Automatic driving start judgment method and device, vehicle and storage medium

Abstract

The present application relates to an automatic driving start judgment method, device, vehicle and storage medium. The method comprises: acquiring first road curvature data, first vehicle speed data and actual driver hand torque value of the vehicle; comparing the actual driver hand torque value with a pre-set first driver hand torque threshold value in terms of hand torque size, and obtaining a first automatic driving start judgment result according to the comparison result, wherein the first driver hand torque threshold value is the maximum driver hand torque value that meets the automatic driving start condition under the conditions of the first road curvature data and the first vehicle speed data; and controlling the automatic driving function of the vehicle to start according to the first automatic driving start judgment result. When the large road curvature is large, the automatic driving function can be judged and started according to the automatic driving start judgment method provided by the present application, thereby expanding the application scenario of the automatic driving technology.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, in particular to an automatic driving start judgment method and device, a vehicle and a storage medium. BACKGROUND

[0002] Automatic driving technology is the application of artificial intelligence in the field of vehicle driving. By collecting information around the vehicle, the vehicle is controlled to move forward according to a preset path, so that the motor vehicle can realize automatic driving without human active operation. However, the automatic driving technology is not mature yet, and many road conditions still need manual driving. If the switching between automatic driving and manual driving of the vehicle completely depends on the driver, the driving experience of the driver is required to be too high, which is not conducive to the promotion of automatic driving technology. Therefore, the automatic driving system needs to accurately judge whether to start the automatic driving state.

[0003] However, the running start condition judgment of the existing automatic driving system often directly selects to prohibit the use of the automatic driving function of the vehicle when the road curvature is too large. This way limits the use range of the automatic driving function, which is not conducive to the development and popularization of automatic driving. SUMMARY

[0004] One of the purposes of the present application is to provide an automatic driving start judgment method to solve the problem that the automatic driving function in the prior art cannot be applied to roads with large curvature or large curvature fluctuation. The second purpose is to provide an automatic driving start judgment device. The third purpose is to provide a vehicle capable of realizing the automatic driving start judgment method provided by the present application. The fourth purpose is to provide a storage medium capable of realizing the automatic driving start judgment method provided by the present application.

[0005] In order to achieve the above purposes, the technical solutions adopted by the present application are as follows:

[0006] The present application provides an automatic driving start judgment method, comprising:

[0007] obtaining first road curvature data, first vehicle speed data and actual driver hand torque value of the vehicle;

[0008] comparing the actual driver hand torque value with a first driver hand torque threshold value, and obtaining a first automatic driving start judgment result according to the comparison result, wherein the first driver hand torque threshold value is the maximum driver hand torque value that meets the automatic driving start condition under the conditions of the first road curvature data and the first vehicle speed data;

[0009] controlling the automatic driving function of the vehicle to start according to the first automatic driving start judgment result.

[0010] The automatic driving start judgment method provided by the application pre-stores the driver hand torque threshold value related to the vehicle speed and the road curvature, and in the face of roads with different curvatures, the pre-stored driver hand torque threshold value can be retrieved according to the obtained first road curvature data and the first vehicle speed data, and compared with the actual driver hand torque value, so as to quickly judge whether the current environment of the vehicle meets the automatic driving start condition. In the road with large road curvature, if the driver hand torque condition is met, the automatic driving function can also be started, which expands the application scene of the automatic driving technology.

[0011] Further, the automatic driving start judgment method adopted by the application further comprises:

[0012] obtaining a correspondence table of the vehicle speed, the road curvature and the driver hand torque threshold value;

[0013] determining the first driver hand torque threshold value through the correspondence table according to the first road curvature data and the first vehicle speed data.

[0014] According to the above technical means, since the automatic driving start judgment method provided by the application obtains the correspondence table of the vehicle speed, the road curvature and the driver hand torque, when it is necessary to judge whether the actual driver hand torque value meets the start condition of the automatic driving function, the driver hand torque threshold value corresponding to the current vehicle running environment can be obtained through the correspondence table, which improves the judgment efficiency and judgment accuracy of the automatic driving start judgment method.

[0015] Further, the automatic driving start judgment method adopted by the application further comprises:

[0016] obtaining a second driver hand torque threshold value corresponding to a plurality of second road curvature data under the condition of the first vehicle speed data, wherein the second road curvature data comprises the first road curvature data;

[0017] generating a road curvature and driver hand torque threshold value correspondence table according to the second road curvature data and the corresponding second driver hand torque threshold value.

[0018] According to the above technical means, since the corresponding relationship table pre-acquired in the automatic driving start judgment method provided by the application comprises a plurality of different road curvatures under the environmental condition of the first vehicle speed and the corresponding driver hand torque threshold value, under the condition of the same vehicle speed, different driver hand torque threshold values are used as one of the standards for automatic driving start judgment according to the road curvature, which improves the accuracy of the automatic driving start judgment method.

[0019] Further, the automatic driving start judgment method adopted by the application further comprises:

[0020] acquire a third driver hand torque threshold corresponding to a plurality of second vehicle speed data under a condition of first road curvature data, wherein the second vehicle speed data comprises the first vehicle speed data;

[0021] generate a vehicle speed and driver hand torque threshold correspondence table according to the second vehicle speed data and the corresponding third driver hand torque threshold.

[0022] According to the above technical means, since the correspondence table acquired in advance in the automatic driving start judgment method provided by the application includes a plurality of different vehicle speeds and the corresponding driver hand torque thresholds under the condition of the first road curvature, under the same road curvature condition, different driver hand torque thresholds are used as one of the standards for automatic driving start judgment according to the vehicle speed, which improves the accuracy of the automatic driving start judgment method.

[0023] Further, the automatic driving start judgment method adopted by the application further comprises:

[0024] generate a vehicle speed, road curvature and driver hand torque threshold correspondence three-dimensional table according to the road curvature and driver hand torque threshold correspondence table and the vehicle speed and driver hand torque threshold correspondence table.

[0025] According to the above technical means, since the relationship correspondence three-dimensional table of road curvature, vehicle speed and driver hand torque threshold is stored in advance, when the road curvature and vehicle speed are acquired, the driver hand torque threshold can be quickly acquired according to the three-dimensional table stored in advance, which improves the automatic driving start judgment efficiency and ensures that the corresponding driver hand torque threshold can be acquired for various road curvatures and vehicle speeds when the vehicle drives in most road sections, so as to judge whether the vehicle can start the automatic driving function, thereby expanding the application range of the vehicle automatic driving function.

[0026] Further, the automatic driving start judgment method adopted by the application further comprises:

[0027] acquire a vehicle heading angle value of the vehicle;

[0028] acquire a vehicle heading angle threshold corresponding to the first vehicle speed data;

[0029] compare the vehicle heading angle value and the vehicle heading angle threshold in size, and acquire a second automatic driving start judgment result according to the comparison result of the heading angle size and the comparison result of the hand torque size;

[0030] control the vehicle automatic driving function to start according to the first automatic driving start judgment result and the second automatic driving start judgment result.

[0031] The aforementioned technical approach, by adding a heading angle threshold, allows the vehicle's position and centeredness to be determined based on the heading angle, ensuring safety when the autonomous driving system controls the vehicle's longitudinal and lateral motion. This avoids the problem of rapid adjustments to the vehicle's position that can affect the driving experience when the heading angle exceeds the calibrated threshold and the function is activated, and mitigates the risk of collisions caused by vehicles exceeding lateral control capabilities.

[0032] Furthermore, the automatic driving start determination method adopted by the present invention also includes:

[0033] acquiring a plurality of actual driver hand torque values ​​in real time and comparing the values ​​with a first driver hand torque threshold, and recording a duration during which the plurality of actual driver hand torque values ​​are less than the first driver hand torque threshold;

[0034] Comparing the duration with a preset time threshold, and obtaining a third automatic driving start determination result based on the time comparison result, the heading angle comparison result, and the hand torque comparison result;

[0035] The vehicle's automatic driving function is controlled to start according to the first automatic driving start judgment result and the third automatic driving start judgment result.

[0036] According to the above-mentioned technical means, since the automatic driving start judgment method provided by this application also takes into account the duration judgment, it avoids misjudging the actual situation of satisfying automatic driving operation for a short time as a scenario of satisfying automatic driving for a long time and turning on the automatic driving function, thereby ensuring the accuracy of the automatic driving start judgment method.

[0037] The present invention also provides an automatic driving start judgment device, comprising:

[0038] A first acquisition module is used to acquire first road curvature data, first vehicle speed data and an actual driver's hand torque value of the vehicle;

[0039] a first judgment module, configured to compare the actual driver's hand torque value with a preset first driver's hand torque threshold, and obtain a first automatic driving start judgment result based on the hand torque comparison result, wherein the first driver's hand torque threshold is a maximum driver's hand torque value that satisfies the automatic driving start condition under conditions of first road curvature data and first vehicle speed data;

[0040] The first starting module is used to control the start of the vehicle's automatic driving function according to the first automatic driving start judgment result.

[0041] The present invention also provides a vehicle, comprising:

[0042] at least one processor; and,

[0043] a memory in communication connection with the at least one processor; wherein

[0044] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to implement the automatic driving start judgment method described above.

[0045] The application also provides a computer readable storage medium storing a computer program, and the computer program is executed by a processor to implement the automatic driving start judgment method described above.

[0046] The application has the following beneficial effects:

[0047] The automatic driving start judgment method provided by the application pre-stores the driver hand torque threshold value related to the vehicle speed and the road curvature, and in the face of roads with different curvatures, the pre-stored driver hand torque threshold value can be retrieved according to the obtained first road curvature data and the first vehicle speed data, and compared with the actual driver hand torque value obtained, so as to quickly judge whether the current environment of the vehicle meets the automatic driving start condition. In the road with large road curvature, if the driver hand torque condition is met, the automatic driving function can also be started, and the application scene of the automatic driving technology is expanded. BRIEF DESCRIPTION OF DRAWINGS

[0048] One or more embodiments are exemplified by the pictures in the drawings corresponding thereto, which do not constitute a limitation on the embodiments, and the elements with the same reference numerals in the drawings represent similar elements, unless otherwise specified, and the drawings do not constitute a proportional limit.

[0049] Figure 1 is one of the automatic driving start judgment method schematic diagrams provided by the embodiments of the application;

[0050] Figure 2 is the second automatic driving start judgment method schematic diagram provided by the embodiments of the application;

[0051] Figure 3 is the third automatic driving start judgment method schematic diagram provided by the embodiments of the application;

[0052] Figure 4 is the fourth automatic driving start judgment method schematic diagram provided by the embodiments of the application;

[0053] Figure 5 is the fifth automatic driving start judgment method schematic diagram provided by the embodiments of the application;

[0054] Figure 6 is the sixth automatic driving start judgment method schematic diagram provided by the embodiments of the application;

[0055] Figure 7 FIG. 7 is a schematic diagram of a method for automatically determining whether to start a vehicle according to an embodiment of the present application;

[0056] Figure 8 FIG. 8 is a schematic diagram of a process for automatically determining whether to start a vehicle according to an embodiment of the present application;

[0057] Figure 9 FIG. 9 is a schematic diagram of a device for automatically determining whether to start a vehicle according to an embodiment of the present application;

[0058] Figure 10 FIG. 10 is a schematic diagram of a device for automatically determining whether to start a vehicle according to an embodiment of the present application;

[0059] Figure 11 FIG. 11 is a schematic diagram of a device for automatically determining whether to start a vehicle according to an embodiment of the present application;

[0060] Figure 12 FIG. 12 is a schematic diagram of a device for automatically determining whether to start a vehicle according to an embodiment of the present application;

[0061] Figure 13 FIG. 13 is a schematic diagram of a device for automatically determining whether to start a vehicle according to an embodiment of the present application;

[0062] Figure 14 FIG. 14 is a schematic diagram of a device for automatically determining whether to start a vehicle according to an embodiment of the present application;

[0063] Figure 15 FIG. 15 is a schematic diagram of a device for automatically determining whether to start a vehicle according to an embodiment of the present application;

[0064] Figure 16 FIG. 16 is a schematic diagram of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0065] Other advantages and effects of the present application can be easily understood by those skilled in the art from the above description of the preferred embodiments. The present application can be implemented or applied in other different embodiments, and the details in the description can be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, but not for limiting the scope of protection of the present application.

[0066] It should be noted that the diagrams provided in the following embodiments only schematically illustrate the basic concept of the present application, and thus the diagrams only show the components related to the present application, but are not drawn according to the number, shape and size of the components in actual implementation. The shape, number and ratio of the components in actual implementation can be arbitrarily changed, and the layout pattern of the components can be more complicated.

[0067] Since the road curvature affects the steering characteristics and driving stability of the vehicle in autonomous driving, interferes with the accuracy of the dynamic model construction of the autonomous driving vehicle, and an inaccurate dynamic model construction leads to the problems of over-steering and under-steering of the vehicle in autonomous driving when turning, thereby affecting the stability and safety of the autonomous driving vehicle when driving on a curve, the existing vehicles with autonomous driving function often prohibit the start of the autonomous driving function on roads with excessive road curvature, which hinders the development of L3 and above higher levels of autonomous driving technology in SAE J3016 standard.

[0068] The present application introduces the driver hand torque as one of the standards for judging whether the vehicle autonomous driving function can be started. When the driver manually drives the vehicle, the driver needs to judge the steering angle of the front wheels of the vehicle according to the road curvature, and controls the front wheels of the vehicle by rotating the steering wheel with the hands. The driver hand torque value generated by the driver holding the steering wheel can be used to quantify the driver's steering action. According to the SAE J3016 standard, vehicle driving is divided into six levels L0-L5. Except for L0 which does not require the start of the autonomous driving function and L5 which completely relies on the autonomous driving function, L1-L4 involves the switching of the autonomous driving and the driver's manual driving, and the driver's own driving intention needs to be considered. The present application compares the actual driver hand torque with the driver hand torque threshold value to determine whether the driver has a driving intention, and then controls the start of the vehicle autonomous driving function. In addition, comparing the actual driver hand torque with the driver hand torque threshold value can also avoid the situation of starting the autonomous driving function when the steering wheel angle is large due to the excessive driver hand torque, and prevent the problem of rapid change of the steering wheel angle affecting the driver's experience.

[0069] It should be emphasized that the autonomous driving start judgment method provided by the present application is based on the condition that the vehicle meets the start of the autonomous driving function. The remaining conditions of the vehicle include but are not limited to obstacles on the road, weather environment and other conditions that may interfere with the start of the autonomous driving function of the vehicle and pose safety hazards. If the remaining conditions of the vehicle are not met, only when the remaining conditions of the vehicle meet the start of the autonomous driving function, the autonomous driving start judgment method provided by the present application considers the road curvature of the road where the vehicle is located, the vehicle heading angle, the vehicle speed and the driver hand torque, so as to determine whether the vehicle can start the autonomous driving function under the current road curvature environment.

[0070] The first embodiment of the present application relates to an autonomous driving start judgment method, as shown in Figure 1 , comprising:

[0071] Step 101, acquiring first road curvature data, first vehicle speed data and actual driver hand torque value of the vehicle;

[0072] Step 102, comparing the actual driver hand torque value with the pre-set first driver hand torque threshold value, and obtaining a first automatic driving start judgment result according to the hand torque size comparison result, wherein the first driver hand torque threshold value is the maximum driver hand torque value that meets the automatic driving start condition under the condition of the first road curvature data and the first vehicle speed data;

[0073] Step 103, controlling the vehicle automatic driving function to start according to the first automatic driving start judgment result.

[0074] Specifically, the automatic driving start judgment method provided by the present application utilizes sensors such as front-view cameras, surround-view cameras, millimeter-wave radars, and laser radars to perceive information such as first road curvature data, first vehicle speed data, and actual driver hand torque value of the vehicle. Then, the pre-stored first driver hand torque threshold value is compared with the collected actual driver hand torque value. If the actual driver hand torque value is less than the first driver hand torque threshold value, it indicates that the driver has no intention of manual driving, and the difference between the steering wheel angle and the initial state of the steering wheel angle after the automatic driving function is started is not large enough to affect the driving experience. At this time, the automatic driving function can be started. Moreover, the pre-stored first driver hand torque threshold value corresponds to the first vehicle speed data and the first road curvature data, providing a corresponding standard for judging whether to start the automatic driving function under different vehicle driving conditions.

[0075] Since the automatic driving start judgment method provided by the present application pre-stores driver hand torque threshold values related to vehicle speed and road curvature, it can retrieve the pre-stored driver hand torque threshold value according to the obtained first road curvature data and first vehicle speed data when facing roads with different curvatures, and compare it with the obtained actual driver hand torque value, thereby quickly judging whether the current environment of the vehicle meets the automatic driving start condition. In a road with large road curvature, the automatic driving function can also be started if the driver hand torque condition is met, thereby expanding the application scenarios of the automatic driving technology.

[0076] Based on the above-mentioned embodiments, as shown in Figure 2 the automatic driving start judgment method further comprises:

[0077] Step 104, obtaining a correspondence table of vehicle speed, road curvature, and driver hand torque threshold value;

[0078] Step 105, determining the first driver hand torque threshold value through the correspondence table according to the first road curvature data and the first vehicle speed data.

[0079] Specifically, the automatic driving start judgment method provided in the application can establish a correspondence table of vehicle speed, road curvature and driver hand torque threshold, and store the correspondence table in the system corresponding to the automatic driving start judgment. When the automatic driving start judgment method provided in the application has obtained the first vehicle speed data and the first road curvature data, the specific value of the first driver hand torque threshold can be quickly obtained according to the correspondence table, so as to judge whether the vehicle can start the automatic driving function.

[0080] On the basis of the above-mentioned embodiments, since the automatic driving start judgment method provided in the application obtains the correspondence table of vehicle speed, road curvature and driver hand torque, when it is necessary to judge whether the actual driver hand torque value meets the start condition of the automatic driving function, the driver hand torque threshold corresponding to the current vehicle operating environment can be obtained through the correspondence table, thereby improving the judgment efficiency and judgment accuracy of the automatic driving start judgment method.

[0081] On the basis of the above-mentioned embodiments, as shown in Figure 3 The automatic driving start judgment method further comprises:

[0082] Step 401, obtaining a second driver hand torque threshold corresponding to a plurality of second road curvature data under the condition of first vehicle speed data, wherein the second road curvature data comprises the first road curvature data;

[0083] Step 402, generating a road curvature and driver hand torque threshold correspondence table according to the second road curvature data and the corresponding second driver hand torque threshold.

[0084] Specifically, the correspondence table comprises a road curvature and driver hand torque threshold correspondence table under the condition of the first vehicle speed data. When the vehicle maintains the first vehicle speed and drives on the road, the automatic driving start judgment method provided in the application can find the corresponding second driver hand torque threshold according to the change of the road curvature, so as to realize the judgment of whether the vehicle can start the automatic driving function through the driver hand torque threshold. For example, the road curvature and driver hand torque threshold correspondence table under the condition of the first vehicle speed data can be obtained in the following way: the second driver hand torque threshold at which the vehicle can normally activate the automatic driving function when driving to a path with different road curvatures is obtained by pre-acquiring data through a physical vehicle, and the vehicle drives on a road with fluctuating road curvature at the same first vehicle speed. The acquired second driver hand torque threshold and the corresponding second road curvature are recorded to obtain the road curvature and driver hand torque threshold correspondence table under the condition of the first vehicle speed data.

[0085] On the basis of the above-mentioned embodiments, the automatic driving start judgment method provided by the present application includes a plurality of different road curvatures and corresponding driver hand torque threshold values under the environmental conditions of the first vehicle speed in the corresponding relationship table obtained in advance. Under the same vehicle speed conditions, different driver hand torque threshold values are used as one of the standards for automatic driving start judgment according to the road curvature, which improves the accuracy of the automatic driving start judgment method.

[0086] On the basis of the above-mentioned embodiments, as shown in Figure 4 the automatic driving start judgment method further includes:

[0087] Step 403, obtaining a plurality of second vehicle speed data corresponding to the third driver hand torque threshold value under the first road curvature data condition, wherein the second vehicle speed data includes the first vehicle speed data;

[0088] Step 404, generating a vehicle speed and driver hand torque threshold value corresponding table according to the second vehicle speed data and the corresponding third driver hand torque threshold value.

[0089] Specifically, the corresponding relationship table includes a vehicle speed and driver hand torque threshold value corresponding table under the first road curvature data condition. When the vehicle is driving on the road under the first road curvature data condition, the automatic driving start judgment method provided by the present application can obtain the corresponding third driver hand torque threshold value according to the constantly changing vehicle speed, so as to realize the judgment of whether the vehicle can start the automatic driving function through the driver hand torque threshold value. For example, the vehicle speed and driver hand torque threshold value corresponding table under the first road curvature data condition can be obtained in the following way: the third driver hand torque threshold value at which the vehicle can normally activate the automatic driving function when driving at different speeds on the same road curvature path is obtained by collecting data through an entity vehicle under different second vehicle speeds on the same first road curvature. The collected third driver hand torque threshold value and the corresponding second vehicle speed are recorded to obtain the vehicle speed and driver hand torque threshold value corresponding table under the first road curvature data condition.

[0090] On the basis of the above-mentioned embodiments, the automatic driving start judgment method provided by the present application includes a plurality of different road curvatures and corresponding driver hand torque threshold values under the environmental conditions of the first vehicle speed in the corresponding relationship table obtained in advance. Under the same vehicle speed conditions, different driver hand torque threshold values are used as one of the standards for automatic driving start judgment according to the road curvature, which improves the accuracy of the automatic driving start judgment method.

[0091] On the basis of the above-mentioned embodiments, as shown in Figure 5 the automatic driving start judgment method further includes:

[0092] Step 405, generating a three-dimensional table of vehicle speed, road curvature and driver hand torque threshold value according to the road curvature and driver hand torque threshold value correspondence table and the vehicle speed and driver hand torque threshold value correspondence table.

[0093] Specifically, after obtaining the second driver hand torque threshold value and the third driver hand torque threshold value that can normally activate the automatic driving function under different vehicle speeds and different road curvatures, a three-dimensional table of vehicle speed, road curvature and driver hand torque threshold value is prepared for judgment. In order to improve the accuracy of the three-dimensional table, the three-dimensional table can also be corrected by collecting data through multiple driving of the physical vehicle to improve the accuracy.

[0094] On the basis of the above-mentioned embodiments, since the three-dimensional table of the correspondence relationship of road curvature, vehicle speed and driver hand torque threshold value is stored in advance, the driver hand torque threshold value can be quickly obtained according to the pre-stored three-dimensional table after the road curvature and vehicle speed are obtained, which improves the automatic driving start judgment efficiency and ensures that the corresponding driver hand torque threshold value can be obtained for judging whether the vehicle can start the automatic driving function under most road curvatures and vehicle speeds when the vehicle is driving, thereby expanding the application range of the vehicle automatic driving function.

[0095] On the basis of the above-mentioned embodiments, as shown in Figure 6 the automatic driving start judgment method further comprises:

[0096] Step 106, obtaining a vehicle heading angle value of the vehicle;

[0097] Step 107, obtaining a vehicle heading angle threshold value corresponding to the first vehicle speed data;

[0098] Step 108, comparing the vehicle heading angle value and the vehicle heading angle threshold value in size, and obtaining a second automatic driving start judgment result according to the comparison result in size and the comparison result in size of the hand torque;

[0099] Step 109, controlling the vehicle automatic driving function to start according to the first automatic driving start judgment result and the second automatic driving start judgment result.

[0100] Specifically, the automatic driving start judgment method provided by the present application can also use sensors such as front-view cameras, surround-view cameras, millimeter-wave radars, and laser radars to perceive the vehicle heading angle value. The corresponding relationship between different vehicle speeds and the corresponding vehicle heading angle threshold values has been pre-acquired and stored in the corresponding system for automatic driving start judgment, for example, a two-dimensional table of vehicle heading angle threshold values that can normally start the automatic driving function under different vehicle speeds is established. When it is necessary to judge whether the vehicle can start the automatic driving function, the vehicle heading angle value is compared with the vehicle heading angle threshold value, for example, the vehicle heading angle threshold value corresponding to the first vehicle speed data is retrieved in the two-dimensional table of vehicle heading angle threshold values that can normally start the automatic driving function under different vehicle speeds. If the actual vehicle heading angle value is less than the vehicle heading angle threshold value, it is determined that the vehicle automatic driving function can be started, and the automatic driving function is started in combination with the result of the actual driver hand torque value.

[0101] On the basis of the above-mentioned embodiments, since the heading angle threshold value is added, the vehicle body posture and whether the vehicle position information is centered can be determined according to the heading angle, which provides safety guarantee for the automatic driving system to control the longitudinal and lateral motion of the vehicle after the automatic driving function is started. The problem of rapid adjustment of the vehicle body posture and the impact on the driving experience when the heading angle is greater than the calibrated threshold value and the function is activated is avoided, and the collision risk of the vehicle exceeding the lateral control capability is avoided.

[0102] On the basis of the above-mentioned embodiments, as shown in Figure 7 The automatic driving start judgment method further comprises:

[0103] Step 110, real-time acquisition of a plurality of actual driver hand torque values and comparison with a first driver hand torque threshold value, recording the duration that the plurality of actual driver hand torque values are less than the first driver hand torque threshold value;

[0104] Step 111, time comparison of the duration and a preset time threshold value, and acquisition of a third automatic driving start judgment result according to the time comparison result, the heading angle size comparison result, and the hand torque size comparison result;

[0105] Step 112, control of the vehicle automatic driving function start according to the first automatic driving start judgment result and the third automatic driving start judgment result.

[0106] Specifically, the automatic driving start judgment method provided by the present application further records the duration that the actual driver hand torque value is less than the first driver hand torque threshold value and the duration that the vehicle heading angle value is less than the vehicle heading angle threshold value. When the duration that the vehicle automatic driving start condition is met is greater than the pre-set time threshold value, a third automatic driving start judgment result is generated, and the vehicle is controlled to start the automatic driving function.

[0107] On the basis of the above-mentioned implementation mode, since the automatic driving start judgment method provided in this application also takes into account the duration judgment, it avoids misjudging the actual situation of satisfying the automatic driving operation for a short time as a scenario of satisfying the automatic driving operation for a long time and turning on the automatic driving function, thereby ensuring the accuracy of the automatic driving start judgment method.

[0108] Based on the above implementation, this application also provides a schematic diagram of the automatic driving start judgment process, such as Figure 8 As shown, on the basis that all other autonomous driving design and operating conditions meet autonomous driving, when it is necessary to determine whether the current environment is suitable for activating the vehicle segment autonomous driving function, the vehicle's own first vehicle speed data, first road curvature data of the road on which the vehicle is traveling, vehicle heading angle data, and the vehicle's actual driver hand torque value are obtained. Then, the driver hand torque threshold under the current conditions is determined based on a pre-stored three-dimensional table of driver hand torques at different vehicle speeds and curvatures. The vehicle heading angle threshold under the current conditions is determined based on a pre-stored two-dimensional table of vehicle heading angle thresholds at different vehicle speeds. Then, the actual driver hand torque value is compared with the driver hand torque threshold, and the vehicle heading angle value is compared with the vehicle heading angle threshold, and the duration of the comparison is recorded. Only when the actual driver hand torque value is less than the driver hand torque threshold and the vehicle heading angle value is less than the vehicle heading angle threshold for a period greater than a pre-set time threshold, does it prove that the current driving environment meets the requirements for activating the vehicle segment autonomous driving function? The result is output to the back-end autonomous driving system to control the activation of the vehicle's autonomous driving function. Among them, the three-dimensional table of the driver's hand torque at different vehicle speeds and different curvatures and the two-dimensional table of the vehicle heading angle threshold at different vehicle speeds can be collected and established through actual vehicle driving data collection.

[0109] The second embodiment of the present application relates to an automatic driving start judgment device, such as Figure 9 Shown, including:

[0110] A first acquisition module 113 is configured to acquire first road curvature data, first vehicle speed data, and an actual driver's hand torque value of the vehicle;

[0111] A first judgment module 114 is configured to compare the actual driver's hand torque value with a preset first driver's hand torque threshold, and obtain a first automatic driving start judgment result based on the hand torque comparison result, wherein the first driver's hand torque threshold is a maximum driver's hand torque value that satisfies the automatic driving start condition under the conditions of first road curvature data and first vehicle speed data;

[0112] The first starting module 115 is used to control the start of the vehicle's automatic driving function according to the first automatic driving start judgment result.

[0113] On the basis of the above-mentioned embodiments, as shown in Figure 10 the automatic driving start judgment device further comprises:

[0114] The second acquisition module 116 is configured to acquire a correspondence table of vehicle speed, road curvature, and driver hand torque threshold value.

[0115] The first confirmation module 117 is configured to determine the first driver hand torque threshold value according to the first road curvature data and the first vehicle speed data through the correspondence table.

[0116] On the basis of the above-mentioned embodiments, as shown in Figure 11 the second acquisition module 116 comprises:

[0117] The third acquisition unit 161 is configured to acquire second driver hand torque threshold values corresponding to a plurality of second road curvature data under the condition of the first vehicle speed data, wherein the second road curvature data comprises the first road curvature data.

[0118] The first generation unit 162 is configured to generate a correspondence table of road curvature and driver hand torque threshold value according to the second road curvature data and the corresponding second driver hand torque threshold value.

[0119] On the basis of the above-mentioned embodiments, as shown in Figure 12 the second acquisition module 116 further comprises:

[0120] The fourth acquisition unit 163 is configured to acquire third driver hand torque threshold values corresponding to a plurality of second vehicle speed data under the condition of the first road curvature data, wherein the second vehicle speed data comprises the first vehicle speed data.

[0121] The second generation unit 164 is configured to generate a correspondence table of vehicle speed and driver hand torque threshold value according to the second vehicle speed data and the corresponding third driver hand torque threshold value.

[0122] On the basis of the above-mentioned embodiments, as shown in Figure 13 the second acquisition module 116 further comprises:

[0123] The third generation unit 165 is configured to generate a three-dimensional table of vehicle speed, road curvature, and driver hand torque threshold value according to the correspondence table of road curvature and driver hand torque threshold value and the correspondence table of vehicle speed and driver hand torque threshold value.

[0124] On the basis of the above-mentioned embodiments, as shown in Figure 14 the automatic driving start judgment device further comprises:

[0125] The fifth acquisition module 118 is configured to acquire a vehicle heading angle value of the vehicle.

[0126] The sixth obtaining module 119 is configured to obtain a vehicle heading angle threshold corresponding to the first vehicle speed data.

[0127] The second judging module 120 is configured to compare the vehicle heading angle value with the vehicle heading angle threshold, and obtain a second automatic driving start judgment result according to the comparison result and the hand torque comparison result.

[0128] The second starting module 121 is configured to control the vehicle automatic driving function to start according to the first automatic driving start judgment result and the second automatic driving start judgment result.

[0129] On the basis of the above-mentioned embodiments, as shown in Figure 15 The automatic driving start judgment device further comprises:

[0130] The time recording module 122 is configured to obtain a plurality of actual driver hand torque values in real time and compare the actual driver hand torque values with the first driver hand torque threshold, and record a duration during which the actual driver hand torque values are less than the first driver hand torque threshold.

[0131] The third judging module 123 is configured to compare the duration with a preset time threshold, and obtain a third automatic driving start judgment result according to the comparison result, the heading angle comparison result and the hand torque comparison result.

[0132] The third starting module 124 is configured to control the vehicle automatic driving function to start according to the first automatic driving start judgment result and the third automatic driving start judgment result.

[0133] The third embodiment of the present application relates to a vehicle, as shown in Figure 16 The vehicle comprises:

[0134] at least one processor 141; and

[0135] a memory 142 connected with the at least one processor 141; wherein

[0136] The memory 142 stores instructions executable by the at least one processor 141, and the instructions are executed by the at least one processor 141 to enable the at least one processor 141 to implement the automatic driving start judgment method described in the first embodiment of the present application.

[0137] The memory and the processor are connected via a bus. The bus can include any number of interconnecting buses and bridges depending on the specific application of the computer system. The bus connects the various circuits of the computer system, such as the processor, memory, and peripherals, together and can be implemented using any suitable bus structure including a memory bus or memory controller, a peripheral bus or peripheral controller, and a local bus using any of a variety of bus architectures. The bus also can be connected to other busses using bridges, levels, controllers, or adapters, as is well known in the art. Various other circuits can be connected to the bus, such as a power supply, a power management circuit, and a clock controller to name a few. These additional circuits can enable the processor to manage power and perform timing. The bus interface provides an interface between the bus and a transceiver. The transceiver can be a single device or a plurality of devices that work together to enable the computer system to transmit and receive data over a transmission medium. The transceiver transmits and receives data over a wireless medium via an antenna.

[0138] The processor is responsible for managing the bus and general processing, including the execution of software modules stored in memory. The processor can be a single processor or a plurality of processors working together. The memory can be a single memory or a plurality of memories working together. The memory can be used for storing data used by the processor, including intermediate and ultimately completed results.

[0139] The fourth embodiment of the present application relates to a computer readable storage medium storing a computer program. The computer program, when executed by a processor, implements the automatic driving start judgment method of the first embodiment of the present application.

[0140] That is, those skilled in the art can understand that all or part of the steps of the methods in the above embodiments can be completed by a program instructing related hardware, and the program is stored in a storage medium, including a plurality of instructions for enabling a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0141] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the present application cover any and all variations of the application that come within the scope of the claims and their equivalents. It is intended that the specification and examples be considered exemplary only, with the true scope and spirit of the application indicated by the following claims.

[0142] It is to be understood that the application is not limited to the precise construction herein described and as shown in the attached drawings, and that various changes in form and detail can be made therein without departing from the scope thereof. The scope of the application should be determined only by the appended claims, along with their equivalents.

Claims

1. A method for determining whether automatic driving is started, characterized in that: The method comprises: Acquiring first road curvature data, first vehicle speed data, and an actual driver's hand torque value of the vehicle; performing a hand torque comparison between the actual driver hand torque value and a preset first driver hand torque threshold, and obtaining a first automatic driving start determination result based on the hand torque comparison result, wherein the first driver hand torque threshold is a maximum driver hand torque value that satisfies an automatic driving start condition under the conditions of the first road curvature data and the first vehicle speed data; controlling the activation of the vehicle's automatic driving function according to the first automatic driving activation judgment result; After comparing the actual driver hand torque value with a preset first driver hand torque threshold, and obtaining a first automatic driving start judgment result according to the result of the hand torque comparison, the method further includes: Obtaining a vehicle heading angle value of the vehicle; Obtaining a vehicle heading angle threshold corresponding to the first vehicle speed data; performing a heading angle comparison on the vehicle heading angle value and the vehicle heading angle threshold, and obtaining a second automatic driving start judgment result according to a result of the heading angle comparison and a result of the hand torque comparison; The vehicle's automatic driving function is controlled to start according to the first automatic driving start judgment result and the second automatic driving start judgment result.

2. The method according to claim 1, characterized in that Before comparing the actual driver's hand torque value with a preset first driver's hand torque threshold and obtaining a first automatic driving start judgment result based on the hand torque comparison result, the method further includes: Obtaining a correspondence table between vehicle speed, road curvature, and driver's hand torque threshold; The first driver hand torque threshold is determined according to the first road curvature data and the first vehicle speed data through the correspondence table.

3. The method according to claim 2, characterized in that The correspondence table includes a correspondence table of road curvature and driver's hand torque threshold, and the correspondence table for obtaining vehicle speed, road curvature and driver's hand torque threshold includes: Obtaining a second driver hand torque threshold corresponding to a plurality of second road curvature data under the condition of the first vehicle speed data, wherein the second road curvature data includes the first road curvature data; The road curvature and driver hand torque threshold correspondence table is generated according to the second road curvature data and the corresponding second driver hand torque threshold.

4. The method according to claim 3, characterized in that The correspondence table includes a correspondence table of vehicle speed and driver's hand torque threshold, and the correspondence table for obtaining vehicle speed, road curvature and driver's hand torque threshold includes: Obtaining a third driver hand torque threshold corresponding to a plurality of second vehicle speed data under the first road curvature data condition, wherein the second vehicle speed data includes the first vehicle speed data; A correspondence table between the vehicle speed and the driver's hand torque threshold is generated according to the second vehicle speed data and the corresponding third driver's hand torque threshold.

5. The method according to claim 4, characterized in that The correspondence table further includes a three-dimensional table corresponding to vehicle speed, road curvature, and driver hand torque threshold. After generating the vehicle speed and driver hand torque threshold correspondence table based on the second vehicle speed data and the corresponding third driver hand torque threshold, the method further includes: The three-dimensional table of correspondence between vehicle speed, road curvature and driver hand torque threshold is generated according to the table of correspondence between road curvature and driver hand torque threshold and the table of correspondence between vehicle speed and driver hand torque threshold.

6. The method according to claim 1, characterized in that After comparing the vehicle heading angle value with the vehicle heading angle threshold, and obtaining a second automatic driving start judgment result according to a result of the heading angle comparison and a result of the hand torque comparison, the method further includes: acquiring a plurality of actual driver hand torque values ​​in real time and comparing the values ​​with the first driver hand torque threshold, and recording a plurality of durations during which the actual driver hand torque values ​​are less than the first driver hand torque threshold; performing a time comparison between the duration and a preset time threshold, and obtaining a third automatic driving start determination result according to a result of the time comparison, a result of the heading angle comparison, and a result of the hand torque comparison; The vehicle's automatic driving function is controlled to start according to the first automatic driving start judgment result and the third automatic driving start judgment result.

7. An automatic driving start judgment device, characterized in that: include: A first acquisition module is configured to acquire first road curvature data, first vehicle speed data, and an actual driver's hand torque value of the vehicle; a first judgment module, configured to compare the actual driver's hand torque value with a preset first driver's hand torque threshold, and obtain a first automatic driving start judgment result based on the result of the hand torque comparison, wherein the first driver's hand torque threshold is a maximum driver's hand torque value that satisfies an automatic driving start condition under the conditions of the first road curvature data and the first vehicle speed data; a first starting module, configured to control the starting of the vehicle's automatic driving function according to the first automatic driving starting judgment result; The device further comprises: A fifth acquisition module, configured to acquire a vehicle heading angle value of the vehicle; A sixth acquisition module, configured to acquire a vehicle heading angle threshold corresponding to the first vehicle speed data; a second judgment module, configured to compare the vehicle heading angle value with the vehicle heading angle threshold, and obtain a second automatic driving start judgment result based on the result of the heading angle comparison and the result of the hand torque comparison; The second starting module is used to control the start of the vehicle's automatic driving function according to the first automatic driving start judgment result and the second automatic driving start judgment result.

8. A vehicle, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can implement the automatic driving start-up judgment method described in any one of claims 1-6.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the automatic driving start judgment method described in any one of claims 1 to 6 is implemented.

Images