Automatic driving lateral motion control takeover method, device, system and vehicle

Abstract

The present invention discloses a method, device, system, and vehicle for taking over lateral motion control for autonomous driving. The method comprises: obtaining the hand torque applied to the steering wheel, the duration of the hand torque, and the current vehicle speed; determining a corresponding takeover condition based on the current vehicle speed; and controlling the electronic power steering system to exit the lateral motion control function when the hand torque and the duration of the hand torque meet the takeover condition. The method uses different takeover conditions at different vehicle speeds, and controls the electronic power steering system to exit the lateral motion control function when the hand torque and the duration of the hand torque meet the takeover condition corresponding to the current vehicle speed, thereby enabling the driver to quickly and safely take over steering wheel control at different vehicle speeds.

Description

Technical Field

[0001] The present invention relates to the field of control technology, and in particular to a method, device, system, vehicle and equipment for taking over lateral motion control of autonomous driving. Background Art

[0002] With the development of social and economic levels, the autonomous driving function of vehicles is mainly realized by longitudinal motion control and lateral motion control. The lateral control of autonomous driving is divided into two scenarios: high-speed driving and low-speed parking.

[0003] In the current driver takeover strategy for lateral motion control, when the vehicle is driving at high speed, the driver needs to meet two conditions: the hand torque value is greater than a preset value and continues for a preset fixed time before taking over the steering wheel. However, at high speeds, unexpected steering is likely to occur. If the hand torque is small, the takeover conditions cannot be met and the driver cannot take over. If the hand torque is large, the hand is likely to hit the hand, resulting in a poor driving experience and safety risks. Summary of the Invention

[0004] Based on the above problems, the present invention provides a method, device, system, vehicle and equipment for taking over lateral motion control of autonomous driving, which can quickly and safely enable the driver to take over steering wheel control under different vehicle speed conditions.

[0005] The present invention discloses the following technical solutions:

[0006] A first aspect of the present invention provides a method for taking over lateral motion control of an autonomous driving vehicle, comprising:

[0007] Acquire the hand torque applied to the steering wheel, the duration of the hand torque, and the current vehicle speed;

[0008] Determining a corresponding takeover condition according to the current vehicle speed;

[0009] When the hand torque and the duration of the hand torque meet the takeover condition, the electronic power steering system is controlled to exit the lateral motion control function.

[0010] In one possible implementation, determining the corresponding takeover condition based on the current vehicle speed includes:

[0011] When the current vehicle speed is greater than or equal to the vehicle speed threshold, determining a first takeover condition;

[0012] The first takeover condition includes: an integral value of the hand torque over the duration is greater than or equal to an integral threshold.

[0013] In one possible implementation, determining the corresponding takeover condition based on the current vehicle speed includes:

[0014] When the current vehicle speed is less than the vehicle speed threshold, determining the second takeover condition;

[0015] The second takeover condition includes: the hand torque is greater than a torque threshold, and the duration of the hand torque is greater than a time threshold.

[0016] In one possible implementation, when the hand torque and the duration of the hand torque meet the takeover condition, controlling the electronic power steering system to exit the lateral motion control function includes:

[0017] When the hand torque and the duration of the hand torque meet the takeover condition, a request to exit lateral control is sent to the electronic power steering system, so that the electronic power steering system exits lateral motion control of the vehicle in response to the request to exit lateral control.

[0018] A second aspect of the present invention provides an automatic driving lateral motion control takeover device, comprising:

[0019] an acquisition unit, configured to acquire a hand torque applied to the steering wheel, a duration of the hand torque, and a current vehicle speed;

[0020] a takeover condition determination unit, configured to determine a corresponding takeover condition according to the current vehicle speed;

[0021] The control unit is used to control the electronic power steering system to exit the lateral motion control function when the hand torque and the duration of the hand torque meet the takeover condition.

[0022] In a possible implementation, the takeover condition determination unit is specifically configured to:

[0023] When the current vehicle speed is greater than or equal to the vehicle speed threshold, determining a first takeover condition;

[0024] The first takeover condition includes: an integral value of the hand torque over the duration is greater than or equal to an integral threshold.

[0025] In a possible implementation, the takeover condition determination unit is specifically configured to:

[0026] When the current vehicle speed is less than the vehicle speed threshold, determining the second takeover condition;

[0027] The second takeover condition includes: the hand torque is greater than a torque threshold, and the duration of the hand torque is greater than a time threshold.

[0028] A third aspect of the present invention provides a vehicle, comprising a controller, which is used to execute the automatic driving lateral motion control takeover method as described in any one of the first aspects of the present invention.

[0029] The fourth aspect of the present invention provides an autonomous driving lateral motion control takeover device, characterized in that it includes: a memory, a processor, and a computer program stored on the memory and runnable on the processor. When the processor executes the computer program, it implements the autonomous driving lateral motion control takeover method as described in any one of the first aspects of the present invention.

[0030] A fifth aspect of the present invention provides an autonomous driving lateral motion control takeover system, comprising: an intelligent driving controller and an electronic power steering system;

[0031] The electronic power steering system is used to control the lateral movement of the vehicle in the automatic driving state;

[0032] The intelligent driving controller is used to obtain the hand torque applied to the steering wheel, the duration of the hand torque and the current vehicle speed; determine the corresponding takeover condition based on the current vehicle speed; when the hand torque and the duration of the hand torque meet the takeover condition, control the electronic power steering system to exit the lateral motion control function.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] The present invention provides a method for taking over lateral motion control for an autonomous driving vehicle, comprising: obtaining a hand torque applied to the steering wheel, the duration of the hand torque, and the current vehicle speed; determining a corresponding takeover condition based on the current vehicle speed; and controlling an electronic power steering system to exit a lateral motion control function when the hand torque and the duration of the hand torque satisfy the takeover condition. This method uses different takeover conditions at different vehicle speeds, controlling the electronic power steering system to exit the lateral motion control function when the hand torque and the duration of the hand torque satisfy the takeover condition corresponding to the current vehicle speed, thereby enabling the driver to quickly and safely take over steering wheel control at different vehicle speeds. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 A flow chart of a method for taking over lateral motion control of an autonomous driving system provided by an embodiment of the present invention;

[0037] Figure 2 A schematic diagram of an application scenario of an autonomous driving lateral motion control takeover method provided in an embodiment of the present application;

[0038] Figure 3 This is a structural diagram of an autonomous driving lateral motion control takeover system provided by an embodiment of the present invention;

[0039] Figure 4 A structural diagram of an electronic device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0040] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0041] As mentioned above, in the current driver takeover strategy for lateral motion control, when the vehicle is driving at high speed, the driver needs to meet two conditions: the hand torque value is greater than the preset value and the hand torque value is maintained for a preset fixed time before taking over the steering wheel. However, at high speeds, unexpected steering is likely to occur. If the hand torque is small, the driver cannot take over. If the hand torque is large, it is easy to hit the hand, resulting in a poor driving experience and safety risks.

[0042] In view of this, an embodiment of the present invention provides a method, apparatus, system, vehicle, and equipment for taking over lateral motion control for autonomous driving. The method includes: obtaining the hand torque applied to the steering wheel, the duration of the hand torque, and the current vehicle speed; determining a corresponding takeover condition based on the current vehicle speed; and controlling the electronic power steering system to exit the lateral motion control function when the hand torque and the duration of the hand torque meet the takeover condition. The method has different takeover conditions at different vehicle speeds, and controls the electronic power steering system to exit the lateral motion control function when the hand torque and the duration of the hand torque meet the takeover condition corresponding to the current vehicle speed, so that the driver can quickly and safely take over steering wheel control under different vehicle speed conditions.

[0043] See also Figure 1 , which is a flow chart of a method for taking over lateral motion control of an autonomous driving system provided by an embodiment of the present invention. This method can be applied to an intelligent driving controller, such as Figure 1 As shown, the method includes:

[0044] S110 : Acquire the hand torque applied to the steering wheel, the duration of the hand torque, and the current vehicle speed.

[0045] In this embodiment, it can be understood that in the automatic driving mode, when the driver does not control the steering wheel, the pressure value collected by the pressure sensor will be lower than the preset pressure threshold. When the pressure value collected by the pressure sensor suddenly increases and is higher than the preset pressure threshold, it indicates that the driver has started to control the current steering wheel. At this time, the torque sensor is immediately enabled to collect the torque input by the driver on the current steering wheel in real time through the torque sensor.

[0046] S120. Determine corresponding takeover conditions according to the current vehicle speed.

[0047] For autonomous driving, lateral control is divided into two scenarios: high-speed driving and low-speed parking. Due to the different motion physical conditions in the two scenarios, different takeover conditions are set for different vehicle speed scenarios.

[0048] The present invention provides a specific implementation of S120, as described in A1-A2:

[0049] In one possible implementation, S120 includes:

[0050] A1: When the current vehicle speed is greater than or equal to the vehicle speed threshold, a first takeover condition is determined; the first takeover condition includes: the integral value of the hand torque over the duration is greater than or equal to the integral threshold.

[0051] When the torque is large enough, the integral value of the hand torque over a shorter duration will be greater than the integral threshold, thereby enabling the driver to take over lateral motion control in a shorter time and avoid hand-slapping.

[0052] A2: When the current vehicle speed is less than the vehicle speed threshold, a second takeover condition is determined; the second takeover condition includes: the hand torque is greater than the torque threshold, and the duration of the hand torque is greater than the time threshold.

[0053] In this embodiment, the vehicle speed threshold is 20 kph. A speed greater than 20 kph is considered a high speed, and a speed less than 20 kph is considered a low speed.

[0054] When the vehicle is traveling at low speed, the steering angle and steering speed required for lateral control are larger than those at high speed, which will generate a larger hand torque. If an equivalent integral strategy is adopted, it will cause frequent exit of lateral control at low speed. Therefore, the hand torque is greater than the torque threshold and the duration of the hand torque is greater than the time threshold as the takeover condition.

[0055] S130: When the hand torque and the duration of the hand torque meet a takeover condition, control the electronic power steering system to exit the lateral motion control function.

[0056] When the Electric Power Steering (EPS) system controls lateral motion, the torque applied to the steering wheel and the duration of the torque are collected. When the torque and duration meet the takeover conditions, it indicates that the driver wants to control the lateral motion. At this time, the electronic power steering system needs to exit the lateral motion control of the vehicle.

[0057] The embodiment of the present invention has different takeover conditions at different vehicle speeds. When the hand torque and the duration of the hand torque meet the takeover conditions corresponding to the current vehicle speed, the electronic power steering system is controlled to exit the lateral motion control function, so that the driver can quickly and safely take over steering wheel control under different vehicle speed conditions.

[0058] In one possible implementation, when the hand torque and the duration of the hand torque meet the takeover condition, controlling the electronic power steering system to exit the lateral motion control function includes:

[0059] When the hand torque and the duration of the hand torque meet the takeover condition, a request to exit lateral control is sent to the electronic power steering system, so that the electronic power steering system exits lateral motion control of the vehicle in response to the request to exit lateral control.

[0060] See also Figure 2 , which is a schematic diagram of an application scenario of an automatic driving lateral motion control takeover method provided by an embodiment of the present invention. Figure 2 As shown, the intelligent driving controller collects hand torque and hand torque duration detected by sensors on the steering wheel. When the current vehicle speed is in the high-speed range, if the first takeover condition is met (i.e., the integral of the hand torque over the duration is greater than an integral threshold), a request to exit lateral control is sent to the electronic power steering system, causing the electronic power steering system to exit lateral control of the vehicle in response to the request. When the current vehicle speed is in the low-speed range, if the second takeover condition is met (i.e., the hand torque is greater than the torque threshold and the duration of the hand torque is greater than a time threshold), a request to exit lateral control is sent to the electronic power steering system, causing the electronic power steering system to exit lateral control of the vehicle in response to the request.

[0061] See also Figure 3 , This figure is a structural diagram of an automatic driving lateral motion control takeover system according to an embodiment of the present invention. Figure 3 As shown, the system includes:

[0062] an acquisition unit 310 for acquiring a hand torque applied to the steering wheel, a duration of the hand torque, and a current vehicle speed;

[0063] A takeover condition determination unit 320 is configured to determine a corresponding takeover condition according to the current vehicle speed;

[0064] The control unit 330 is configured to control the electronic power steering system to exit the lateral motion control function when the hand torque and the duration of the hand torque meet the takeover condition.

[0065] The embodiment of the present invention has different takeover conditions at different vehicle speeds. When the hand torque and the duration of the hand torque meet the takeover conditions corresponding to the current vehicle speed, the electronic power steering system is controlled to exit the lateral motion control function, so that the driver can quickly and safely take over steering wheel control under different vehicle speed conditions.

[0066] In a possible implementation, the takeover condition determination unit 320 is specifically configured to:

[0067] When the current vehicle speed is greater than or equal to the vehicle speed threshold, determining a first takeover condition;

[0068] The first takeover condition includes: an integral value of the hand torque over the duration is greater than or equal to an integral threshold.

[0069] In a possible implementation, the takeover condition determination unit 320 is specifically configured to:

[0070] When the current vehicle speed is less than the vehicle speed threshold, determining the second takeover condition;

[0071] The second takeover condition includes: the hand torque is greater than a torque threshold, and the duration of the hand torque is greater than a time threshold.

[0072] In one possible implementation, the control unit 330 is specifically configured to:

[0073] When the hand torque and the duration of the hand torque meet the takeover condition, a request to exit lateral control is sent to the electronic power steering system, so that the electronic power steering system exits lateral motion control of the vehicle in response to the request to exit lateral control.

[0074] An embodiment of the present invention provides an autonomous driving lateral motion control takeover system, comprising: an intelligent driving controller and an electronic power steering system;

[0075] The electronic power steering system is used to control the lateral movement of the vehicle in the automatic driving state;

[0076] The intelligent driving controller is used to obtain the hand torque applied to the steering wheel, the duration of the hand torque and the current vehicle speed; determine the corresponding takeover condition based on the current vehicle speed; when the hand torque and the duration of the hand torque meet the takeover condition, control the electronic power steering system to exit the lateral motion control function.

[0077] In one possible implementation, the intelligent driving controller is specifically used to: determine a first takeover condition when the current vehicle speed is greater than or equal to a vehicle speed threshold; the first takeover condition includes: the integral value of the hand torque over the duration is greater than or equal to the integral threshold.

[0078] In one possible implementation, the intelligent driving controller is specifically used to: determine a second takeover condition when the current vehicle speed is less than a vehicle speed threshold; the second takeover condition includes: the hand torque is greater than the torque threshold, and the duration of the hand torque is greater than the time threshold.

[0079] In one possible implementation, the intelligent driving controller is specifically used to: when the hand torque and the duration of the hand torque meet the takeover conditions, send a request to exit lateral control to the electronic power steering system, so that the electronic power steering system exits lateral motion control of the vehicle in response to the request to exit lateral control.

[0080] An embodiment of the present invention provides a vehicle, comprising a controller, wherein the controller is configured to execute the automatic driving lateral motion control takeover method as described in any one of the first aspects of the present invention.

[0081] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the method for taking over the automatic driving lateral motion control described in the embodiment of the present invention is implemented.

[0082] In practical applications, the computer-readable storage medium can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present embodiment, the computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0083] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0084] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0085] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0086] like Figure 4 As shown, a structural diagram of a computer device provided by an embodiment of the present invention. Figure 4 The computer device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0087] like Figure 4 As shown, computer device 12 is implemented as a general-purpose computing device. Components of computer device 12 may include, but are not limited to, one or more processors or processing units 16, system memory 28, and a bus 18 that connects various system components (including system memory 28 and processing unit 16).

[0088] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0089] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0090] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be configured to read and write non-removable, non-volatile magnetic media ( Figure 4 Not shown, often called a "hard drive"). Although Figure 4 Not shown, a magnetic disk drive for reading and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0091] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may include an implementation of a network environment. Program modules 42 generally implement the functions and / or methods of the embodiments described herein.

[0092] The computer device 12 may also communicate with one or more external devices 14 (e.g., a keyboard, a pointing device, a display 24, etc.), one or more devices that enable a user to interact with the computer device 12, and / or any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may occur through an input / output (I / O) interface 22. Furthermore, the computer device 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 20. Figure 4 As shown, the network adapter 20 communicates with the other modules of the computer device 12 via the bus 18. Figure 4 Not shown, other hardware and / or software modules may be used in conjunction with computer device 12, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0093] The processor unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing the automatic driving lateral motion control takeover method provided in an embodiment of the present invention.

[0094] It should be noted that the term "including" and its variations as used herein are open-ended, i.e., "including but not limited to." The term "based on" means "based, at least in part, on." The term "one embodiment" means "at least one embodiment," the term "another embodiment" means "at least one additional embodiment," and the term "some embodiments" means "at least some embodiments." Definitions of other terms are provided below.

[0095] It should be noted that the concepts of "first" and "second" mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0096] It should be noted that although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

[0097] Although several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present invention. Certain features described in the context of a separate embodiment may also be implemented in combination in a single embodiment. Conversely, the various features described in the context of a single embodiment may also be implemented in multiple embodiments individually or in any suitable sub-combination.

[0098] The above description is merely a preferred embodiment of the present invention and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in the present invention is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also includes other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in the present invention.

Claims

1. A method for taking over lateral motion control of an autonomous driving vehicle, characterized in that: include: Acquire the hand torque applied to the steering wheel, the duration of the hand torque, and the current vehicle speed; Determining a corresponding takeover condition according to the current vehicle speed; When the hand torque and the duration of the hand torque meet the takeover condition, controlling the electronic power steering system to exit the lateral motion control function; Determine the corresponding takeover conditions based on the current vehicle speed, including: When the current vehicle speed is greater than or equal to the vehicle speed threshold, determining a first takeover condition; The first takeover condition includes: the integral value of the hand torque over the duration is greater than or equal to the integral threshold; When the current vehicle speed is less than the vehicle speed threshold, determining the second takeover condition; The second takeover condition includes: the hand torque is greater than a torque threshold, and the duration of the hand torque is greater than a time threshold.

2. The method according to claim 1, characterized in that When the hand torque and the duration of the hand torque meet the takeover condition, controlling the electronic power steering system to exit the lateral motion control function includes: When the hand torque and the duration of the hand torque meet the takeover condition, a request to exit lateral control is sent to the electronic power steering system, so that the electronic power steering system exits lateral motion control of the vehicle in response to the request to exit lateral control.

3. An automatic driving lateral motion control takeover device, characterized in that: include: an acquisition unit, configured to acquire a hand torque applied to the steering wheel, a duration of the hand torque, and a current vehicle speed; a takeover condition determination unit, configured to determine a corresponding takeover condition according to the current vehicle speed; a control unit, configured to control the electronic power steering system to exit the lateral motion control function when the hand torque and the duration of the hand torque meet a takeover condition; The takeover condition determination unit is specifically configured to: When the current vehicle speed is greater than or equal to the vehicle speed threshold, determining a first takeover condition; The first takeover condition includes: the integral value of the hand torque over the duration is greater than or equal to the integral threshold; When the current vehicle speed is less than the vehicle speed threshold, determining the second takeover condition; The second takeover condition includes: the hand torque is greater than a torque threshold, and the duration of the hand torque is greater than a time threshold.

4. A vehicle, characterized in that: It includes a controller, which is used to execute the automatic driving lateral motion control takeover method described in claim 1 or 2.

5. An automatic driving lateral motion control takeover device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for taking over the automatic driving lateral motion control as described in claim 1 or 2 is implemented.

6. An automatic driving lateral motion control takeover system, characterized in that: include: Intelligent driving controller and electronic power steering system; The intelligent driving controller is used to obtain the hand torque applied to the steering wheel, the duration of the hand torque, and the current vehicle speed; and determine the corresponding takeover condition according to the current vehicle speed; When the hand torque and the duration of the hand torque meet a takeover condition, controlling the electronic power steering system to exit the lateral motion control function; Determine the corresponding takeover conditions based on the current vehicle speed, including: When the current vehicle speed is greater than or equal to the vehicle speed threshold, determining a first takeover condition; The first takeover condition includes: the integral value of the hand torque over the duration is greater than or equal to the integral threshold; When the current vehicle speed is less than the vehicle speed threshold, determining the second takeover condition; The second takeover condition includes: the hand torque is greater than a torque threshold, and the duration of the hand torque is greater than a time threshold.

Images