at any time, a sensor 32 can be installed on the vehicle's brake pedal and / or accelerator pedal. When the vehicle is in autonomous driving mode, the driver presses the brake pedal and / or accelerator pedal, and the sensor 32 detects the pedal press signal and sends it to the autonomous driving controller 10 and the safety backup controller 20, respectively.

[0050] It should be further explained that, in this embodiment, the sensing device 32 includes a pressure sensor, which is disposed on the brake pedal and / or accelerator pedal. By detecting the pressure applied to the brake pedal and / or accelerator pedal in real time, it senses whether the brake pedal and / or accelerator pedal are being pressed. When the pressure sensor detects an increase in the pressure applied to the brake pedal and / or accelerator pedal, it generates pressing information and sends it to the automatic driving controller 10 and the safety backup controller 20, respectively. To more accurately identify the pressure applied to the brake pedal and / or accelerator pedal, multiple pressure sensors can be provided.

[0051] In one embodiment of this application, the control device further includes an alarm device 50, which is electrically connected to the security backup controller 20, for receiving alarm commands sent by the security backup controller 20 and outputting warning information.

[0052] In this embodiment, when the safety backup controller 20 receives a user takeover command from the takeover device 30 while the vehicle is in autonomous driving mode, and no exit request is detected from the autonomous driving controller 10, the safety backup controller 20 determines that the autonomous driving controller 10 has malfunctioned. The safety backup controller 20 sends an emergency exit command to the vehicle stability system controller 40, causing the vehicle to exit the autonomous driving mode. At the same time, the safety backup controller 20 generates an alarm command and sends it to the alarm device 50. The alarm device 50 issues an alarm message based on the received alarm command, reminding the driver that the autonomous driving controller 10 has malfunctioned, thus preventing the driver from activating the autonomous driving mode without knowing that the autonomous driving controller 10 has malfunctioned.

[0053] It should be noted that, in this embodiment of the application, the alarm information emitted by the alarm device 50 can be in the form of sound, light, or other means that can alert the driver. The alarm device 50 can be installed alone inside the vehicle, or it can be installed both inside and outside the vehicle. Alternatively, the alarm device 50 can be connected to the vehicle's hazard lights, allowing the alarm device 50 to control the activation and deactivation of the hazard lights. This not only alerts the driver but also other drivers on the road, preventing harm to others.

[0054] In one embodiment of this application, the control device further includes a vehicle electronic controller 60, which is connected to the takeover device 30, the automatic driving controller 10, and the safety backup controller 20, respectively, and is used to transmit user takeover commands issued by the takeover device 30 to the automatic driving controller 10 and the safety backup controller 20.

[0055] It should be noted that in existing automotive control networks, CAN (Controller Area Network) communication is often used to connect various vehicle devices. Different devices in the vehicle are not directly connected; for example, chassis devices are connected via chassis CAN, body devices via body CAN, and then the chassis CAN and body CAN are connected via a bus. Furthermore, the takeover device 30, the automatic driving controller 10, and the safety backup controller 20 are often located on different CAN buses. Therefore, in actual use, other devices are often needed to complete signal transmission between the takeover device 30 and the automatic driving controller 10 and safety backup controller 20. In this embodiment, the takeover device 30, the automatic driving controller 10, and the safety backup controller 20 are connected via a body electronic controller 60, thereby transmitting user takeover commands issued by the takeover device 30 to the automatic driving controller 10 and the safety backup controller 20. Specifically, the body electronic controller 60 is a BCM (Body Control Module).

[0056] like Figure 2 The diagram shows the network architecture of the vehicle control equipment in the vehicle platform provided in this application embodiment. In this application embodiment, the vehicle's CAN bus includes: powertrain CAN101, chassis CAN102, body CAN103, and entertainment CAN104. The powertrain CAN101, chassis CAN102, body CAN103, and entertainment CAN104 are connected to each other via a gateway 100. Specifically, the vehicle controller 70 and the sensing device 32 are connected to the powertrain CAN101, the autonomous driving controller 10, the safety backup controller 20, and the vehicle stability system controller 40 are connected to the chassis CAN102, the autonomous driving switch device 31 and the body electronic controller 60 are connected to the body CAN103, and the entertainment device 80 is connected to the entertainment CAN104. The autonomous driving controller 10 and the safety backup controller 20 receive the closing information transmitted by the autonomous driving switch 31 and the pedal information transmitted by the sensor 32, respectively. Upon receiving either the closing or pedal information, the safety backup controller 20 checks whether it receives an exit request from the autonomous driving controller 10. If no exit request is received, it generates an emergency exit command and sends it to the vehicle stability system controller 40, causing the vehicle stability system controller 40 to deactivate the vehicle's autonomous driving mode based on the emergency exit command. This ensures that even if the autonomous driving controller 10 malfunctions, the vehicle can still exit autonomous driving mode, improving the safety of the autonomous vehicle and reducing the risk of personal injury to the driver due to vehicle loss of control.

[0057] Based on the same inventive concept, this application provides a vehicle control method, the flowchart of which is shown below. Figure 3 As shown, the method includes:

[0058] S301, when the vehicle is in autonomous driving mode, upon receiving a user takeover command sent by the takeover device, checks whether an exit request has been received from the autonomous driving controller.

[0059] Optionally, when the vehicle is in autonomous driving mode, upon receiving a user takeover command from the takeover device 30, the safety backup controller 20 continues to monitor whether it has received an exit request from the autonomous driving controller 10. If the safety backup controller 20 receives an exit request from the autonomous driving controller 10, the process ends, and the safety backup controller 20 continues to enter a monitoring state, monitoring whether the takeover device 30 issues a user takeover command, and when it receives a user takeover command from the takeover device 30, the safety backup controller 20 continues to monitor whether it has received an exit request from the autonomous driving controller 10.

[0060] Specifically, the user takeover command sent by the takeover device 30 includes either a closing signal sent by the automatic driving switch 31 or a pedal-activated signal sent by the sensor 32 located on the brake pedal and / or accelerator pedal. By installing multiple sensors on the vehicle to trigger user takeover commands, the driver can easily exit the automatic driving mode at any time, improving the vehicle's safety and stability.

[0061] S302, when it is detected that no exit request has been received, an emergency exit command is generated for the vehicle stability system controller and sent to the vehicle stability system controller, so that the vehicle stability system controller can deactivate the automatic driving state according to the emergency exit command.

[0062] Optionally, when the safety backup controller 20 detects that it has not received an exit request from the autonomous driving controller 10, the safety backup controller 20 generates an emergency exit command for the vehicle stability system controller 40 and sends it to the vehicle stability system controller 40, so that the vehicle stability system controller 40 deactivates the vehicle's autonomous driving state according to the emergency exit command.

[0063] Optionally, when the safety backup controller 20 detects that no exit request has been received, it will also generate a disconnect command for the vehicle stability system controller 40 and send it to the vehicle stability system controller 40, causing the vehicle stability system controller 40 to disconnect from the autopilot controller 10 according to the disconnect command. When the safety backup controller 20 detects that no exit request has been received from the autopilot controller 10, the safety backup controller 20 determines that the autopilot controller 10 has malfunctioned. At the same time, the safety backup controller 20 will also generate an alarm command and send it to the alarm device 50, thereby promptly reminding the driver that the autopilot controller 10 has malfunctioned.

[0064] The vehicle control method provided in this application embodiment, by setting a safety backup controller, simultaneously detects whether an exit request has been received from the autonomous driving controller upon receiving a user takeover command from the takeover device. If no exit request is received, an emergency exit command is generated and sent to the vehicle stability system controller, causing the vehicle stability system controller to deactivate the vehicle's autonomous driving state based on the emergency exit command. This ensures that the vehicle can still exit autonomous driving mode even when the vehicle's autonomous driving controller malfunctions, improving the safety of autonomous vehicles and reducing the risk of personal injury to the driver caused by vehicle loss of control.

[0065] like Figure 4 The diagram shown is a flowchart illustrating another vehicle control method provided in this application. This embodiment mainly demonstrates the information flow direction between various devices in the vehicle control method.

[0066] Specifically, the off signal sent by the automatic driving switch and the pedal-operated signal sent by the sensors located on the brake pedal and / or accelerator pedal are simultaneously sent to the automatic driving controller and the safety backup controller. The safety backup controller also monitors whether the automatic driving controller issues an exit request. When the safety backup controller receives the off signal or pedal-operated signal, if it does not detect an exit request from the automatic driving controller, the safety backup controller determines that the automatic driving controller has malfunctioned. At the same time, the safety backup controller generates an emergency exit command based on the received off signal or pedal-operated signal and sends it to the vehicle stability system controller. This causes the vehicle stability system controller to release the handshake signal between the vehicle stability system controller and the automatic driving controller based on the emergency exit command, thereby causing the vehicle to exit the automatic driving state and allowing the driver to take over the operation of the vehicle.

[0067] Based on the same inventive concept, this application provides a vehicle including the control device for the vehicle provided in the above embodiments.

[0068] In this embodiment of the application, by setting the vehicle control equipment provided in the above embodiments, the safety of autonomous vehicles is improved and the risk of personal injury to the driver caused by vehicle loss of control is reduced.

[0069] By applying the embodiments of this application, at least the following beneficial effects can be achieved:

[0070] 1. The vehicle control device provided in this application embodiment, by setting a safety backup controller, detects whether an exit request has been received from the autonomous driving controller while receiving a user takeover command from the takeover device. If no exit request is received, an emergency exit command is generated and sent to the vehicle stability system controller, causing the vehicle stability system controller to deactivate the vehicle's autonomous driving state according to the emergency exit command. This ensures that the vehicle can still exit autonomous driving mode even when the vehicle's autonomous driving controller malfunctions, improving the safety of autonomous vehicles and reducing the risk of personal injury to the driver caused by vehicle loss of control.

[0071] 2. In this embodiment, the safety backup controller 20 is mainly responsible for receiving user takeover instructions, detecting whether the automatic driving controller 10 has malfunctioned, and sending emergency exit instructions. Its structure and function are simpler than those of the automatic driving controller 10, and its purpose is singular, thereby improving the stability and reliability of the safety backup controller 20, and thus improving the reliability and stability of the control equipment.

[0072] Those skilled in the art will understand that the steps, measures, and solutions in the various operations, methods, and processes discussed in this application can be alternated, modified, combined, or deleted. Furthermore, other steps, measures, and solutions in the various operations, methods, and processes discussed in this application can also be alternated, modified, rearranged, decomposed, combined, or deleted. Furthermore, steps, measures, and solutions in the prior art that are similar to those disclosed in this application can also be alternated, modified, rearranged, decomposed, combined, or deleted.

[0073] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0074] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0075] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0076] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0077] The above description is only a partial embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for controlling a vehicle, characterized in that, include: When the vehicle is in autonomous driving mode, the user operates the takeover device, which sends user takeover commands to the autonomous driving controller and the safety backup controller respectively. The user takeover command sent by the takeover device includes either a shutdown signal sent by the automatic driving switch device or a pedaling signal sent by a sensor device located on the brake pedal and / or accelerator pedal. When the safety backup controller receives a user takeover command from the takeover device, the safety backup controller checks whether it has received an exit request from the autopilot controller. When the safety backup controller detects that it has not received the exit request from the autopilot controller, the safety backup controller generates an emergency exit command for the vehicle stability system controller and sends it to the vehicle stability system controller, causing the vehicle stability system controller to deactivate the autopilot state according to the emergency exit command; at the same time, the safety backup controller generates a disconnect command for the vehicle stability system controller and sends it to the vehicle stability system controller, causing the vehicle stability system controller to disconnect from the autopilot controller according to the disconnect command.

2. The control method according to claim 1, characterized in that, The step of generating a disconnect command for the vehicle stability system controller and sending it to the vehicle stability system controller when no exit request is detected also includes: An alarm command is generated and sent to the alarm device.

3. A vehicle control device, characterized in that, include: Automatic driving controller; A safety backup controller, connected to the autonomous driving controller, is used to detect whether an exit request has been received from the autonomous driving controller when the vehicle is in autonomous driving mode and a user takeover command is received; and to generate an emergency exit command and a disconnect command when the exit request is not received. A takeover device is connected to the automatic driving controller and the safety backup controller respectively, and is used to send the user takeover command to the automatic driving controller and the safety backup controller; The vehicle stability system controller is connected to the autonomous driving controller and the safety backup controller respectively. It is used to receive the exit request output by the autonomous driving controller and the emergency exit command and the disconnect command output by the safety backup controller. According to the emergency exit command, it deactivates the autonomous driving state, and according to the disconnect command, it disconnects the connection with the autonomous driving controller, so that the vehicle exits the autonomous driving state. The connecting device includes any of the following: An autonomous driving switch device is electrically connected to the autonomous driving controller and the safety backup controller, respectively, and is used to generate a shutdown signal and send it to the autonomous driving controller and the safety backup controller when the vehicle is in autonomous driving mode and is triggered by the user. A sensing device is installed on the brake pedal and / or accelerator pedal of the vehicle and electrically connected to the autonomous driving controller and the safety backup controller, respectively, for detecting the pedal pressing signal of the brake pedal and / or the accelerator pedal in real time when the vehicle is in autonomous driving mode.

4. The control device according to claim 3, characterized in that, The sensing device includes a pressure sensor, which is disposed on the brake pedal and / or the accelerator pedal to detect the pressure applied to the brake pedal and / or the accelerator pedal in real time.

5. The control device according to claim 3, characterized in that, It also includes an alarm device, which is electrically connected to the security backup controller, for receiving alarm commands sent by the security backup controller and outputting warning information.

6. The control device according to claim 3, characterized in that, It also includes a vehicle electronic controller, which is connected to the takeover device, the automatic driving controller and the safety backup controller respectively, and is used to transmit user takeover commands issued by the takeover device to the automatic driving controller and the safety backup controller.

7. A vehicle, characterized in that, Includes the vehicle control equipment as described in any one of claims 3-6.

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