Control method, system, vehicle and medium for an autonomous vehicle

Abstract

The application discloses a control method and system of an automatic driving vehicle, a vehicle and a medium. The method comprises the following steps: when detecting that an electric power steering system (EPS) fails, determining failure information of the EPS; classifying the failure information to obtain failure type information and determine current driving state information of the vehicle; according to the failure type information and the current driving state information, determining prompt information and displaying the prompt information through a human-machine interface (HMI); and after receiving a control instruction fed back by the HMI, controlling the vehicle according to the control instruction. The failure information of the EPS is classified to determine the failure type information and the current driving state information of the vehicle, the prompt information option is set through the HMI interface, and then the vehicle is controlled according to the selection of the driver. The automatic driving system is automatically taken over when the EPS fails, and the driving risk caused by the EPS failure during manual driving is avoided.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to control methods, systems, vehicles, and media for autonomous vehicles. Background Technology

[0002] With the development of current technology, drivers will gradually be able to operate their hands, eventually achieving fully autonomous driving, or driverless driving, without any human intervention, and safely operating the car.

[0003] In autonomous vehicles, the Electric Power Steering (EPS) system includes an autonomous driving control interface that can receive control commands from the higher-level autonomous driving system to achieve autonomous driving functions without driver intervention, thus freeing the driver's hands. However, sometimes the EPS system may experience certain malfunctions, but these malfunctions do not affect the response to autonomous driving functions.

[0004] When EPS malfunctions, manual driving is usually used, with the driver taking control of the vehicle. However, manual driving can affect the driver's driving experience, such as causing heavy hand pressure, which can lead to certain driving risks. Summary of the Invention

[0005] This invention provides a control method, system, vehicle, and medium for autonomous vehicles to achieve automatic takeover in the event of EPS failure.

[0006] According to a first aspect of the present invention, a control method for an autonomous vehicle is provided, characterized in that it includes:

[0007] When a fault is detected in the electric power steering system (EPS), the fault information of the EPS is determined;

[0008] The fault information is classified to obtain fault type information and determine the current driving status information of the vehicle.

[0009] Based on the fault type information and the current driving status information, a prompt message is determined and displayed through the human-machine interface (HMI);

[0010] Upon receiving a control command from the HMI, the user controls the vehicle according to the control command, wherein the control command is generated by the user of the HMI after selecting based on the prompt information.

[0011] According to a second aspect of the present invention, a control system for an autonomous vehicle is provided, characterized in that it includes an electric power steering (EPS) detection module, an autonomous driving module, and a human-machine interface (HMI) function selection module.

[0012] The EPS detection module is used to determine the fault information of the EPS when a fault is detected in the electric power steering system EPS, classify the fault information to obtain fault type information, generate a first handshake signal to send to the automatic driving module, and send the fault type information to the HMI function selection module.

[0013] The autonomous driving module is used to generate current driving status information based on the driving status of its own vehicle and send it to the HMI function selection module when it receives the first handshake signal.

[0014] The HMI function selection module is used to generate prompt information and display it through the HMI when the fault type information and the current driving status information meet the prompt conditions.

[0015] The HMI function selection module is also used to control the vehicle itself according to the control command after receiving the control command fed back by the HMI, wherein the control command is generated by the user of the HMI after selecting according to the prompt information.

[0016] According to a third aspect of the present invention, a vehicle is provided, the vehicle comprising:

[0017] At least one controller; and

[0018] A memory communicatively connected to the at least one controller; wherein,

[0019] The memory stores a computer program that can be executed by the at least one controller, which enables the at least one controller to perform the control method for an autonomous vehicle according to any embodiment of the present invention.

[0020] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a controller to execute and implement the control method for an autonomous vehicle according to any embodiment of the present invention.

[0021] The technical solution of this invention, when a fault is detected in the Electric Power Steering (EPS) system, determines the EPS fault information; classifies the fault information to obtain fault type information and determines the current driving state information of the vehicle; based on the fault type information and the current driving state information, determines the prompt information and displays it through the Human-Machine Interface (HMI); upon receiving a control command from the HMI, controls the vehicle according to the control command, which is generated after being selected by the HMI user. By classifying the EPS fault information, determining the fault type information and the current driving state information of the vehicle, setting prompt information options through the HMI interface, and then controlling the vehicle according to the driver's selection, the automatic takeover of the autonomous driving system is achieved when the EPS fails, avoiding the driving risks caused by EPS failure during manual driving.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart of a control method for an autonomous vehicle according to Embodiment 1 of the present invention;

[0025] Figure 2 This is a flowchart of a control method for an autonomous vehicle according to Embodiment 2 of the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of a control system for an autonomous vehicle according to Embodiment 3 of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the control method for an autonomous vehicle according to an embodiment of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] Example 1

[0031] Figure 1 The flowchart of a control method for an autonomous vehicle provided in Embodiment 1 of the present invention is applicable to situations where the EPS (Electric Power Supply) malfunctions and affects the driver's sense of comfort. This method can be executed by the control system of the autonomous vehicle, which can be implemented in hardware and / or software and can be configured in the vehicle.

[0032] like Figure 1 As shown, the method includes:

[0033] S110. When a fault is detected in the electric power steering system (EPS), determine the fault information of the EPS.

[0034] In this embodiment, the Electric Power Steering (EPS) system can be understood as a system in an autonomous vehicle that includes an autonomous driving control interface, capable of receiving control commands from the upper-level autonomous driving system to achieve autonomous driving functions. Fault information can be understood as information generated from specific faults occurring in the EPS.

[0035] Specifically, the controller can monitor the Electric Power Steering (EPS) system in real time, detecting whether the EPS has malfunctioned and what kind of malfunction it has. Malfunctions include all those that may affect EPS function, such as bus communication issues and vehicle speed problems; these are only illustrative examples and do not constitute specific limitations on the malfunctions. When the controller detects a malfunction in the EPS, it can analyze the malfunction and determine the corresponding EPS malfunction information.

[0036] S120. Classify the fault information to obtain fault type information and determine the current driving status information of the vehicle.

[0037] It's important to understand that some malfunctions in the EPS system sometimes don't affect the autonomous driving function's response, but rather impact other functions, such as basic power steering. In such cases, manual steering can result in poor handling, and this deteriorated steering experience may pose a driving risk. These malfunctions need to be categorized and identified. Different suppliers and OEMs may use different algorithms. A particular malfunction might affect steering without impacting autonomous driving response under one vehicle's algorithm, but under another, it might affect both. The malfunction type can be determined based on the specific needs of different suppliers and OEMs.

[0038] In this embodiment, fault type information can be understood as the type of impact a fault has on driving, such as whether it affects the autonomous driving response function or the steering experience. "Vehicle itself" can be understood as a vehicle with autonomous driving capabilities and EPS (Electronic Power Steering), applicable to Level 3 and above autonomous driving, where Level 3 autonomous driving requires the driver to respond to system requests. "Current driving state information" can be understood as information indicating whether the vehicle is in an autonomous driving state.

[0039] Specifically, the controller can classify fault types based on the identified fault information, determining whether the fault affects the autonomous driving response function and whether it affects the steering experience, thereby obtaining fault type information. When an EPS fault is detected, the controller can send corresponding instructions to the autonomous driving module. The autonomous driving module can then determine its current driving status information, such as whether it is currently in autonomous driving mode, based on the feedback from the instructions.

[0040] For example, each fault type can be predefined. When an EPS fault is detected, the controller can compare the fault information with the defined content to determine the fault type that the fault information matches, thus determining the fault type information.

[0041] S130. Based on the fault type information and the current driving status information, determine the prompt information and display it through the human-machine interface (HMI).

[0042] In this embodiment, the prompt information can be understood as information used by the user of the human-machine interface (HMI) to switch between autonomous driving functions. The HMI can be understood as an interactive display interface provided in the vehicle.

[0043] Specifically, the controller can determine, based on fault type information and current driving status information, when the EPS experiences a fault that does not affect the autonomous driving response function but affects the steering experience and the current driving is not in autonomous driving mode, it can automatically generate a prompt message and display it through the human-machine interface (HMI). For example, it can provide a selection box and display the prompt message: "Activate autonomous driving function?", and provide "Yes" and "No" selection controls. Users of the HMI interface can select whether the autonomous driving function will take over the EPS by clicking the controls.

[0044] S140. Upon receiving a control command from the HMI, the vehicle is controlled according to the control command. The control command is generated by the HMI user after selection based on the prompt information.

[0045] In this embodiment, the control command can be understood as an instruction used to indicate whether to activate the automatic driving function to take over the EPS.

[0046] Specifically, the controller can receive control commands from the HMI and control its own vehicle according to the control method corresponding to the control command, such as activating or deactivating the vehicle's autonomous driving function to take over the EPS.

[0047] For example, when the user selects the "Yes" button, the control instruction corresponds to activating the autonomous driving function to take over the EPS. The user then activates the autonomous driving function of the vehicle and takes over the EPS according to the control instruction. When the user selects the "No" button, the control instruction corresponds to not activating the autonomous driving control function. The user then does not control the vehicle. If the user does not make a selection within the set time, the default control instruction is not to activate the autonomous driving function to take over the EPS. The user then does not control the vehicle.

[0048] The technical solution of this invention, when a fault is detected in the Electric Power Steering (EPS) system, determines the EPS fault information; classifies the fault information to obtain fault type information and determines the current driving state information of the vehicle; based on the fault type information and the current driving state information, determines the prompt information and displays it through the Human-Machine Interface (HMI); upon receiving a control command from the HMI, controls the vehicle according to the control command, which is generated after being selected by the HMI user. By classifying the EPS fault information, determining the fault type information and the current driving state information of the vehicle, setting prompt information options through the HMI interface, and then controlling the vehicle according to the driver's selection, the automatic takeover of the autonomous driving system is achieved when the EPS fails, avoiding the driving risks caused by EPS failure during manual driving.

[0049] As a first optional embodiment of this embodiment, further optimizations can be made based on the above embodiments, including:

[0050] Real-time fault detection is performed on the EPS, and the fault type information of the EPS is determined based on the detection results and the preset fault comparison table.

[0051] In this embodiment, the detection result can be understood as the result formed by detecting signals that affect the EPS function. The fault lookup table can be understood as a table used to associate faults with corresponding signal states.

[0052] Specifically, the controller can perform real-time fault detection on the EPS. For example, the controller can perform fault detection on the signals sent to the EPS in real time, determine the detection results, and compare them with a preset fault comparison table to determine the fault type corresponding to the detection results in the fault comparison table, so as to determine the fault type information of the EPS.

[0053] As a first optional embodiment of this example, real-time fault detection of the EPS is performed, and the fault type information of the EPS is determined by combining it with a fault comparison table. This achieves real-time determination of EPS faults.

[0054] Example 2

[0055] Figure 2 This is a flowchart of a control method for an autonomous vehicle provided in Embodiment 2 of the present invention. This embodiment is a further refinement based on the above embodiment. This embodiment can be applied to situations where the EPS (Electric Power Surgery) malfunctions and affects the driver's sense of comfort. The method can be executed by the control system of the autonomous vehicle. The control system of the autonomous vehicle can be implemented in hardware and / or software and can be configured in the vehicle.

[0056] like Figure 2As shown, the method includes:

[0057] S210. When a fault is detected in the electric power steering system (EPS), determine the fault information of the EPS.

[0058] S220. Based on the fault information and the preset fault classification table, determine the fault type information corresponding to the fault information.

[0059] In this embodiment, the fault classification table can be understood as a pre-defined table used to establish the correspondence between faults and types.

[0060] The fault types in the fault classification table include: faults that affect the autonomous driving response function, faults that do not affect the autonomous driving response function and steering experience, and faults that do not affect the autonomous driving response function but affect the steering experience.

[0061] Specifically, the controller can search a preset fault classification table based on the fault information to find the fault type associated with the fault information, and then the controller can generate fault type information based on the fault type.

[0062] For example, when the controller determines that the fault information is an interface fault between the EPS and the autonomous driving module, the EPS cannot receive data transmitted by the autonomous driving module, nor can it send data to the autonomous driving module. In the fault classification table, the fault type corresponding to the EPS and autonomous driving module interface fault is a fault affecting the autonomous driving response function, so the fault type information is "affects the autonomous driving response function". When the controller determines that the fault information is a wheel speed fault received by the EPS and the vehicle speed is normal, in the fault classification table, the fault type corresponding to wheel speed fault and normal vehicle speed is a fault that does not affect the autonomous driving response function and steering experience, so the fault type information is "fault that does not affect the autonomous driving response function and steering experience". When the controller determines that the fault information is a vehicle speed fault at the EPS end but the vehicle speed at the autonomous driving module end is normal, this will affect the basic power steering. When the driver manually operates the steering wheel, it will produce a bad experience. However, under certain EPS autonomous driving response strategies, this problem does not affect the EPS's autonomous driving function response. In the fault classification table, the fault type corresponding to the EPS vehicle speed fault but the vehicle speed at the autonomous driving module end is a fault that does not affect the autonomous driving response function but affects the steering experience, so the fault type information is "fault that does not affect the autonomous driving response function but affects the steering experience".

[0063] S230. Generate the first handshake signal based on the fault type information.

[0064] In this embodiment, the first handshake signal can be understood as a signal used to instruct the autonomous driving system to determine the current driving state of its own vehicle.

[0065] It is important to know that the current driving status of your vehicle is determined by the autonomous driving system.

[0066] Specifically, when generating fault type information, the controller can generate a first handshake signal and send it to the autonomous driving system based on the fault type information. This allows the autonomous driving system to determine the current driving state of its vehicle.

[0067] S240. Based on the first handshake signal, determine the current driving status information.

[0068] Specifically, after the controller generates the first handshake signal and sends it to the autonomous driving system, the autonomous driving system can automatically determine the current driving state of its own vehicle upon receiving the first handshake signal, determine whether its own vehicle is currently in an autonomous driving state, and then feed back the current driving state information to the controller.

[0069] S250: Analyze the fault type information and current driving status information.

[0070] Specifically, the controller can analyze the fault type and current driving status information to determine the corresponding content.

[0071] S260. When the received fault type information is a fault that does not affect the autonomous driving response function but affects the steering experience, and the current driving status information is that the current driving is not in autonomous driving mode, a prompt message is generated and displayed through the human-machine interface (HMI).

[0072] Specifically, when the received fault type information is a fault that does not affect the autonomous driving response function but affects the steering experience, and the current driving status information is that the system is not currently in autonomous driving mode, the controller can automatically generate a prompt message and display it through the human-machine interface (HMI).

[0073] S270. After receiving the control command from the HMI, parse the control command.

[0074] Specifically, when the controller receives a control command from the HMI, it can parse the control command to determine its content.

[0075] S280. When the control command is to activate the automatic driving function, and the current situation information obtained meets the conditions for entering the automatic driving function, the automatic driving function in the vehicle itself is activated.

[0076] In this embodiment, the current situation information can be understood as information used to determine whether autonomous driving is possible. The autonomous driving function conditions can be understood as conditions used to determine whether the vehicle can perform autonomous driving.

[0077] Specifically, when the parsed result shows that the control command is to start the autonomous driving function, the controller needs to comprehensively judge the current situation information (such as other actuators, road conditions, etc.) to determine that the conditions for entering the autonomous driving function are met. When the autonomous driving system can take over driving, a start command can be sent to the autonomous driving system to start the autonomous driving function in its own vehicle and take over the EPS.

[0078] S290. When the control command is to not activate the automatic driving function, continue to perform fault detection on the EPS.

[0079] Specifically, when the parsed result shows that the control command is not to activate the autonomous driving function, the controller will not operate the vehicle itself and can continue to perform fault detection on the EPS.

[0080] Specifically, if the same fault persists, the controller can prompt the corresponding control command on the HMI only once. If the driver chooses not to take over this time, but wants to take over later, the automatic driving function can be activated automatically. The controller can also prompt the driver to take over again on the HMI after a set time, so as to prompt the driver to take over through the automatic driving function. The specific control method can be set according to actual needs when the same fault persists.

[0081] As a first optional embodiment of this second embodiment, after activating the autonomous driving function in the vehicle itself, further optimizations can be made, including:

[0082] Generate a second handshake signal, and generate a feedback signal based on the second handshake signal.

[0083] In this embodiment, the second handshake signal can be understood as a signal indicating that the autonomous driving function has taken over the EPS. The feedback signal can be understood as a signal indicating that the autonomous driving function has successfully taken over the EPS.

[0084] Specifically, when a control command is received from the HMI and the control command is to activate the autonomous driving function, the controller can activate the autonomous driving function in its own vehicle and generate a second handshake signal to establish a communication channel between the EPS and the autonomous driving function, so that the autonomous driving function can take over the EPS, that is, control the EPS. When the handshake is successful, a feedback signal can be generated to indicate that the takeover is successful. If no feedback signal is received within a set time, the second handshake signal will continue to be sent until a feedback signal is generated.

[0085] The technical solution of this invention automatically classifies fault information using a preset fault classification table. Based on a first handshake signal, it determines the driver's own driving status. When the driving status is not in autonomous driving mode and the fault type is one that does not affect the autonomous driving response but impacts steering experience, a prompt message is generated and interacted with on the HMI interface. Upon receiving a user's control command to activate the autonomous driving function, the system automatically activates the autonomous driving function and takes over the EPS system via a second handshake signal. This automates fault classification and enables the autonomous driving system to automatically take over when an EPS malfunction occurs that does not affect the autonomous driving response but impacts steering experience, avoiding driving risks caused by EPS malfunctions during manual driving and improving the driver's experience.

[0086] Example 3

[0087] Figure 3 This is a schematic diagram of the control system for an autonomous vehicle provided in Embodiment 3 of the present invention. Figure 3 As shown, the system includes: an Electric Power Steering (EPS) detection module 31, an autonomous driving module 32, and a Human-Machine Interface (HMI) function selection module 33. The EPS detection module 31 can be installed within the EPS system, the autonomous driving module 32 can be installed within the autonomous driving system, and the HMI function selection module can be installed within the HMI system.

[0088] The EPS detection module 31 is used to determine the fault information of the EPS when a fault is detected in the electric power steering system EPS, classify the fault information to obtain fault type information, generate a first handshake signal to send to the automatic driving module, and send the fault type information to the HMI function selection module.

[0089] The autonomous driving module 32 is used to generate current driving status information based on the driving status of its own vehicle and send it to the HMI function selection module when it receives the first handshake signal.

[0090] The HMI function selection module 33 is used to generate prompt information and display it through the HMI when the fault type information and the current driving status information meet the prompt conditions.

[0091] The HMI function selection module 33 is also used to forward the control command to the autonomous driving module after receiving the control command fed back by the HMI, wherein the control command is generated by the user of the HMI after selection based on the prompt information.

[0092] The technical solution of this invention, when a fault is detected in the Electric Power Steering (EPS) system, determines the EPS fault information; classifies the fault information to obtain fault type information and determines the current driving state information of the vehicle; based on the fault type information and the current driving state information, determines the prompt information and displays it through the Human-Machine Interface (HMI); upon receiving a control command from the HMI, controls the vehicle according to the control command, which is generated after being selected by the HMI user. By classifying the EPS fault information, determining the fault type information and the current driving state information of the vehicle, setting prompt information options through the HMI interface, and then controlling the vehicle according to the driver's selection, the automatic takeover of the autonomous driving system is achieved when the EPS fails, avoiding the driving risks caused by EPS failure during manual driving.

[0093] Furthermore, the EPS detection module 31 includes:

[0094] The fault detection unit is used to monitor the EPS for faults. When the EPS fails, it determines the fault information based on a preset fault comparison table and sends the fault information to the fault classification unit.

[0095] The fault classification unit is used to determine the fault type information corresponding to the received fault information and a preset fault classification table, and send the fault type information to the signal transmission unit.

[0096] The first signal generation unit is used to generate the first handshake signal and send it to the signal transmission unit when a fault is detected in the EPS system.

[0097] The signal sending unit is used to send the fault type information to the HMI function selection module and the handshake signal to the autonomous driving module.

[0098] The fault types in the fault classification table include:

[0099] Faults affecting autonomous driving response, faults not affecting autonomous driving response and steering experience, and faults not affecting autonomous driving response but affecting steering experience.

[0100] Furthermore, the HMI function selection module is specifically used for:

[0101] Receive the fault type information and the current driving status information;

[0102] When the received fault type information is a fault that does not affect the autonomous driving response function but affects the steering experience, and the current driving state information indicates that the vehicle is not currently in autonomous driving mode...

[0103] The prompt message is generated and displayed in the HMI.

[0104] Furthermore, the HMI function selection module is also used for:

[0105] The system receives the control command fed back by the HMI, wherein the control command is generated by the user of the HMI after making a selection based on the prompt information;

[0106] When the control command is to activate the autonomous driving function, an activation command is generated and sent to the autonomous driving module.

[0107] Furthermore, the autonomous driving module also includes:

[0108] The second signal generation unit is used to generate a second handshake signal when the start command is received, and send it to the EPS.

[0109] The response function unit is used to receive the second handshake signal and respond accordingly to the autonomous driving module after the handshake is successful.

[0110] The control system for autonomous vehicles provided in the embodiments of the present invention can execute the control method for autonomous vehicles provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0111] Example 4

[0112] Figure 4 This is a structural schematic diagram of a vehicle provided in Embodiment 4 of the present invention, as shown below. Figure 4 As shown, the vehicle includes a controller 51, a memory 52, an electric power steering system 53, an autonomous driving system 54, and a human-machine interface system 55; the number of controllers 51 in the vehicle can be one or more. Figure 4 Taking a controller 51 as an example; the controller 51, memory 52, electric power steering system 53, automatic driving system 54, and human-machine interface system 55 in the vehicle can be connected via bus or other means. Figure 4 Taking the example of a connection between China and Israel via a bus.

[0113] The memory 52, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the control method of the autonomous vehicle in this embodiment of the invention (e.g., the electric power steering system EPS detection module 31, the autonomous driving module 32, and the human-machine interface (HMI) function selection module 33 in the control system of the autonomous vehicle). The controller 51 executes various functional applications and data processing of the vehicle by running the software programs, instructions, and modules stored in the memory 52, thereby realizing the above-mentioned control method of the autonomous vehicle. The method includes: when a fault is detected in the electric power steering system EPS, determining the fault information of the EPS; classifying the fault information to obtain fault type information and determining the current driving state information of the vehicle; determining prompt information based on the fault type information and the current driving state information and displaying it through the human-machine interface (HMI); and controlling the vehicle according to the control instructions after receiving the control instructions from the HMI, wherein the control instructions are generated by the user of the HMI after selection based on the prompt information.

[0114] The memory 52 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 52 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, the memory 52 may further include memory remotely configured relative to the controller 51, which can be connected to the vehicle via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0115] The electric power steering system 53 can be used for fault detection and classification of EPS. The automatic driving system 54 can be used to determine the automatic driving status and activate the automatic driving function. The human-machine interface system 55 can be used to generate prompts and provide interaction with the user.

[0116] Example 5

[0117] Embodiment 5 of the present invention also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a control method for an autonomous vehicle, the method comprising:

[0118] When a fault is detected in the electric power steering system (EPS), the fault information of the EPS is determined;

[0119] The fault information is classified to obtain fault type information and determine the current driving status information of the vehicle.

[0120] Based on the fault type information and the current driving status information, a prompt message is determined and displayed through the human-machine interface (HMI);

[0121] Upon receiving a control command from the HMI, the user controls the vehicle according to the control command, wherein the control command is generated by the user of the HMI after selecting based on the prompt information.

[0122] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the method operations described above, but can also perform related operations in the control method of the autonomous vehicle provided in any embodiment of the present invention.

[0123] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0124] It is worth noting that in the above embodiments of the control system for autonomous vehicles, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0125] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A control method for an autonomous vehicle, characterized in that, include: When a fault is detected in the electric power steering system (EPS), the fault information of the EPS is determined; The fault information is classified to obtain fault type information and determine the current driving status information of the vehicle. Based on the fault type information and the current driving status information, a prompt message is determined and displayed through the human-machine interface (HMI); Upon receiving the control command from the HMI, the control command is parsed to determine its content, and the vehicle is controlled according to the content of the control command. The control command is generated by the HMI user after selecting based on the prompt information. When the control command is to activate the autonomous driving function, and the current situation information obtained meets the conditions for entering the autonomous driving function, the autonomous driving function in the vehicle itself is activated. The process of classifying the fault information to obtain fault type information and determining the current driving status of the vehicle includes: Based on the fault information and the preset fault classification table, determine the fault type information corresponding to the fault information; Based on the fault type information, a first handshake signal is generated; Based on the first handshake signal, the current driving state information is determined; The fault types in the fault classification table include: Faults that affect the autonomous driving response function, faults that do not affect the autonomous driving response function and steering experience, and faults that do not affect the autonomous driving response function but affect the steering experience; The step of determining the prompt information based on the fault type information and the current driving status information includes: The fault type information and the current driving status information are parsed; When the received fault type information is a fault that does not affect the autonomous driving response function but affects the steering experience, and the current driving status information is that the vehicle is not currently in autonomous driving mode, the prompt information is generated.

2. The method according to claim 1, characterized in that, The step of controlling the vehicle itself according to the control command includes: The control commands are parsed; When the control command is to activate the autonomous driving function, and the acquired current situation information meets the conditions for entering the autonomous driving function, the autonomous driving function in the vehicle itself is activated. When the control command is to not activate the automatic driving function, continue to perform fault detection on the EPS.

3. The method according to claim 2, characterized in that, After activating the autonomous driving function in the vehicle itself, the following is also included: A second handshake signal is generated, and a feedback signal is generated based on the second handshake signal.

4. The method according to claim 1, characterized in that, Also includes: Real-time fault detection is performed on the EPS, and the fault type information of the EPS is determined based on the detection results and a preset fault comparison table.

5. A control system for an autonomous vehicle, characterized in that, This includes an EPS (Electric Power Steering) system detection module, an autonomous driving module, and a HMI (Human Machine Interface) function selection module. The EPS detection module is used to determine the fault information of the EPS when a fault is detected in the electric power steering system EPS, classify the fault information to obtain fault type information, generate a first handshake signal to send to the automatic driving module, and send the fault type information to the HMI function selection module. The autonomous driving module is used to generate current driving status information based on the driving status of its own vehicle and send it to the HMI function selection module when it receives the first handshake signal. The HMI function selection module is used to generate prompt information and display it through the HMI when the fault type information and the current driving status information meet the prompt conditions. The HMI function selection module is also used to parse the control command after receiving the control command fed back by the HMI, determine the content of the control command, and forward the content of the control command to the autonomous driving module. The control command is generated by the user of the HMI after making a selection based on the prompt information. When the control command is to activate the autonomous driving function, and the current situation information obtained meets the conditions for entering the autonomous driving function, the autonomous driving function in the vehicle itself is activated. The EPS detection module includes: The fault classification unit is used to determine the fault type information corresponding to the received fault information and a preset fault classification table, and send the fault type information to the signal transmission unit. The first signal generation unit is used to generate the first handshake signal and send it to the signal transmission unit when a fault is detected in the EPS system. The signal sending unit is used to send the fault type information to the HMI function selection module and send the first handshake signal to the autonomous driving module; The fault types in the fault classification table include: Faults that affect the autonomous driving response function, faults that do not affect the autonomous driving response function and steering experience, and faults that do not affect the autonomous driving response function but affect the steering experience; When the fault type information and the current driving status information are received and the prompting conditions are met, a prompting message is generated, including: The fault type information and the current driving status information are parsed; When the received fault type information is a fault that does not affect the autonomous driving response function but affects the steering experience, and the current driving status information is that the vehicle is not currently in autonomous driving mode, the prompt information is generated.

6. A vehicle, characterized in that, The vehicles include: At least one controller; and A memory communicatively connected to the at least one controller; wherein, The memory stores a computer program that can be executed by the at least one controller, the computer program being executed by the at least one controller to enable the at least one controller to perform the control method for the autonomous vehicle according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause the controller to execute the control method for the autonomous vehicle according to any one of claims 1-4.

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