A driving mode switching method, system, computer and storage medium

Abstract

The application provides a driving mode switching method, system, computer and storage medium. The driving mode switching method comprises the following steps: when a vehicle is in a high-pressure preparation state, determining whether the vehicle enters an automatic driving state according to current gear information, accelerator pedal state information and running state information of the vehicle; if the vehicle enters the automatic driving state, acquiring in real time whether there is a manual intervention operation in the automatic driving process of the vehicle; if there is the manual intervention operation, determining whether the manual intervention operation is a real manual intervention operation; and if the manual intervention operation is the real manual intervention operation, generating state switching information to make the vehicle enter a manual driving state from the automatic driving state. By acquiring the manual intervention operation, it is determined whether the manual driving state needs to be switched, so that the problem of mis-switching caused by false touch, noise and the like is avoided. By determining whether the manual intervention operation is the real manual intervention operation, multiple determinations are increased, so that the mis-switching is further avoided, and the road and personal safety are ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent vehicle control, in particular to a driving mode switching method and system, a computer and a storage medium. BACKGROUND

[0002] Today, the automobile automatic driving technology develops rapidly, and higher level automatic driving technology based on specific scenes and road conditions is gradually realized. According to the definition of national standard GBT 40429-2021 "Classification of automobile driving automation", the automatic driving technology can be divided into six levels from 0 to 5.

[0003] However, due to the limitation of technical bottleneck, the existing automatic driving technology cannot realize complete unmanned driving and cannot adapt to all driving scenes. Even in the high automatic driving level (level 4) or the complete automatic driving level (level 5), when the driver requests the automatic system to exit, the vehicle should be handed over to the driver control under appropriate or conditional conditions.

[0004] At present, the intelligent vehicle with intelligent driving function will involve the process of switching from automatic driving state to manual driving state. The driving mode is usually switched by setting a switching button on the central control or steering wheel or by voice command. After the vehicle receives the trigger signal, it will immediately switch from automatic driving state to manual driving state. This switching method has many unstable factors, and is easy to cause misoperation, noise and other conditions, leading to misoperation, and thus affecting road and personal safety. SUMMARY

[0005] The embodiments of the present application provide a driving mode switching method, system, computer and storage medium to solve the technical problem of misoperation of automatic driving state to manual driving state by switching button or voice command and other switching methods, affecting road and personal safety.

[0006] In a first aspect, the embodiments of the present application provide a driving mode switching method, comprising the following steps:

[0007] When the vehicle is in a high-pressure preparation state, whether the vehicle enters an automatic driving state is determined according to current gear information, accelerator pedal state information and running state information of the vehicle;

[0008] If the vehicle enters the automatic driving state, whether there is a manual intervention operation in the automatic driving process of the vehicle is acquired in real time;

[0009] If the vehicle has a manual intervention operation, whether the manual intervention operation is a real manual intervention operation is determined;

[0010] If the manual intervention operation is a real manual intervention operation, state switching information is generated to make the vehicle enter from the automatic driving state to the manual driving state.

[0011] Further, the step of judging whether the vehicle enters the automatic driving state according to the current gear information, the accelerator pedal state information and the running state information of the vehicle comprises:

[0012] When the vehicle is powered on, fault detection is performed on the vehicle;

[0013] If the vehicle has no fault, the current gear information and the accelerator pedal state information of the vehicle are acquired after a preset time;

[0014] If the current gear information of the vehicle is N gear and the accelerator pedal is not stepped on, it is determined that the vehicle enters the automatic driving state.

[0015] Further, after the step of acquiring the current gear information and the accelerator pedal state information of the vehicle after a preset time, the method further comprises:

[0016] If the current gear information of the vehicle is D gear and the accelerator pedal is stepped on, it is determined that the vehicle enters the manual driving state.

[0017] Further, the step of acquiring whether the vehicle has a manual intervention operation in real time during the automatic driving of the vehicle comprises:

[0018] It is detected whether there is a stepping-on operation of the accelerator pedal, and if there is a stepping-on operation of the accelerator pedal, a manual intervention driving intention is acquired;

[0019] It is detected whether there is a gear shifting operation, and if there is a gear shifting operation, a manual intervention gear intention is acquired;

[0020] By acquiring the manual intervention driving intention and the manual intervention gear intention, it is determined whether the manual intervention operation exists.

[0021] Further, the step of judging whether the manual intervention operation is a real manual intervention operation comprises:

[0022] The depth and the change rate of one-time stepping-on of the accelerator pedal are identified to complete one-time determination;

[0023] The interval time between two-time stepping-on of the accelerator pedal and the one-time stepping-on of the accelerator pedal is identified, and the depth of the two-time stepping-on of the accelerator pedal is identified to complete two-time determination;

[0024] By the one-time determination and the two-time determination, it is judged whether the manual intervention driving intention is a real acceleration intention;

[0025] When the gear lock button is unlocked, a gear state change is identified to complete a gear demand determination;

[0026] A brake pedal state change is identified to complete a brake demand determination;

[0027] The gear demand determination and the brake demand determination are used to determine whether the artificial intervention gear intention is a real gear engagement intention;

[0028] If the artificial intervention driving intention is the real acceleration intention and the artificial intervention gear intention is the real gear engagement intention, it is determined that the artificial intervention operation is the real artificial intervention operation.

[0029] Further, the step of identifying the depth and rate of change of the first time accelerator pedal is pressed to complete a first determination includes:

[0030] When the rate of change of the accelerator pedal is greater than 50% / s, the accelerator depth is greater than 70%, and the accelerator pedal opening degree returns to 0, the first determination is passed.

[0031] Further, the step of identifying the interval time between the second time accelerator pedal is pressed and the first time accelerator pedal is pressed and identifying the depth of the second time accelerator pedal to complete a second determination includes:

[0032] When the first determination is completed, the interval time between the second time accelerator pedal is pressed and the first time accelerator pedal is pressed is less than 2s, and the opening degree of the second time accelerator pedal is greater than 5%, the second determination is passed.

[0033] In a second aspect, the embodiments of the present application provide a driving mode switching system applied to the driving mode switching method, and the system includes:

[0034] The system includes:

[0035] A first switching module is configured to determine whether the vehicle enters an automatic driving state according to current gear information, accelerator pedal state information, and running state information of the vehicle when the vehicle is in a high-pressure preparation state.

[0036] An acquisition module is configured to acquire whether the vehicle exists an artificial intervention operation in real time during an automatic driving process of the vehicle if the vehicle enters the automatic driving state.

[0037] An analysis module is configured to determine whether the artificial intervention operation is a real artificial intervention operation if the vehicle exists the artificial intervention operation.

[0038] A second switching module is configured to generate state switching information to make the vehicle switch from the automatic driving state to the manual driving state if the manual intervention operation is a real manual intervention operation.

[0039] In a third aspect, an embodiment of the present application provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the driving mode switching method according to the first aspect when executing the computer program.

[0040] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the program is executable on a processor to implement the driving mode switching method according to the first aspect.

[0041] Compared with the related art, the present application has the beneficial effects that: when the vehicle is in the starting state, the current gear information, the accelerator pedal state information and the running state information of the vehicle are acquired to complete the starting determination of the manual driving state or the automatic driving state, when the vehicle is in the automatic driving state, the manual intervention operation is acquired to automatically determine whether to switch to the manual driving state, without the need for operation switching through the key or voice mode, avoiding the problem of misoperation caused by misoperation, noise and the like, and further determining whether the manual intervention operation is a real manual intervention operation, increasing multiple determinations, further avoiding the misoperation, and protecting the road and personal safety.

[0042] Details of one or more embodiments of the present application are presented in the following drawings and description to make other features, objects and advantages of the present application more apparent. BRIEF DESCRIPTION OF DRAWINGS

[0043] The accompanying drawings illustrated herein are used to provide further understanding of the present application, and constitute a part of the present application. The illustrative embodiments of the present application and their description serve to explain the present application, and do not constitute an improper limitation of the present application. In the drawings:

[0044] Figure 1 A flowchart of the driving mode switching method in the first embodiment of the present application;

[0045] Figure 2 A driving and gear control signal line diagram in the driving mode switching method in the first embodiment of the present application;

[0046] Figure 3 A flowchart of the driving mode switching method in the second embodiment of the present application;

[0047] Figure 4 A driving and gear control logic diagram of the driving mode switching method in the second embodiment of the present application;

[0048] Figure 5 Fig. 3 is a structural block diagram of a driving mode switching system in a third embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application. Based on the embodiments provided by the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of the present application.

[0050] Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application, and for those of ordinary skill in the art, the present application can be applied to other similar scenarios without creative effort based on the drawings. In addition, it can be understood that although the efforts made in the development process can be complex and lengthy, for those of ordinary skill in the art related to the content disclosed in the present application, some design, manufacture or production changes based on the technical content disclosed in the present application are only routine technical means and should not be understood as insufficient disclosure of the present application.

[0051] In the present application, the phrase "embodiment" means that the specific features, structures or characteristics described in conjunction with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor is it an independent or alternative embodiment that is not mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in the present application can be combined with other embodiments without conflict.

[0052] Unless otherwise defined, technical terms and scientific terms used in the present application shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terms "a", "an", "one", "this", and similar referents in the context of describing the application are to be construed to be inclusive, not exclusive. For example, the use of the term "comprises" or "comprising" or "includes" or "including" or "has" or "having" or "contains" or "containing" or "consists" or "consisting" or "consists of" or "consisting of" to describe certain steps or modules (units) of the processes, methods, systems, products, or devices described herein, is intended to mean that the processes, methods, systems, products, or devices can consist of, but are not limited to, the listed steps or modules (units), and can also include other steps or modules (units) not listed, or can also include other steps or modules (units) inherent to the processes, methods, systems, products, or devices. The terms "connected", "coupled", or "linked" or similar terms in the context of the present application are not limited to physical or mechanical connections, but can also include electrical connections, whether direct or indirect. The term "plurality" means two or more. The term "and / or" describes the associated relationship of the associated objects, which means that there can be three relationships, for example, "A and / or B" can mean that A exists alone, A and B exist together, and B exists alone. The character " / " generally represents an "or" relationship between the front and rear associated objects. The terms "first", "second", "third", and the like in the present application are only to distinguish similar objects, and do not represent a specific order for the objects.

[0053] Referring to Figure 1 The driving mode switching method provided by the first embodiment of the present application is completed by the automatic driving mechanism (ADU), the vehicle control mechanism (VCN), the shift control mechanism (SCU), and the peripheral parameter sensor of the vehicle.

[0054] Referring to Figure 2 The automatic driving mechanism, the vehicle control mechanism, and the shift control mechanism are connected by CAN communication, and a certain control strategy is used to ensure the correct execution of the driving torque and the driving range under different driving states (automatic driving state and manual control state).

[0055] The driving control is mainly completed by the automatic driving mechanism (ADU), the vehicle control mechanism (VCU), the accelerator pedal sensor, and the shift sensor. The signal of the accelerator pedal sensor is collected by the vehicle control mechanism (VCU).

[0056] The shift control is mainly completed by the automatic driving mechanism (ADU), the vehicle control mechanism (VCU), and the shift control mechanism (SCU). The signal of the shift sensor is collected by the shift control mechanism (SCU), which collects the shift control intention of the driver and feeds back the target gear requirement of the driver to the vehicle control mechanism (VCU).

[0057] The automatic driving mechanism (ADU) is the control core of the vehicle in the automatic driving state, and controls the operation of the vehicle in the automatic driving state according to the preset driving demand and the accepted vehicle and driving environment parameters, and the automatic driving control strategy.

[0058] The vehicle control mechanism (VCU) is the main control mechanism of the vehicle in the manual control mode, and controls the operation of the vehicle by accepting the driving intention information of the driver, such as the demand of the accelerator pedal and the control demand of the gear, and combining the control strategy. In the automatic driving state, the vehicle control mechanism (VCU) only responds to the gear and torque request of the automatic driving mechanism (ADU), and processes the demand torque and gear requested by the automatic driving mechanism (ADU), controls the motor commutation and power output.

[0059] The gear shift control mechanism (SCU) collects the gear lever operation information of the driver according to the gear sensor, calculates the demand gear of the driver, and feeds back to the vehicle control mechanism (VCU) through CAN communication. In the automatic driving state, the target gear information sent by the gear shift control mechanism (SCU) will not be processed.

[0060] The method comprises steps S10 to S40:

[0061] Step S10: When the vehicle is in a high-pressure preparation state, whether the vehicle enters an automatic driving state is judged according to the current gear information, the accelerator pedal state information and the running state information of the vehicle;

[0062] Specifically, after the vehicle is powered on, each controller in the vehicle completes self-checking and initialization, and has communication function, and the vehicle enters a high-pressure preparation state by the driver operating the high pressure.

[0063] When the vehicle meets the driving conditions: the vehicle is in a high-pressure preparation state, the vehicle has no system failure, etc., the automatic driving mechanism (ADU) detects the manual operation signal: such as gear shifting, stepping on the accelerator pedal, etc., the vehicle enters a manual driving state, feeds back the automatic driving prohibition enabling signal to the vehicle control mechanism (VCU), and sends the target demand gear as N gear and the target demand torque as zero torque; After the vehicle control mechanism (VCU) identifies the related signals of the automatic driving mechanism (ADU), the target gear request sent by the gear shift control mechanism (SCU) through the gear shift lever operated by the driver and the driving demand torque obtained by analyzing the accelerator pedal are used to control the driving of the vehicle.

[0064] It can be understood that when the automatic driving mechanism (ADU) does not detect the manual operation signal, the vehicle enters an automatic driving state.

[0065] Step S20: If the vehicle enters the automatic driving state, whether there is manual intervention operation in the automatic driving process of the vehicle is acquired in real time;

[0066] If the vehicle is in the manual driving state, the automatic driving mechanism (ADU) detects that the current actual gear is N gear, and the vehicle is in the high-pressure preparation state, has no fault, has no throttle pedal and gear operation, and determines that the current is allowed to enter the automatic driving state. The automatic driving mechanism (ADU) sends the driving enable and target gear enable to be allowed, and requests the target demand gear and demand torque, the vehicle control mechanism (VCU) feeds back the actual gear (D / R) signal, the automatic driving mechanism (ADU) arbitrates the gear, requests the target driving torque, and drives the vehicle to run. In the automatic driving state, the driving mode is changed by acquiring the manual intervention operation.

[0067] Step S30: If the vehicle has a manual intervention operation, whether the manual intervention operation is a real manual intervention operation is determined;

[0068] Step S40: If the manual intervention operation is a real manual intervention operation, state switching information is generated to make the vehicle enter the manual driving state from the automatic driving state;

[0069] It can be understood that when the vehicle is in the manual driving state, the parking work of the vehicle can be completed according to the manual control of the driver, and when the vehicle is in the automatic driving state, the automatic driving state is exited normally after detecting that the current driving task is completed. The automatic driving mechanism (ADU) will identify the current vehicle surrounding environment, select a safe and reasonable parking position, and remind the driver to take over. At this time, the automatic driving mechanism (ADU) will request to exit the control of the driving and gear, send the target driving and gear control enable to be not allowed, request the target gear demand to be N gear, and request the demand torque to be 0. The vehicle control mechanism (VCU) responds to the target gear request of the gear control mechanism (SCU) and the demand torque of the driver's throttle plate.

[0070] In the vehicle in the starting state, the current gear information, throttle pedal state information and running state information of the vehicle are acquired to complete the starting determination of the manual driving state or the automatic driving state, and when the vehicle is in the automatic driving state, whether the manual driving state needs to be entered is automatically determined by acquiring the manual intervention operation, without the need for operation switching through the key or voice mode, avoiding the misoperation, noise and other situations leading to misoperation. Further, by determining whether the manual intervention operation is a real manual intervention operation, multiple determinations are increased, further avoiding the misoperation, and ensuring the road and personal safety.

[0071] Please refer to Figure 3The second embodiment of the present application provides a driving mode switching method, which comprises the following steps:

[0072] Please refer to Figure 4 Step S100: when the vehicle is in a high-pressure preparation state, performing fault detection on the vehicle;

[0073] The fault detection comprises self-checking and initialization of each controller of the vehicle, whether the communication function of the vehicle is normal, etc.

[0074] Step S101: if the vehicle has no fault, obtaining current gear information and accelerator pedal state information of the vehicle after a preset time;

[0075] Preferably, the preset time is 10s, and by setting the preset time, sufficient time is provided for the vehicle to determine the driving state, and sufficient time is provided for the driver to perform corresponding operation.

[0076] Step S102: if the current gear information of the vehicle is N gear and the accelerator pedal is not stepped on, determining that the vehicle enters an automatic driving state;

[0077] Step S103: if the current gear information of the vehicle is D gear and the accelerator pedal is stepped on, determining that the vehicle enters a manual driving state.

[0078] Understandably, if the current gear information is D gear and it is not detected that the accelerator pedal is stepped on, at this time, it is determined that the gear is misengaged, and the vehicle re-determines the driving mode.

[0079] Step S104: if the vehicle enters the automatic driving state, detecting whether there is an accelerator pedal stepping operation, and if there is an accelerator pedal stepping operation, obtaining a manual intervention driving intention;

[0080] Step S105: detecting whether there is a gear shifting operation, and if there is a gear shifting operation, obtaining a manual intervention gear intention;

[0081] Step S106: determining whether the manual intervention operation exists by obtaining the manual intervention driving intention and the manual intervention gear intention.

[0082] Step S107: if the vehicle has the manual intervention operation, identifying the depth and the rate of change of one-time stepping of the accelerator pedal to complete one-time determination;

[0083] Specifically, the depth and the rate of change of one-time stepping of the accelerator pedal are identified to complete one-time determination. Further, when the rate of change of the accelerator pedal is greater than 50% / s, the accelerator depth of the accelerator pedal is greater than 70%, and the opening degree of the accelerator pedal returns to 0, the one-time determination is completed.

[0084] It can be understood that if the depth of the first time stepping on the accelerator pedal is less than 70% or the rate of change of the first time stepping on the accelerator pedal is less than 50% / s, it is determined as a false stepping operation, and the following step S108 is not performed.

[0085] Step S108: identifying the interval time between the second time stepping on the accelerator pedal and the first time stepping on the accelerator pedal, and identifying the depth of the second time stepping on the accelerator pedal, to complete the second determination;

[0086] Specifically, after the first determination is completed, the interval time between the second time stepping on the accelerator pedal and the first time stepping on the accelerator pedal is less than 2s, and the opening of the second time stepping on the accelerator pedal is greater than 5%, the second determination is completed.

[0087] If the interval time between the first time stepping on the accelerator pedal and the second time stepping on the accelerator pedal is too long, it can be determined that there is no relevance between the two stepping operations, and the second determination is stopped.

[0088] Step S109: determining whether the artificial intervention driving intention is a real acceleration intention through the first determination and the second determination;

[0089] Step S110: identifying the gear state change when the gear lock button is unlocked to complete the gear demand determination;

[0090] Specifically, when the driver needs to switch gears in the automatic driving state, the gear lock button needs to be unlocked first, and after the unlocking is completed, the gear state change is identified to complete the gear demand determination;

[0091] Step S111: identifying the brake pedal state change to complete the brake demand determination;

[0092] Step S112: determining whether the artificial intervention gear intention is a real gear engagement intention through the gear demand determination and the brake demand determination;

[0093] The shift control unit (SCU) identifies that the required gear changes: after the gear lever signal is switched from D gear to non-D gear state, it is identified that the brake pedal is in the depressed state, that is, the double determination is completed. Further determine that the artificial intervention gear intention is the real gear engagement intention.

[0094] Step S113: if the artificial intervention driving intention is the real acceleration intention, and the artificial intervention gear intention is the real gear engagement intention, it is determined that the artificial intervention operation is the real artificial intervention operation.

[0095] Step S114: If the manual intervention operation is a real manual intervention operation, state switching information is generated to make the vehicle switch from the automatic driving state to the manual driving state.

[0096] It can be understood that the manual intervention mode in the automatic driving state is divided into a manual intervention driving mode and a manual intervention gear mode. In the automatic driving state, the vehicle control mechanism (VCU) needs to detect the state of the accelerator pedal. When the vehicle control mechanism (VCU) identifies the manual intervention accelerator pedal, i.e., the accelerator pedal is stepped on, the vehicle control mechanism (VCU) will send a driving intervention signal. After the automatic driving mechanism (ADU) receives the driving intervention signal sent by the vehicle control mechanism (VCU), it is judged whether it is a real manual intervention operation of the driver, and after confirmation, the driving control enable is not allowed, and the requested torque is set to 0. After the vehicle control mechanism (VCU) identifies that the automatic driving state is exited by the automatic driving mechanism (ADU), it is switched to the manual intervention driving mode, and responds to the demand torque requested by the driver through the accelerator pedal. At the same time, the vehicle control mechanism (VCU) needs to perform transition processing on the automatic driving torque and the accelerator pedal torque switching process.

[0097] In the automatic driving state, the gear control mechanism (SCU) will always detect the gear intervention. When the gear sensor detects the driver's gear shifting action, the gear control mechanism (SCU) will always send a manual intervention gear signal to the automatic driving mechanism (ADU) until the intervention is terminated or the automatic driving mechanism (ADU) releases the gear control function. After the automatic driving mechanism (ADU) receives the manual intervention gear signal from the gear control mechanism (SCU), it is judged whether it is a real manual intervention operation of the driver, and after confirmation, the gear control enable is not allowed, and the target gear is adjusted to N gear. After the vehicle control mechanism (VCU) identifies that the vehicle exits the automatic driving state, it is switched to the manual intervention gear mode, and responds to the target gear demand issued by the driver through the gear control mechanism (SCU).

[0098] Under normal circumstances, when driving intervention and gear intervention exist at the same time, the automatic driving mechanism (ADU) will release the driving control and the gear control at the same time; when only the driving intervention signal exists and is confirmed, the automatic driving mechanism (ADU) will retain the gear control and release the driving control first; when the gear intervention signal appears subsequently and is confirmed, the automatic driving mechanism (ADU) will release the gear control. When only the gear intervention signal exists and is confirmed, and the driving intervention signal is not confirmed, the automatic driving mechanism (ADU) will not release the gear control.

[0099] Please refer to Figure 5A third embodiment of the present application provides a driving mode switching system applied to the driving mode switching method, which has been described above. As used below, the terms "module", "unit", "sub-unit", and the like can be a combination of software and / or hardware that implements a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware, or a combination of software and hardware is also possible and contemplated.

[0100] The system comprises:

[0101] A first switching module 10 is configured to determine whether the vehicle enters an automatic driving state according to current gear information, accelerator pedal state information, and running state information of the vehicle when the vehicle is in a high-pressure preparation state.

[0102] Preferably, the first switching module 10 comprises:

[0103] A first unit is configured to perform fault detection on the vehicle.

[0104] A second unit is configured to obtain the current gear information and the accelerator pedal state information of the vehicle after a preset time if the vehicle has no fault.

[0105] A third unit is configured to determine that the vehicle enters the automatic driving state if the current gear information of the vehicle is N gear and the accelerator pedal is not stepped on.

[0106] A fourth unit is configured to determine that the vehicle enters a manual driving state if the current gear information of the vehicle is D gear and the accelerator pedal is stepped on.

[0107] An obtaining module 20 is configured to obtain whether there is a manual intervention operation in the automatic driving process of the vehicle if the vehicle enters the automatic driving state.

[0108] The obtaining module 20 comprises:

[0109] A fifth unit is configured to detect whether there is a stepped-on accelerator pedal operation if the vehicle enters the automatic driving state, and obtain a manual intervention driving intention if there is a stepped-on accelerator pedal operation.

[0110] A sixth unit is configured to detect whether there is a gear shifting operation, and obtain a manual intervention gear intention if there is a gear shifting operation.

[0111] A seventh unit is configured to determine whether there is the manual intervention operation by obtaining the manual intervention driving intention and the manual intervention gear intention.

[0112] The analysis module 30 is configured to determine whether the manual intervention operation is a real manual intervention operation if the vehicle has the manual intervention operation.

[0113] Preferably, the analysis module 30 comprises:

[0114] The eighth unit is configured to identify the depth and the rate of change of the first time of stepping on the accelerator pedal to complete a first determination.

[0115] The ninth unit is configured to identify the interval time between the second time of stepping on the accelerator pedal and the first time of stepping on the accelerator pedal, and identify the depth of the second time of stepping on the accelerator pedal to complete a second determination.

[0116] The tenth unit is configured to determine whether the manual intervention driving intention is a real acceleration intention through the first determination and the second determination.

[0117] The eleventh unit is configured to identify the gear state change when the gear lock button is unlocked to complete a gear demand determination.

[0118] The twelfth unit is configured to identify the brake pedal state change to complete a brake demand determination.

[0119] The thirteenth unit is configured to determine whether the manual intervention gear intention is a real gear intention through the gear demand determination and the brake demand determination.

[0120] The fourteenth unit is configured to determine that the manual intervention operation is the real manual intervention operation if the manual intervention driving intention is the real acceleration intention and the manual intervention gear intention is the real gear intention.

[0121] The second switching module 40 is configured to generate state switching information to make the vehicle enter from the automatic driving state to the manual driving state if the manual intervention operation is the real manual intervention operation.

[0122] Preferably, the driving mode switching system further comprises a parking module configured to normally exit the automatic driving state when the vehicle is in the automatic driving state and it is detected that the current driving task is completed.

[0123] The application further provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the driving mode switching method as described in the above technical solution when executing the computer program.

[0124] The application further provides a computer readable storage medium having a computer program stored thereon, and the program is executable on a processor to implement the driving mode switching method as described in the above technical solution.

[0125] Any combination of the technical features in the above-described embodiments can be made. For the sake of brevity, the foregoing description is not intended to be exhaustive or to limit the scope of the patent to the precise form disclosed. Modifications or variations are possible in light of the above teachings. The implementing embodiments were chosen and described to provide the best illustration of the principles of the patent and its practical application, and to enable one of ordinary skill in the art to utilize the patent. Other embodiments are possible.

[0126] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope. It should be pointed out that, for those skilled in the art, some modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A method for switching driving modes, characterized in that, Includes the following steps: When the vehicle is in a high-voltage preparation state, it is determined whether the vehicle has entered an autonomous driving state based on the vehicle's current gear information, accelerator pedal status information, and operating status information. The step of determining whether the vehicle has entered autonomous driving mode based on the vehicle's current gear information, accelerator pedal status information, and operating status information includes: Perform fault detection on the vehicle; If the vehicle is fault-free, the current gear information and accelerator pedal status information of the vehicle will be obtained after a preset time. If the vehicle's current gear is N and the accelerator pedal is not pressed, then the vehicle is determined to be in autonomous driving mode. After the step of obtaining the vehicle's current gear information and accelerator pedal status information after a preset time, the method further includes: If the vehicle's current gear is D and the accelerator pedal is pressed, then the vehicle is determined to be in manual driving mode. If the vehicle enters autonomous driving mode, whether there is any human intervention in the vehicle during the autonomous driving process is obtained in real time. The step of obtaining in real time whether there is human intervention in the vehicle during the autonomous driving process includes: Detect whether the accelerator pedal is pressed. If the accelerator pedal is pressed, obtain the intention of human intervention. Detect whether there is a gear shifting operation; if so, obtain the intention of manual intervention in the gear selection. By acquiring the intention to drive the manual intervention and the intention to shift gears, it is determined whether the manual intervention operation exists. If the vehicle is subject to manual intervention, determine whether the manual intervention is a genuine manual intervention. The step of determining whether the manual intervention operation is a genuine manual intervention operation includes: Identify the depth and rate of change of pressing the accelerator pedal once to complete a judgment; The specific steps for identifying the depth and rate of change of the accelerator pedal during a single press to complete a judgment are as follows: When the rate of change of the accelerator pedal is detected to be greater than 50% / s and the accelerator pedal depth is greater than 70%, the opening of the accelerator pedal returns to 0, and the first determination is passed. The time interval between the second press of the accelerator pedal and the first press of the accelerator pedal is identified, and the depth of the second press of the accelerator pedal is identified to complete the second determination; The steps of identifying the interval between the second press of the accelerator pedal and the first press of the accelerator pedal, and identifying the depth of the second press of the accelerator pedal to complete the second determination are as follows: After the first determination is completed, if the interval between the second pressing of the accelerator pedal and the first pressing of the accelerator pedal is less than 2 seconds, and the opening of the second pressing of the accelerator pedal is greater than 5%, then the second determination is passed. The first and second determinations are used to determine whether the intention of artificial intervention is a genuine intention to accelerate. When the gear lock button is unlocked, the gear status change is detected to complete the gear requirement determination; Identify changes in the brake pedal state to determine braking demand; By determining the gear requirement and the braking requirement, it is determined whether the intention to manually intervene in the gear shift is a genuine intention to shift gears. If the intention of the manual intervention is the actual acceleration intention, and the intention of the manual intervention is the actual gear shifting intention, then the manual intervention operation is determined to be the actual manual intervention operation. If the manual intervention is a real manual intervention, then state switching information is generated to enable the vehicle to switch from autonomous driving to manual driving.

2. A driving mode switching system, applied to the driving mode switching method as described in claim 1, characterized in that, The system includes: The first switching module is used to determine whether the vehicle has entered an autonomous driving state based on the vehicle's current gear information, accelerator pedal status information, and operating status information when the vehicle is in a high-voltage preparation state. The first switching module includes: The first unit is used to perform fault detection on the vehicle; The second unit is used to acquire the current gear information and accelerator pedal status information of the vehicle after a preset time if the vehicle is fault-free. The third unit is used to determine that the vehicle has entered an autonomous driving state if the current gear information of the vehicle is N gear and the accelerator pedal is not pressed. The fourth unit is used to determine that the vehicle has entered a manual driving state if the current gear information of the vehicle is D gear and the accelerator pedal is pressed. The acquisition module is used to acquire, in real time, whether there is any human intervention in the vehicle during the autonomous driving process if the vehicle enters the autonomous driving state. The acquisition module includes: The fifth unit is used to detect whether the accelerator pedal is pressed when the vehicle enters the autonomous driving state, and if the accelerator pedal is pressed, to obtain the intention of human intervention in driving. The sixth unit is used to detect whether there is a gear shifting operation. If there is a gear shifting operation, it obtains the intention of manual intervention in the gear position. The seventh unit is used to determine whether the manual intervention operation exists by acquiring the manual intervention driving intention and the manual intervention gear intention; The analysis module is used to determine whether the manual intervention operation is a genuine manual intervention operation if the vehicle has a manual intervention operation. The analysis module includes: The eighth unit is used to identify the depth and rate of change of pressing the accelerator pedal once to complete a judgment. The eighth unit is also used to determine that when the rate of change of the accelerator pedal is greater than 50% / s and the accelerator pedal depth is greater than 70%, the opening of the accelerator pedal returns to 0. The ninth unit is used to identify the interval between the second pressing of the accelerator pedal and the first pressing of the accelerator pedal, and to identify the depth of the second pressing of the accelerator pedal, so as to complete the second determination. The ninth unit is also used to ensure that, after the first determination is completed, the interval between the second pressing of the accelerator pedal and the first pressing of the accelerator pedal is less than 2 seconds, and the opening of the second pressing of the accelerator pedal is greater than 5%, and thus passes the second determination. The tenth unit is used to determine whether the intention of artificial intervention is a genuine acceleration intention through the first determination and the second determination. The eleventh unit is used to identify changes in gear status when the gear lock button is unlocked, so as to complete the gear requirement determination; The twelfth unit is used to identify changes in the brake pedal state in order to determine braking demand. The thirteenth unit is used to determine whether the intention to manually intervene in gear shifting is a genuine intention to engage a gear by using the gear shift demand determination and the braking demand determination. The fourteenth unit is used to determine that the manual intervention operation is the real manual intervention operation if the manual intervention driving intention is the real acceleration intention and the manual intervention gear intention is the real gear shifting intention. The second switching module is used to generate state switching information if the manual intervention operation is a real manual intervention operation, so that the vehicle can switch from the autonomous driving state to the manual driving state.

3. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the driving mode switching method as described in claim 1.

4. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the driving mode switching method as described in claim 1.

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