A method, device, vehicle and storage medium for safe autonomous driving takeover

Abstract

The present invention discloses a method, device, vehicle, and storage medium for safe takeover of autonomous driving. The method comprises: receiving a vehicle takeover instruction, the vehicle takeover instruction comprising at least one of the following: an accelerator pedal signal, a steering wheel torque signal, a brake pedal signal, and an emergency stop signal; and determining the connection status of longitudinal control and / or lateral control with the autonomous driving mode based on the current vehicle state and the vehicle takeover instruction. Through the embodiments of the present invention, when the vehicle is in the autonomous driving state, a vehicle collision caused by the driver accidentally stepping on the accelerator during the process of taking over the vehicle in an emergency is prevented; during the process of the driver taking over the vehicle, a takeover method that separates lateral control takeover and longitudinal control takeover is adopted to improve the safety of autonomous driving takeover.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a method, device, vehicle, and storage medium for safe takeover of autonomous driving. Background Art

[0002] With the development of technology, cars are becoming increasingly intelligent. While cars bring convenience and driving experience to people, they also present some safety issues. Cars can include autonomous driving mode and manual driving mode. When the car is in autonomous driving mode, a driver or safety officer may need to take over and implement manual driving in certain emergency situations. When the autonomous driving mode is exited during the takeover process, the driver may accidentally step on the accelerator or brake, resulting in the risk of a vehicle collision during the driver's takeover process. In pure autonomous driving (no driver), the accidental exit of the autonomous driving mode by the vehicle may cause a traffic accident involving the autonomous driving vehicle. Summary of the Invention

[0003] The main purpose of the present invention is to provide a method, device, vehicle and storage medium for safe takeover of autonomous driving, aiming to solve the problem in the prior art that when the autonomous driving mode is exited during the takeover process, the driver may accidentally step on the accelerator or brake, resulting in the risk of vehicle collision during the driver's takeover process; in pure autonomous driving (no driver), when the vehicle accidentally exits the autonomous driving mode, it may cause a traffic accident of the autonomous driving vehicle.

[0004] To achieve the above objectives, the present invention provides a method for safe takeover of autonomous driving, the method comprising the following steps:

[0005] S1: Receive vehicle takeover instruction;

[0006] S2: Determine the connection status of the longitudinal control and / or lateral control with the automatic driving mode according to the current vehicle state and the vehicle takeover instruction.

[0007] Optionally, the method further comprises the following steps:

[0008] The vehicle controller of the vehicle performs operations on the vehicle control mechanism;

[0009] The vehicle control mechanism includes at least one of the following: steering, braking, gear, throttle, and electronic parking;

[0010] The vehicle takeover instruction includes at least one of the following: an accelerator pedal signal, a steering wheel torque signal, a brake pedal signal, and an emergency stop signal.

[0011] Optionally, step S2 includes the following steps:

[0012] When the vehicle takeover instruction includes only the accelerator pedal signal, the longitudinal control and the lateral control do not exit the automatic driving mode;

[0013] When the vehicle takeover instruction only includes an emergency stop signal, determining whether the vehicle is in a stationary state;

[0014] If the vehicle is in a stationary state, the longitudinal control, lateral control and steering control exit the automatic driving mode, and the steering control responds to the driver's request; the vehicle controller performs a first braking control on the vehicle;

[0015] If the vehicle is not in a stationary state, the longitudinal control, lateral control and steering control do not exit the automatic driving mode; the vehicle controller performs a second braking control on the vehicle.

[0016] Optionally, step S2 includes the following steps:

[0017] The vehicle takeover instruction includes a brake pedal signal or a steering wheel torque signal, and the vehicle is in a stationary state, and the longitudinal control, lateral control and steering control exit the automatic driving mode; the vehicle controller performs a third braking control on the vehicle.

[0018] Optionally, step S2 includes the following steps:

[0019] The vehicle takeover instruction only includes the brake pedal signal and the vehicle is not in a stationary state, and determines whether the vehicle is currently in D gear;

[0020] If the vehicle is not currently in gear D, the longitudinal control exits the automatic driving mode, while the lateral control and the steering control do not exit the automatic driving mode; the vehicle controller performs a fourth braking control on the vehicle;

[0021] If the vehicle is currently in gear D, determine whether a steering wheel torque signal is received within a first time period;

[0022] If no steering wheel torque signal is received, the longitudinal control exits the automatic driving mode, while the lateral control and the steering control do not exit the automatic driving mode; the vehicle controller performs a fifth brake control on the vehicle;

[0023] If a steering wheel torque signal is received, the longitudinal control, lateral control and steering control exit the automatic driving mode; and the vehicle controller performs a sixth brake control on the vehicle.

[0024] Optionally, step S2 includes the following steps:

[0025] The vehicle takeover instruction only includes the steering wheel torque signal and the vehicle state is not in a stationary state, and determines whether the vehicle is currently in D gear;

[0026] If the vehicle is not currently in the D gear, the longitudinal control does not exit the automatic driving mode, and the lateral control and the steering control exit the automatic driving mode; the vehicle controller performs the seventh brake control on the vehicle;

[0027] If the vehicle is currently in gear D, determining whether an accelerator pedal signal or a brake pedal signal is received within a second time period;

[0028] If no accelerator pedal signal or brake pedal signal is received, the longitudinal control does not exit the automatic driving mode, and the lateral control and steering control exit the automatic driving mode; the vehicle controller performs an eighth brake control on the vehicle;

[0029] If a steering wheel torque signal or a brake pedal signal is received, the longitudinal control, lateral control and steering control exit the automatic driving mode; and the vehicle controller performs a ninth braking control on the vehicle.

[0030] Optionally, the method further comprises the following steps:

[0031] When receiving the vehicle takeover command, the driver is reminded, and the reminder method includes at least one of the following: sound signal reminder, light signal reminder, and vibration signal reminder.

[0032] In addition, to achieve the above-mentioned purpose, the present invention further proposes an automatic driving safety takeover device, the device comprising:

[0033] An instruction receiving unit, used for receiving a vehicle takeover instruction;

[0034] A driving takeover unit is used to determine the connection status of longitudinal control and / or lateral control with the automatic driving mode based on the current vehicle state and the vehicle takeover instruction.

[0035] In addition, to achieve the above-mentioned purpose, the present invention also proposes a vehicle, which includes: a memory, a processor, and an autonomous driving safety takeover program stored on the memory and runnable on the processor, and the autonomous driving safety takeover program is configured to implement the steps of the autonomous driving safety takeover method described above.

[0036] In addition, to achieve the above-mentioned purpose, the present invention also proposes a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the automatic driving safety takeover method as described above are implemented.

[0037] Through the embodiments of the present invention, when the vehicle is in automatic driving state, a vehicle collision caused by the driver accidentally stepping on the accelerator when taking over the vehicle in an emergency situation can be prevented; when the driver takes over the vehicle, a takeover method of separating lateral control takeover and longitudinal control takeover is adopted to improve the safety of automatic driving takeover. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A flowchart of a method for safe takeover of autonomous driving provided by the present invention.

[0039] Figure 2 A schematic diagram of a flow chart for the logic judgment of autonomous driving safety takeover provided by the present invention.

[0040] Figure 3 Another flowchart of the autonomous driving safety takeover method provided by the present invention.

[0041] Figure 4 This is a structural block diagram of an embodiment of the automatic driving safety takeover device provided by the present invention.

[0042] Figure 5 It is a schematic diagram of the structure of a vehicle in the hardware operating environment involved in the embodiment of the present invention.

[0043] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0044] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more understandable, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0045] In the subsequent description, suffixes such as "module," "component," or "unit" used to represent elements are only used to facilitate the description of the present invention and have no specific meaning. Therefore, "module," "component," or "unit" can be used interchangeably.

[0046] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0047] In one embodiment, Figure 1 As shown, the present invention provides a method for safe takeover of autonomous driving, the method comprising:

[0048] Step S1: Receive a vehicle takeover instruction.

[0049] While an autonomous vehicle is in autonomous mode, the driver may need to take over and enter manual driving mode for some reason. For example, in complex road conditions such as traffic congestion, the driver may need to take over and manually drive the vehicle.

[0050] When the driver takes over the autonomous vehicle, he usually does so by stepping on the brake pedal, accelerator pedal, or turning the steering wheel. Some vehicles are equipped with an emergency stop button, which can be pressed to take over the vehicle. The vehicle takeover command includes at least one of the following: accelerator pedal signal, steering wheel torque signal, brake pedal signal, emergency stop signal

[0051] When the driver steps on the brake pedal, the vehicle control system (such as ECU, VCU) or the automatic driving system can detect the brake pedal signal; when the driver steps on the accelerator pedal, the vehicle control system (such as ECU, VCU) or the automatic driving system can detect the accelerator pedal signal; when the driver turns the steering wheel, the vehicle control system (such as ECU, VCU) or the automatic driving system can detect the steering wheel torque signal; when the emergency stop button is pressed, the vehicle control system (such as ECU, VCU) or the automatic driving system can detect the steering wheel torque signal.

[0052] Step S2: Determine the connection status of the longitudinal control and / or lateral control with the automatic driving mode according to the current vehicle state and the vehicle takeover instruction.

[0053] When the vehicle control system receives a takeover command (e.g., when the driver steps on the accelerator pedal and receives an accelerator pedal signal), it determines whether to exit autonomous driving mode based on the current vehicle state and the received takeover command. Autonomous driving primarily involves longitudinal and lateral control. Longitudinal control primarily involves controlling the vehicle's driving motion, specifically its speed and acceleration. Lateral control refers to controlling the vehicle's direction of motion during autonomous driving.

[0054] When an autonomous vehicle exits autonomous driving mode, it uses a mode separation approach, separating longitudinal and lateral control, allowing each to decide whether to exit autonomous driving mode. If longitudinal control exits autonomous driving mode, lateral control does not.

[0055] The vehicle's control system executes operations on the vehicle's control mechanisms, which include at least one of the following: steering, braking, gear position, throttle, and electronic parking. For example, the VCU controls the braking mechanism to apply the brakes to the vehicle.

[0056] The embodiments of the present invention can prevent vehicle collisions caused by accidental stepping on the accelerator when a person takes over during an emergency during autonomous driving.

[0057] In one embodiment, if Figure 2 As shown, the present invention provides a method for safely taking over automatic driving when only an accelerator pedal signal is received.

[0058] Step S101: When the vehicle takeover instruction includes only the accelerator pedal signal, neither the longitudinal control nor the lateral control exits the automatic driving mode.

[0059] When the vehicle control system receives only the accelerator pedal signal, the autonomous vehicle's longitudinal control remains in autonomous mode, and neither does its lateral control. The vehicle's steering (i.e., lateral control) maintains autonomous mode, responding to control information from the autonomous driving system.

[0060] The vehicle control system (such as VCU, ECU) responds to braking requests, throttle requests, gear requests, and EPB (electronic parking system) requests issued by the autonomous driving system.

[0061] If an autonomous vehicle detects only the accelerator pedal signal from the driver, it will not initiate manual control and will remain in autonomous driving mode. During this process, the driver may accidentally touch the accelerator pedal. If the driver takes over the vehicle and enters manual driving mode upon receiving only the accelerator pedal signal, this could result in a collision.

[0062] In one embodiment, if Figure 2 As shown, the present invention provides a method for safely taking over automatic driving when an emergency stop signal is received.

[0063] Step S201: When the vehicle takeover instruction only includes an emergency stop signal, determine whether the vehicle is in a stationary state.

[0064] After the driver presses the emergency stop button, the vehicle control system receives the emergency stop signal and then determines whether the vehicle is currently stationary. The vehicle's speedometer can be used to determine whether the vehicle is in a prohibited state. If the vehicle speed is 0, it indicates that the vehicle is stationary. Alternatively, the vehicle speed can be 0 for a period of time (e.g., 1 minute) to indicate that the vehicle is stationary. This technical solution does not limit the specific method for determining whether the vehicle is stationary, and appropriate judgment conditions can be set according to the situation.

[0065] Step S202: If the vehicle is in a stationary state, the longitudinal control, lateral control and steering control exit the automatic driving mode, and the steering control responds to the driver's request; the vehicle controller performs a first braking control on the vehicle.

[0066] In a preferred embodiment, after the vehicle control system determines that the vehicle is stationary, the autonomous vehicle's longitudinal control system exits autonomous driving mode, and the lateral control system also exits autonomous driving mode. The vehicle's steering system exits autonomous driving mode and responds to the driver's steering wheel rotation.

[0067] After the driver presses the emergency stop button, the vehicle control system (such as the VCU and ECU) only controls the braking system to brake the vehicle and does not respond to the throttle signal. If the driver accidentally steps on the accelerator pedal while pressing the emergency stop button, the vehicle control system will not process the throttle signal and will only brake the vehicle.

[0068] After the driver presses the emergency stop button, the vehicle control system does not change the current gear position of the vehicle and continues to maintain that gear. For example, if the vehicle is in D gear when the driver presses the emergency stop button, the vehicle control system will not change the gear position of the vehicle and continue to maintain D gear after receiving the emergency stop signal and exiting the automatic driving mode.

[0069] After the driver presses the emergency stop button, the vehicle control system receives the emergency stop signal and exits the automatic driving mode, then activates the electronic parking brake (EPB).

[0070] Step S203: If the vehicle is not in a stationary state, the longitudinal control, lateral control and steering control do not exit the automatic driving mode; the vehicle controller performs a second braking control on the vehicle.

[0071] If the vehicle control system determines that the vehicle is not stationary (e.g., in motion), the autonomous vehicle's longitudinal control and lateral control remain in autonomous driving mode. The vehicle's steering system remains in autonomous driving mode and responds to steering control requests from the autonomous driving system.

[0072] After the driver presses the emergency stop button, the vehicle control system (such as the VCU and ECU) only controls the braking system to brake the vehicle and does not respond to the throttle signal. If the driver accidentally steps on the accelerator pedal while pressing the emergency stop button, the vehicle control system will not process the throttle signal and will only brake the vehicle.

[0073] After the driver presses the emergency stop button, the vehicle control system does not change the current gear position of the vehicle and continues to maintain that gear. For example, if the vehicle is in D gear when the driver presses the emergency stop button, the vehicle control system will not change the gear position of the vehicle and continue to maintain D gear after receiving the emergency stop signal and exiting the automatic driving mode.

[0074] After the vehicle brakes, the vehicle control system determines in real time whether the vehicle is currently stationary. If the vehicle is stationary, the system proceeds as described in step 202 for when an emergency stop signal is received while the vehicle is stationary, exiting the autonomous driving mode.

[0075] In one embodiment, if Figure 2 As shown, the present invention provides a method for safely taking over automatic driving when a brake pedal signal or a steering wheel torque signal is received when the vehicle is stationary.

[0076] Step S301: The vehicle takeover instruction includes a brake pedal signal or a steering wheel torque signal, and the vehicle is in a stationary state, and the longitudinal control, lateral control and steering control exit the automatic driving mode; the vehicle controller performs a third braking control on the vehicle.

[0077] In a preferred embodiment, the vehicle control system receives a brake pedal signal or a steering wheel torque signal and then determines whether the vehicle is currently stationary. The vehicle's speedometer can be read to determine whether the vehicle is in a prohibited state. If the vehicle speed is 0, it indicates that the vehicle is stationary. Alternatively, the vehicle speed can be zero for a period of time (e.g., 1 minute) to indicate that the vehicle is stationary. The specific method for determining whether the vehicle is stationary is not limited by this technical solution, and corresponding judgment conditions can be set according to the situation.

[0078] After the vehicle control system determines that the vehicle is stationary, the autonomous vehicle's longitudinal control system exits autonomous driving mode, and the lateral control system also exits autonomous driving mode. The vehicle's steering system exits autonomous driving mode and responds to the driver's steering wheel movements.

[0079] The vehicle control system (such as the VCU or ECU) responds to the brake pedal signal from the driver and the brake request from the intelligent controller (autonomous driving system). If both brake control request messages are received, the vehicle controller will execute the one with the greatest braking force.

[0080] The vehicle control system does not respond to the throttle signal. For example, if the driver turns the steering wheel while the vehicle is stationary and steps on the accelerator pedal at the same time, the vehicle control system does not respond to the accelerator pedal signal. The vehicle control system sets the vehicle gear to neutral and engages the Electronic Park Brake (EPB).

[0081] In one embodiment, if Figure 2 As shown, the present invention provides a method for safely taking over automatic driving when a vehicle receives a brake pedal signal in a non-stationary state.

[0082] Step S401: If the vehicle takeover instruction only includes a brake pedal signal and the vehicle is not stationary, determine whether the vehicle is currently in D gear.

[0083] In a preferred embodiment, for a non-stationary vehicle in automatic driving mode, after the driver steps on the brake pedal, the vehicle control system receives the brake pedal signal and determines whether the current gear position of the vehicle is in D gear.

[0084] Step S402: If the vehicle is not currently in gear D, the longitudinal control exits the automatic driving mode, while the lateral control and the steering control do not exit the automatic driving mode; the vehicle controller performs a fourth braking control on the vehicle.

[0085] If a vehicle in autonomous driving mode is in operation and the driver steps on the brake pedal, and the vehicle control system receives the brake pedal signal, and the vehicle is in a gear other than D, such as R, the vehicle's longitudinal control system will exit autonomous driving mode, but its lateral control system will not. The vehicle's steering system will not exit autonomous driving mode and will respond to the steering control of the autonomous driving system.

[0086] The vehicle control system (such as the VCU or ECU) responds to the brake pedal signal from the driver and the brake request from the intelligent controller (autonomous driving system). The vehicle control system takes the brake request message with the greatest braking force and executes it accordingly.

[0087] The vehicle control system does not respond to throttle signals, such as those from the driver pressing the accelerator pedal or those from the autonomous driving system. The vehicle control system sets the vehicle's gear position to neutral. After the vehicle control system stops the vehicle through the braking system, the Electronic Park Brake (EPB) is engaged.

[0088] Step S403: If the vehicle is currently in gear D, determine whether a steering wheel torque signal is received within a first time period.

[0089] In autonomous driving mode, when the driver steps on the brake pedal and the vehicle control system receives the brake pedal signal, the vehicle is currently in D gear. A timer is then started to detect whether a steering wheel torque signal, triggered by the driver turning the steering wheel, is received within a specified time period. The specific time period can be set based on actual needs, for example, 10 seconds. This means that the system will detect whether a steering wheel torque signal is received within 10 seconds.

[0090] Step S404: If no steering wheel torque signal is received, the longitudinal control exits the automatic driving mode, while the lateral control and the steering control do not exit the automatic driving mode; the vehicle controller performs the fifth braking control on the vehicle.

[0091] If no steering wheel torque signal is received within 10 seconds (the specific duration can be set according to specific needs), the autonomous vehicle's longitudinal control will exit the autonomous driving mode, but the lateral control will not exit the autonomous driving mode. The vehicle's steering system will not exit the autonomous driving mode and will respond to the steering control of the autonomous driving system.

[0092] The vehicle control system (such as the VCU or ECU) responds to the brake pedal signal from the driver and the brake request from the intelligent controller (autonomous driving system). The vehicle control system takes the brake request message with the greatest braking force and executes it accordingly.

[0093] The vehicle control system sets the vehicle gear to D. The vehicle control system does not respond to throttle signals, such as those from the driver pressing the accelerator pedal or those from the autonomous driving system. After the vehicle control system stops the vehicle through the braking system, the Electronic Park Brake (EPB) is engaged.

[0094] Step S405: If a steering wheel torque signal is received, the longitudinal control, lateral control, and steering control exit the automatic driving mode; and the vehicle controller performs a sixth braking control on the vehicle.

[0095] If a steering wheel torque signal (triggered by the driver turning the steering wheel) is received within 10 seconds (the specific duration can be set according to specific needs), the autonomous vehicle's longitudinal control exits autonomous driving mode, and the lateral control exits autonomous driving mode. The vehicle's steering system exits autonomous driving mode and responds to the driver's steering control when the steering wheel is turned.

[0096] The vehicle control system (such as the VCU or ECU) responds to the brake pedal signal from the driver and the brake request from the intelligent controller (autonomous driving system). The vehicle control system takes the brake request message with the greatest braking force and executes it accordingly.

[0097] The vehicle control system sets the vehicle gear to D. The vehicle control system responds to the accelerator pedal signal sent by the driver stepping on the accelerator pedal. The Electronic Parking Brake (EPB) responds to the driver's operation, such as pulling up the EPB.

[0098] After receiving a brake pedal signal in D gear, the autonomous vehicle waits for a steering wheel torque signal. If the brake pedal signal is received within 10 seconds, the autonomous vehicle will remain in autonomous mode, but the autonomous system's anti-roll feature will apply basic braking. In autonomous mode, the vehicle will not respond to driver input, such as an accelerator pedal signal triggered by depressing the accelerator.

[0099] In one embodiment, if Figure 2 As shown, the present invention provides a method for safely taking over automatic driving when a vehicle receives a steering wheel torque signal in a non-stationary state.

[0100] Step S501: The vehicle takeover instruction only includes a steering wheel torque signal and the vehicle is not in a stationary state, and it is determined whether the vehicle is currently in the D gear.

[0101] In a preferred embodiment, for a non-stationary vehicle in automatic driving mode, after the driver turns the steering wheel, the vehicle control system receives a steering wheel torque signal and determines whether the current gear position of the vehicle is in D gear.

[0102] Step S502: If the vehicle is not currently in gear D, the longitudinal control does not exit the automatic driving mode, and the lateral control and steering control exit the automatic driving mode; the vehicle controller performs the seventh brake control on the vehicle.

[0103] In a vehicle in autonomous driving mode, if the driver turns the steering wheel and the vehicle control system receives a steering wheel torque signal, and the vehicle is in a gear other than D, such as R, the vehicle's longitudinal control remains in autonomous driving mode, but the lateral control exits autonomous driving mode. The vehicle's steering system exits autonomous driving mode and responds to steering control initiated by the driver turning the steering wheel.

[0104] The vehicle control system (such as the VCU or ECU) responds to the brake pedal signal from the driver and the brake request from the intelligent controller (autonomous driving system). The vehicle control system takes the brake request message with the greatest braking force and executes it accordingly.

[0105] The vehicle control system does not respond to throttle signals, such as those from the driver pressing the accelerator pedal or those from the autonomous driving system. The vehicle control system sets the vehicle's gear position to neutral. After the vehicle control system stops the vehicle through the braking system, the Electronic Park Brake (EPB) is engaged.

[0106] Step S503: If the vehicle is currently in gear D, determine whether an accelerator pedal signal or a brake pedal signal is received within a second time period.

[0107] In a non-stationary vehicle in autonomous driving mode, when the driver turns the steering wheel and the vehicle control system receives a steering wheel torque signal, the vehicle is currently in D gear. A timer is then started to detect whether the steering wheel torque signal, triggered by the driver turning the steering wheel, is received within a certain period of time. The specific time period can be set according to actual needs, such as 5 seconds. This means that within 5 seconds, the system detects whether the driver has received an accelerator pedal signal or a brake pedal signal, triggered by the driver pressing the accelerator pedal.

[0108] Step S504: If no accelerator pedal signal or brake pedal signal is received, the longitudinal control does not exit the automatic driving mode, and the lateral control and steering control exit the automatic driving mode; the vehicle controller performs the eighth brake control on the vehicle.

[0109] If no accelerator pedal signal is received from the driver pressing the accelerator pedal or brake pedal signal is received from the driver pressing the brake pedal within 5 seconds (the specific duration can be set according to specific needs), the autonomous vehicle's longitudinal control does not exit autonomous driving mode and the autonomous driving system sends a vehicle braking request, and the lateral control exits autonomous driving mode. The vehicle's steering system exits autonomous driving mode and responds to steering control triggered by the driver turning the steering wheel.

[0110] The vehicle control system sets the vehicle gear to D. The vehicle control system (e.g., VCU, ECU) responds to the braking request from the intelligent controller (autopilot system). The vehicle control system does not respond to throttle signals, such as those from the driver's accelerator pedal or those from the autopilot system. After the vehicle control system stops the vehicle using the braking system, the Electronic Park Brake (EPB) is engaged.

[0111] Step S505: If a steering wheel torque signal or a brake pedal signal is received, the longitudinal control, lateral control and steering control exit the automatic driving mode; the vehicle controller performs a ninth braking control on the vehicle.

[0112] If the driver receives an accelerator pedal signal or a brake pedal signal within 5 seconds (the specific duration can be set according to specific needs), the autonomous vehicle's longitudinal control system exits autonomous driving mode, and the lateral control system exits autonomous driving mode. The vehicle's steering system also exits autonomous driving mode and responds to the driver's steering wheel rotation.

[0113] The vehicle control system (such as the VCU or ECU) responds to the brake pedal signal from the driver and the brake request from the intelligent controller (autonomous driving system). The vehicle control system takes the brake request message with the greatest braking force and executes it accordingly.

[0114] The vehicle control system sets the vehicle gear to D. The vehicle control system responds to the accelerator pedal signal sent by the driver stepping on the accelerator pedal. The Electronic Parking Brake (EPB) responds to the driver's operation, such as pulling up the EPB.

[0115] In one embodiment, if Figure 3 As shown, the present invention provides a method for safe takeover of autonomous driving. Figure 1 Based on the above, the following steps are also included:

[0116] Step S3: When receiving the vehicle takeover instruction, the driver is reminded, and the reminder method includes at least one of the following: sound signal reminder, light signal reminder, and vibration signal reminder.

[0117] In a preferred embodiment, when a vehicle in autonomous driving mode receives an accelerator pedal signal triggered by the driver stepping on the accelerator pedal, a brake pedal signal triggered by the driver stepping on the brake pedal, or a steering wheel torque signal triggered by the driver turning the steering wheel, a corresponding sound signal reminder, light signal reminder, or vibration signal reminder is triggered according to the corresponding signal. The reminder signal corresponding to each vehicle takeover command is shown in the following table:

[0118]

[0119]

[0120] The specific reminder content for each reminder mode can be set according to actual needs. For example, the corresponding light signal reminder A for the accelerator pedal signal can use a flashing orange icon on the vehicle control screen as a reminder; the corresponding audio reminder signal A can play a voice message saying: You have stepped on the accelerator pedal. Please turn the steering wheel to take over the vehicle.

[0121] Through the embodiments of the present invention, when the vehicle is in automatic driving state, a vehicle collision caused by the driver accidentally stepping on the accelerator when taking over the vehicle in an emergency situation can be prevented; when the driver takes over the vehicle, a takeover method of separating lateral control takeover and longitudinal control takeover is adopted to improve the safety of automatic driving takeover.

[0122] In addition, the embodiment of the present invention also proposes an automatic driving safety takeover device, referring to Figure 4 , the automatic driving safety takeover device includes:

[0123] The command receiving unit 10 is used to receive a vehicle takeover command, wherein the vehicle takeover command includes at least one of the following: an accelerator pedal signal, a steering wheel torque signal, a brake pedal signal, and an emergency stop signal;

[0124] The driving takeover unit 20 is used to determine whether the longitudinal control and / or lateral control exits the automatic driving mode based on the current vehicle state and the vehicle takeover instruction; when the vehicle takeover instruction only includes the accelerator pedal signal, neither the longitudinal control nor the lateral control exits the automatic driving mode.

[0125] Through the embodiments of the present invention, when the vehicle is in automatic driving state, a vehicle collision caused by the driver accidentally stepping on the accelerator when taking over the vehicle in an emergency situation can be prevented; when the driver takes over the vehicle, a takeover method of separating lateral control takeover and longitudinal control takeover is adopted to improve the safety of automatic driving takeover.

[0126] It should be noted that each unit in the above-mentioned device can be used to implement each step in the above-mentioned method and achieve corresponding technical effects, which will not be described in detail in this embodiment.

[0127] Reference Figure 5 , Figure 5 A schematic diagram of the structure of a vehicle in the hardware operating environment involved in an embodiment of the present invention.

[0128] like Figure 5 As shown, the vehicle may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the user interface 1003 may optionally include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as WI-FI, 4G, 5G interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0129] Those skilled in the art will understand that Figure 5 The structure shown in the figure does not constitute a limitation of the vehicle, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0130] like Figure 5 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an autonomous driving safety takeover program.

[0131] exist Figure 5 In the vehicle shown, the network interface 1004 is primarily used for data communication with an external network; the user interface 1003 is primarily used for receiving user input instructions; the vehicle invokes the autonomous driving safety takeover program stored in the memory 1005 via the processor 1001 and performs the following operations:

[0132] S1: Receive vehicle takeover instruction;

[0133] S2: Determine the connection status of the longitudinal control and / or lateral control with the automatic driving mode according to the current vehicle state and the vehicle takeover instruction.

[0134] Optionally, the method further comprises the following steps:

[0135] The vehicle controller of the vehicle performs operations on the vehicle control mechanism;

[0136] The vehicle control mechanism includes at least one of the following: steering, braking, gear, throttle, and electronic parking;

[0137] The vehicle takeover instruction includes at least one of the following: an accelerator pedal signal, a steering wheel torque signal, a brake pedal signal, and an emergency stop signal.

[0138] Optionally, step S2 includes the following steps:

[0139] When the vehicle takeover instruction includes only the accelerator pedal signal, the longitudinal control and the lateral control do not exit the automatic driving mode;

[0140] When the vehicle takeover instruction only includes an emergency stop signal, determining whether the vehicle is in a stationary state;

[0141] If the vehicle is in a stationary state, the longitudinal control, lateral control and steering control exit the automatic driving mode, and the steering control responds to the driver's request; the vehicle controller performs a first braking control on the vehicle;

[0142] If the vehicle is not in a stationary state, the longitudinal control, lateral control and steering control do not exit the automatic driving mode; the vehicle controller performs a second braking control on the vehicle.

[0143] Optionally, step S2 includes the following steps:

[0144] The vehicle takeover instruction includes a brake pedal signal or a steering wheel torque signal, and the vehicle is in a stationary state, and the longitudinal control, lateral control and steering control exit the automatic driving mode; the vehicle controller performs a third braking control on the vehicle.

[0145] Optionally, step S2 includes the following steps:

[0146] The vehicle takeover instruction only includes the brake pedal signal and the vehicle is not in a stationary state, and determines whether the vehicle is currently in D gear;

[0147] If the vehicle is not currently in gear D, the longitudinal control exits the automatic driving mode, while the lateral control and the steering control do not exit the automatic driving mode; the vehicle controller performs a fourth braking control on the vehicle;

[0148] If the vehicle is currently in gear D, determine whether a steering wheel torque signal is received within a first time period;

[0149] If no steering wheel torque signal is received, the longitudinal control exits the automatic driving mode, while the lateral control and the steering control do not exit the automatic driving mode; the vehicle controller performs a fifth brake control on the vehicle;

[0150] If a steering wheel torque signal is received, the longitudinal control, lateral control and steering control exit the automatic driving mode; and the vehicle controller performs a sixth brake control on the vehicle.

[0151] Optionally, step S2 includes the following steps:

[0152] The vehicle takeover instruction only includes the steering wheel torque signal and the vehicle state is not in a stationary state, and determines whether the vehicle is currently in D gear;

[0153] If the vehicle is not currently in the D gear, the longitudinal control does not exit the automatic driving mode, and the lateral control and the steering control exit the automatic driving mode; the vehicle controller performs the seventh brake control on the vehicle;

[0154] If the vehicle is currently in gear D, determining whether an accelerator pedal signal or a brake pedal signal is received within a second time period;

[0155] If no accelerator pedal signal or brake pedal signal is received, the longitudinal control does not exit the automatic driving mode, and the lateral control and steering control exit the automatic driving mode; the vehicle controller performs an eighth brake control on the vehicle;

[0156] If a steering wheel torque signal or a brake pedal signal is received, the longitudinal control, lateral control and steering control exit the automatic driving mode; and the vehicle controller performs a ninth braking control on the vehicle.

[0157] Optionally, the method further comprises the following steps:

[0158] When receiving the vehicle takeover command, the driver is reminded, and the reminder method includes at least one of the following: sound signal reminder, light signal reminder, and vibration signal reminder.

[0159] Through the embodiments of the present invention, when the vehicle is in automatic driving state, a vehicle collision caused by the driver accidentally stepping on the accelerator when taking over the vehicle in an emergency situation can be prevented; when the driver takes over the vehicle, a takeover method of separating lateral control takeover and longitudinal control takeover is adopted to improve the safety of automatic driving takeover.

[0160] In addition, an embodiment of the present invention further provides a computer-readable storage medium, on which an autonomous driving safety takeover program is stored. When the autonomous driving safety takeover program is executed by a processor, the following operations are performed:

[0161] S1: Receive vehicle takeover instruction;

[0162] S2: Determine the connection status of the longitudinal control and / or lateral control with the automatic driving mode according to the current vehicle state and the vehicle takeover instruction.

[0163] Optionally, the method further comprises the following steps:

[0164] The vehicle controller of the vehicle performs operations on the vehicle control mechanism;

[0165] The vehicle control mechanism includes at least one of the following: steering, braking, gear, throttle, and electronic parking;

[0166] The vehicle takeover instruction includes at least one of the following: an accelerator pedal signal, a steering wheel torque signal, a brake pedal signal, and an emergency stop signal.

[0167] Optionally, step S2 includes the following steps:

[0168] When the vehicle takeover instruction includes only the accelerator pedal signal, the longitudinal control and the lateral control do not exit the automatic driving mode;

[0169] When the vehicle takeover instruction only includes an emergency stop signal, determining whether the vehicle is in a stationary state;

[0170] If the vehicle is in a stationary state, the longitudinal control, lateral control and steering control exit the automatic driving mode, and the steering control responds to the driver's request; the vehicle controller performs a first braking control on the vehicle;

[0171] If the vehicle is not in a stationary state, the longitudinal control, lateral control and steering control do not exit the automatic driving mode; the vehicle controller performs a second braking control on the vehicle.

[0172] Optionally, step S2 includes the following steps:

[0173] The vehicle takeover instruction includes a brake pedal signal or a steering wheel torque signal, and the vehicle is in a stationary state, and the longitudinal control, lateral control and steering control exit the automatic driving mode; the vehicle controller performs a third braking control on the vehicle.

[0174] Optionally, step S2 includes the following steps:

[0175] The vehicle takeover instruction only includes the brake pedal signal and the vehicle is not in a stationary state, and determines whether the vehicle is currently in D gear;

[0176] If the vehicle is not currently in gear D, the longitudinal control exits the automatic driving mode, while the lateral control and the steering control do not exit the automatic driving mode; the vehicle controller performs a fourth braking control on the vehicle;

[0177] If the vehicle is currently in gear D, determine whether a steering wheel torque signal is received within a first time period;

[0178] If no steering wheel torque signal is received, the longitudinal control exits the automatic driving mode, while the lateral control and the steering control do not exit the automatic driving mode; the vehicle controller performs a fifth brake control on the vehicle;

[0179] If a steering wheel torque signal is received, the longitudinal control, lateral control and steering control exit the automatic driving mode; and the vehicle controller performs a sixth brake control on the vehicle.

[0180] Optionally, step S2 includes the following steps:

[0181] The vehicle takeover instruction only includes the steering wheel torque signal and the vehicle state is not in a stationary state, and determines whether the vehicle is currently in D gear;

[0182] If the vehicle is not currently in the D gear, the longitudinal control does not exit the automatic driving mode, and the lateral control and the steering control exit the automatic driving mode; the vehicle controller performs the seventh brake control on the vehicle;

[0183] If the vehicle is currently in gear D, determining whether an accelerator pedal signal or a brake pedal signal is received within a second time period;

[0184] If no accelerator pedal signal or brake pedal signal is received, the longitudinal control does not exit the automatic driving mode, and the lateral control and steering control exit the automatic driving mode; the vehicle controller performs an eighth brake control on the vehicle;

[0185] If a steering wheel torque signal or a brake pedal signal is received, the longitudinal control, lateral control and steering control exit the automatic driving mode; and the vehicle controller performs a ninth braking control on the vehicle.

[0186] Optionally, the method further comprises the following steps:

[0187] When receiving the vehicle takeover command, the driver is reminded, and the reminder method includes at least one of the following: sound signal reminder, light signal reminder, and vibration signal reminder.

[0188] Through the embodiments of the present invention, when the vehicle is in automatic driving state, a vehicle collision caused by the driver accidentally stepping on the accelerator when taking over the vehicle in an emergency situation can be prevented; when the driver takes over the vehicle, a takeover method of separating lateral control takeover and longitudinal control takeover is adopted to improve the safety of automatic driving takeover.

[0189] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0190] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0191] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, controller, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0192] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for safe takeover of autonomous driving, characterized in that: The method comprises the following steps: S1: Receive vehicle takeover instruction; S2: Determining a connection state between the longitudinal control and / or lateral control and the automatic driving mode according to the current vehicle state and the vehicle takeover instruction; The method further comprises the following steps: The vehicle controller of the vehicle performs operations on the vehicle control mechanism; The vehicle control mechanism includes at least one of the following: steering, braking, gear, throttle, and electronic parking; The vehicle takeover instruction includes at least one of the following: an accelerator pedal signal, a steering wheel torque signal, a brake pedal signal, and an emergency stop signal; Wherein, the step S2 includes the following steps: The vehicle takeover instruction only includes the brake pedal signal and the vehicle is not in a stationary state, and determines whether the vehicle is currently in D gear; If the vehicle is not currently in gear D, the longitudinal control exits the automatic driving mode, but the lateral control does not exit the automatic driving mode; the vehicle controller performs a fourth braking control on the vehicle; If the vehicle is currently in gear D, determine whether a steering wheel torque signal is received within a first time period; If no steering wheel torque signal is received, the longitudinal control exits the automatic driving mode, while the lateral control does not exit the automatic driving mode; the vehicle controller performs a fifth braking control on the vehicle; If a steering wheel torque signal is received, the longitudinal control and the lateral control exit the automatic driving mode; and the vehicle controller performs a sixth brake control on the vehicle; Among them, longitudinal control includes the control of the vehicle's driving motion state; lateral control includes the control of the vehicle's motion direction during automatic driving.

2. The method according to claim 1, characterized in that The step S2 comprises the following steps: When the vehicle takeover instruction includes only the accelerator pedal signal, the longitudinal control and the lateral control do not exit the automatic driving mode; When the vehicle takeover instruction only includes an emergency stop signal, determining whether the vehicle is in a stationary state; If the vehicle is in a stationary state, the longitudinal control and the lateral control exit the automatic driving mode; the vehicle controller performs a first braking control on the vehicle; If the vehicle is not in a stationary state, the longitudinal control and the lateral control do not exit the automatic driving mode; the vehicle controller performs a second braking control on the vehicle.

3. The method according to claim 1, characterized in that The step S2 comprises the following steps: The vehicle takeover instruction includes a brake pedal signal or a steering wheel torque signal, and the vehicle is in a stationary state, and the longitudinal control and lateral control exit the automatic driving mode; the vehicle controller performs a third braking control on the vehicle.

4. The method according to claim 1, characterized in that The step S2 comprises the following steps: The vehicle takeover instruction only includes the steering wheel torque signal and the vehicle state is not in a stationary state, and determines whether the vehicle is currently in D gear; If the vehicle is not currently in the D gear, the longitudinal control does not exit the automatic driving mode, and the lateral control exits the automatic driving mode; the vehicle controller performs the seventh brake control on the vehicle; If the vehicle is currently in gear D, determining whether an accelerator pedal signal or a brake pedal signal is received within a second time period; If no accelerator pedal signal or brake pedal signal is received, the longitudinal control does not exit the automatic driving mode, and the lateral control exits the automatic driving mode; the vehicle controller performs an eighth brake control on the vehicle; If a steering wheel torque signal or a brake pedal signal is received, the longitudinal control and the lateral control exit the automatic driving mode; and the vehicle controller performs a ninth braking control on the vehicle.

5. The method according to claim 1, characterized in that: The method further comprises the following steps: When receiving the vehicle takeover command, the driver is reminded, and the reminder method includes at least one of the following: sound signal reminder, light signal reminder, and vibration signal reminder.

6. An automatic driving safety takeover device, characterized in that: The device comprises: An instruction receiving unit, used for receiving a vehicle takeover instruction; a driving takeover unit, configured to determine a connection state between longitudinal control and / or lateral control and the automatic driving mode according to a current vehicle state and the vehicle takeover instruction; Wherein, the vehicle controller of the vehicle performs operations on the vehicle control mechanism; The vehicle control mechanism includes at least one of the following: steering, braking, gear, throttle, and electronic parking; The vehicle takeover instruction includes at least one of the following: an accelerator pedal signal, a steering wheel torque signal, a brake pedal signal, and an emergency stop signal; The driving takeover unit is further configured to determine whether the vehicle is currently in the D gear when the vehicle takeover instruction includes only the brake pedal signal and the vehicle is not in a stationary state; If the vehicle is not currently in gear D, the longitudinal control exits the automatic driving mode, but the lateral control does not exit the automatic driving mode; the vehicle controller performs a fourth braking control on the vehicle; If the vehicle is currently in gear D, determine whether a steering wheel torque signal is received within a first time period; If no steering wheel torque signal is received, the longitudinal control exits the automatic driving mode, while the lateral control does not exit the automatic driving mode; the vehicle controller performs a fifth braking control on the vehicle; If a steering wheel torque signal is received, the longitudinal control and the lateral control exit the automatic driving mode; and the vehicle controller performs a sixth brake control on the vehicle; Among them, longitudinal control includes the control of the vehicle's driving motion state; lateral control includes the control of the vehicle's motion direction during automatic driving.

7. A means of transport, characterized in that: The vehicle includes: a memory, a processor, and an autonomous driving safety takeover program stored in the memory and running on the processor, wherein the autonomous driving safety takeover program is configured to implement the steps of the autonomous driving safety takeover method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the automatic driving safety takeover method described in any one of claims 1 to 5 are implemented.

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