A gear control method, a gear controller and a storage medium

Abstract

The application relates to a gear control method, a gear controller and a storage medium. The gear control method comprises the following steps: after receiving a control enabling flag, the gear control right is given to an intelligent driving system; information sent by the intelligent driving system is listened to, and after listening to a gear enabling flag of the intelligent driving system, gear switching is performed according to a received gear switching request of the intelligent driving system. Through the gear control method, the problem of chaotic automobile gear control can be solved.

Description

Technical Field

[0001] This application relates to the field of automotive automatic control technology, and in particular to a gear control method, a gear controller, and a storage medium. Background Technology

[0002] Currently, autonomous vehicles offer multiple driving modes, including human driving and intelligent driving. Both human and intelligent driving require gear control. In intelligent driving scenarios such as adaptive cruise control and automatic parking, the intelligent driving system needs to automatically switch gears.

[0003] The switching between intelligent driving mode and human driving mode may cause gear control confusion, which may pose a great safety hazard to the vehicle and passengers. Therefore, the problem of chaotic gear control still exists in the existing technology. Summary of the Invention

[0004] Based on this, this application provides a gear control method, a gear controller, and a storage medium, which improves the problem of chaotic gear control in automobiles in the prior art.

[0005] In a first aspect, this application provides a gear control method, which includes: after receiving a control enable flag, transferring gear control to an intelligent driving system; listening to information sent by the intelligent driving system, and after listening to the gear enable flag of the intelligent driving system, performing gear switching according to the received gear switching request from the intelligent driving system.

[0006] In conjunction with the first aspect, in the first possible implementation of the first aspect, after receiving the control enable flag bit and before handing over the gear control to the intelligent driving system, the method further includes: determining whether the vehicle is in a high-voltage power-on state and a gear position available state; if the determination result is yes, then the step of handing over the gear control to the intelligent driving system is executed.

[0007] In conjunction with the first aspect, in the second possible implementation of the first aspect, after transferring gear control to the intelligent driving system, the method further includes: receiving a user's gear shifting request while the car is moving at high speed; if the user's gear shifting request is a neutral shifting request, sending a human intervention flag to the intelligent driving system, so that after receiving a preset number of human intervention flags, the intelligent driving system sends a control invalidation flag to the local end; after receiving the control invalidation flag, transferring gear control to the driver.

[0008] In conjunction with the first aspect, in the third possible implementation of the first aspect, after the gear enable flag of the intelligent driving system is detected, the method further includes: after the car enters the off-vehicle parking scenario or charging scenario, switching the car gear to the parking gear; sending the switched car gear to the intelligent driving system, so that the intelligent driving system can monitor the duration of the car's stay in the off-vehicle parking scenario or charging scenario, and when the monitored stay duration reaches a preset duration, sending a control invalid flag to the local end.

[0009] In conjunction with the first aspect, in the fourth possible implementation of the first aspect, after the gear enable flag of the intelligent driving system is detected, the method further includes: if a parking gear switching request is not received from the intelligent driving system, and the braking system is detected to be in a clamped state, then it is determined that the emergency braking function of the vehicle has been triggered; after the emergency braking function is triggered, the current vehicle gear is maintained until a new gear switching request is received from the intelligent driving system, and then the gear is switched according to the new gear switching request.

[0010] In conjunction with the first aspect, in the fifth possible implementation of the first aspect, after transferring gear control to the intelligent driving system, the method further includes: monitoring at least one of the signals of the intelligent driving system's gear enable flag and gear shift request; if the monitoring times out, then transferring gear control to the driver.

[0011] In conjunction with the first aspect, in the sixth possible implementation of the first aspect, after performing gear shifting according to the received gear shifting request from the intelligent driving system, the method further includes: if a control invalidation flag and a gear enable flag are received, then detecting the vehicle speed; if the vehicle speed is greater than or equal to a preset speed, maintaining the current vehicle gear; if the vehicle speed is less than the preset speed, shifting the vehicle gear to parking gear.

[0012] Secondly, this application also provides a gear position controller, which includes: a transceiver unit for transferring gear position control to the intelligent driving system after receiving a control enable flag; a monitoring unit for monitoring the information sent by the intelligent driving system; and a switching unit for switching gears according to the received gear switching request from the intelligent driving system after monitoring the gear position enable flag of the intelligent driving system.

[0013] In conjunction with the second aspect, in the first possible implementation of the second aspect, the transceiver unit is further configured to: determine whether the vehicle is in a high-voltage power-on state and a gear position available state; if the determination result is yes, then execute the step of handing over the gear position control to the intelligent driving system.

[0014] In conjunction with the second aspect, in a second possible implementation of the second aspect, the aforementioned transceiver unit is further configured to: receive a user's gear shifting request while the vehicle is moving at high speed; if the user's gear shifting request is a neutral shifting request, send a human intervention flag to the intelligent driving system, so that after receiving a preset number of human intervention flags, the intelligent driving system sends a control invalidation flag to the local end; after receiving the control invalidation flag, the gear control is handed over to the driver.

[0015] In conjunction with the second aspect, in the third possible implementation of the second aspect, the aforementioned switching unit is further configured to switch the vehicle gear to parking gear after the vehicle enters the off-vehicle parking scenario or charging scenario; the aforementioned transceiver unit is further configured to send the switched vehicle gear to the intelligent driving system, so that the intelligent driving system can monitor the duration of the vehicle's stay in the off-vehicle parking scenario or charging scenario, and send a control invalidation flag bit to the local end when the monitored stay duration reaches a preset duration.

[0016] In conjunction with the second aspect, in the fourth possible implementation of the second aspect, the aforementioned switching unit is further configured to: if a parking gear switching request is not received from the intelligent driving system, and the braking system is detected to be in a clamped state, determine that the vehicle's emergency braking function has been triggered; after the emergency braking function is triggered, maintain the current vehicle gear until a new gear switching request is received from the intelligent driving system, and then perform a gear switching according to the new gear switching request.

[0017] In conjunction with the second aspect, in the fifth possible implementation of the second aspect, the aforementioned transceiver unit is further configured to: monitor at least one of the signals in the intelligent driving system, namely the gear enable flag and the gear shift request; if the monitoring timeout occurs, the gear control is transferred to the driver.

[0018] In conjunction with the second aspect, in the sixth possible implementation of the second aspect, the switching unit is further configured to: if a control invalidation flag and a gear enable flag are received, detect the vehicle speed; if the vehicle speed is greater than or equal to a preset speed, maintain the current vehicle gear; if the vehicle speed is less than the preset speed, switch the vehicle gear to parking gear.

[0019] Thirdly, this application also provides a gear position controller, which includes a processor, a transceiver, and a memory, the processor, transceiver, and memory being connected via a bus; the processor is used to execute multiple instructions; the transceiver is used to interact with other devices; and the memory is used to store multiple instructions, the instructions being adapted to be loaded by the processor and executed as a gear position control method as described in the first aspect or any embodiment of the first aspect.

[0020] Fourthly, this application also provides a computer-readable storage medium storing a plurality of instructions adapted for loading by a processor and executing a gear control method as described in the first aspect or any embodiment of the first aspect.

[0021] In summary, this application provides a gear control method, a gear controller, and a storage medium. The gear controller first successfully hands over control to the intelligent driving system via a control enable flag. Then, the gear controller relinquishes gear control to the intelligent driving system and ceases to respond to user gear shifting requests. Furthermore, the gear controller only responds to the intelligent driving system's gear shifting request after receiving the intelligent driving system's gear enable flag, thus truly switching from human-driven mode to intelligent driving mode. Therefore, this application improves the problem of chaotic gear control in automobiles by reducing the frequent switching between intelligent driving and human-driven modes. Attached Figure Description

[0022] Figure 1 A flowchart illustrating a gear control method in one embodiment of this application;

[0023] Figure 2 A flowchart illustrating the gear control method in another embodiment provided in this application;

[0024] Figure 3 A schematic block diagram of a gear position controller provided in one embodiment of this application;

[0025] Figure 4 This is a structural block diagram of a gear position controller in one embodiment of this application. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0027] Currently, existing technologies still suffer from inconsistent gear control in automobiles. This application proposes a gear control method that strictly restricts access to intelligent driving by setting two flags, reducing frequent switching between human driving mode and intelligent driving mode, thereby improving the problem of inconsistent gear control. Specifically, the gear control method includes: upon receiving a control enable flag, transferring gear control to the intelligent driving system; monitoring information sent by the intelligent driving system, and upon detecting the intelligent driving system's gear enable flag, performing a gear shift based on the intelligent driving system's gear shift request.

[0028] It should be noted that, of the two types of flags described in this application, one refers to the control enable flag and the control disable flag, and the other refers to the gear enable flag and the gear disable flag. The control enable flag of the intelligent driving system is used to instruct the gear controller to transfer gear control to the intelligent driving system; the control disable flag of the intelligent driving system is used to instruct the gear controller to transfer gear control from the intelligent driving system to the driver; the gear enable flag of the intelligent driving system is used to instruct the gear controller to respond to the gear shifting request of the intelligent driving system; and the gear disable flag of the intelligent driving system is used to instruct the gear controller not to respond to the gear shifting request of the intelligent driving system, but to respond to the user's gear shifting request. Furthermore, the gear shifting requests from the intelligent driving system and the user are used to request the gear controller to shift the vehicle's gears.

[0029] For example, the control enable flag of the intelligent driving system can be represented as ADS_GearCtrlEna = Enable, the gear enable flag can be represented as ADS_TarGearReqVld = Valid, the control invalid flag can be represented as ADS_GearCtrlEna = Disable, the gear invalid flag can be represented as ADS_TarGearReqVld = Invalid, and the gear shift request can be represented as TarGearReq = P / R / N / D. The user's gear shifting request can be represented as ADS_TarGearReq = P / R / N / D. Gear shifting requests include parking gear shifting requests, reverse gear shifting requests, neutral gear shifting requests, and forward gear shifting requests. For example, the parking gear shifting request, reverse gear shifting request, neutral gear shifting request, and forward gear shifting request of the intelligent driving system can be represented as ADS_TarGearReq = P, ADS_TarGearReq = R, ADS_TarGearReq = N, and ADS_TarGearReq = D, respectively.

[0030] It should be noted that the gear position controller and gear position controller proposed in this application can be a controller specifically for gear position control, or a Vehicle Dynamic Controller (VDC). The intelligent driving system can be an Advanced Driving Assistance System (ADS), an adaptive cruise control system, or an automatic parking system, etc. The intelligent driving system can communicate directly with the gear position controller, or it can communicate through the intelligent driving system controller MDC. The user can send a gear shift request to the gear position controller through the Gear Shift Module (GSM), and the devices can be connected wirelessly or wiredly, for example, through CANFD for data transmission. This application does not impose any restrictions on this.

[0031] To better understand the gear control method of this application, such as Figure 1 As shown, this application provides an embodiment of a gear control method. Next, this application will use a gear controller as the execution subject to... Figure 1 The described gear control method will be explained in detail below:

[0032] 101: After receiving the control enable flag, the gear control is handed over to the intelligent driving system.

[0033] In this system, upon receiving a user's entry command or detecting that the vehicle is in a favorable road condition, the intelligent driving system sends a control enable flag to the gear shift controller to request gear shift control. Upon receiving the control enable flag, the gear shift controller relinquishes control to the intelligent driving system. Specifically, the gear shift controller only responds to information sent by the intelligent driving system, such as gear enable flags, gear invalid flags, control invalid flags, and gear shift requests. It does not respond to user-sent gear shift requests until it receives at least one of the control invalid flags or gear invalid flags from the intelligent driving system. Only then does the gear shift controller relinquish control to the driver to respond to the user's gear shift requests.

[0034] 102: Monitor the information sent by the intelligent driving system.

[0035] In this system, after handing over gear control to the intelligent driving system, the gear position controller continuously listens for information sent by the intelligent driving system, receiving at least one of the following: gear position enable flag, gear position invalid flag, control enable flag, control invalid flag, and gear shift request. If, during the listening process, the gear position controller detects information such as a gear shift request sent by the user, it may receive it but not respond to it; for example, it may ignore or discard the information. This application does not impose any restrictions on this.

[0036] 103: After detecting the gear enable flag of the intelligent driving system, perform gear switching according to the gear switching request of the intelligent driving system.

[0037] Specifically, the gear position controller only allows the intelligent driving system to switch the vehicle's gears after it detects the gear position enable flag sent by the intelligent driving system. After receiving the gear position enable flag from the intelligent driving system, the gear position controller can switch gears according to the gear switching request from the intelligent driving system, such as switching the vehicle's gear to the p gear requested by the intelligent driving system's gear switching request ADS_TarGearReq=P.

[0038] For example, if the gear position controller receives ADS_TarGearReq = P from the intelligent driving system, it sends a clamping request to the braking system such as the EPB, causing the EPB to perform the caliper motor clamping action. Then, after confirming that the vehicle speed is reliable, the vehicle speed is zero, and the braking system is fault-free, it checks whether it receives feedback from the EPB on the clamping status within a preset time period (e.g., 6 seconds). If so, it shifts the vehicle to P gear. Conversely, if the gear position controller receives ADS_TarGearReq = R / N / D from the intelligent driving system, it sends a release request to the braking system such as the EPB, causing the EPB to perform the caliper motor release action. After confirming that the vehicle speed is reliable, the vehicle speed meets the requirements of the corresponding gear, and the braking system is fault-free, it checks whether it receives feedback from the EPB on the release status within a preset time period (e.g., 4 seconds). If so, it shifts the vehicle to R / N / D gear.

[0039] In summary, in the embodiments of this application, the gear position controller controls the intelligent driving control enable and gear position enable through two flag bits, thereby strictly limiting the entry of intelligent driving, improving robustness, reducing the frequent switching between human driving and intelligent driving, and thus improving the problem of chaotic vehicle gear position control in the prior art.

[0040] In addition, this application also provides another embodiment of the gear control method, such as... Figure 2 As shown, this application will next use a gear shift controller as the execution subject to... Figure 2 The described gear control method will be explained in detail below:

[0041] 201: After receiving the control enable flag, determine whether the car is in a high-voltage power-on state and a gear position available state. If the determination result is yes, then hand over the gear position control to the intelligent driving system.

[0042] Upon receiving the control enable flag, the gear position controller does not immediately transfer gear control to the intelligent driving system. Instead, it first determines whether the vehicle is in a high-voltage power-on state and a gear position is available. Only when the vehicle is in a high-voltage power-on state and a gear position is available will it transfer gear control to the intelligent driving system. This is to prevent the vehicle from exiting intelligent driving mode again because the vehicle's status does not meet the requirements.

[0043] Specifically, the battery pack can only supply power to the vehicle's high-voltage system, providing corresponding power output to the front and rear motors, when the vehicle is in a high-voltage energized state. This high-voltage energized state can be represented as VDC_HV_State = HIGH_VOLT_UP. Similarly, when the vehicle is in a gear-available state, the gears are considered available, which can be represented as VDC_GearShiftAvl = Available. Specifically, for a vehicle to be in a gear-available state, the following conditions must be met: First, the vehicle's power anti-theft certification is passed; second, the vehicle is not in a state of AC / DC charging or external discharge; and third, the drive system is not in a faulty state, for example, a fault level less than or equal to 4.

[0044] 202: Monitor the information sent by the intelligent driving system.

[0045] 203: After detecting the gear enable flag of the intelligent driving system, perform gear switching according to the gear switching request of the intelligent driving system.

[0046] The specific implementation processes of steps 202 and 203 can be referred to steps 102 and 103 of the previous embodiment, respectively, and will not be repeated here.

[0047] In summary, compared to the previous embodiment, this application embodiment imposes stricter restrictions on entering the intelligent driving mode, further improving the problem of chaotic vehicle gear control. The intelligent driving system can only acquire gear control when the gear controller receives the control enable flag from the intelligent driving system, and the vehicle meets the requirements of high-voltage power-on and gear availability. This prevents the vehicle from immediately exiting intelligent driving mode after entering because the conditions are not met.

[0048] It should be noted that after handing over gear control to the intelligent driving system, the gear controller can also proactively exit upon receiving a control invalidation flag and / or a gear invalidation flag from the intelligent driving system, or abnormally exit upon detecting a gear control anomaly, reclaiming gear control and handing it over to the driver to respond to the user's gear shifting request. The following section will explain these two types of exit methods: proactive exit and abnormal exit.

[0049] The first type involves an intelligent driving system that, upon receiving a user's exit command, detecting poor road conditions, undergoing user intervention, or in special scenarios such as parking away from the vehicle or plugging in a charging gun, proactively sends at least one of a control invalidation flag and a gear invalidation flag to the gear position controller. This causes the gear position controller to reclaim gear control and hand it over to the driver. For this first type, this application provides two implementation methods:

[0050] In one implementation, after the gear position controller hands over gear position control to the intelligent driving system, it can also receive a user's gear shifting request while the car is moving at high speed. If the user's gear shifting request is a neutral shifting request, it sends a human intervention flag to the intelligent driving system. After receiving a preset number of human intervention flags, the intelligent driving system sends a control invalidation flag to itself. After receiving the control invalidation flag, it hands over gear position control to the driver.

[0051] In this embodiment, after the gear control controller hands over gear control to the intelligent driving system, it will not respond to the user's gear shifting request, but it can receive the user's gear shifting request. If the gear control controller receives the user's gear shifting request while the car is moving at high speed, for example, when the car is in drive and the speed is greater than a preset value (e.g., 3 km / h), it first determines whether the user's gear shifting request is a neutral shifting request. If it is a neutral shifting request, it sends a human intervention flag VDC_DrvrGearOvrd=Override to the intelligent driving system. After receiving the human intervention flag a preset number of times (e.g., 3 times), the intelligent driving system sends a control invalidation flag to the gear control controller to hand over gear control. After receiving the control invalidation flag, the gear control controller regains gear control and hands it over to the driver. If the request is for a gear other than neutral, no human intervention flag is sent to the intelligent driving system. This is because shifting to P / N / R gears while the car is moving at high speed would be extremely dangerous, while shifting to D gear is consistent with the current car gear, so there is no need to exit the intelligent driving system. As can be seen, this embodiment provides a gear control method under human intervention. The intelligent driving system can actively disengage under multiple human interventions. Since the intelligent driving system has gear control, it can decide whether to actively disengage. Moreover, it does not disengage immediately after detecting a human intervention sign, but only after multiple human intervention signs are detected. Therefore, by restricting the disengagement of the intelligent driving system, the frequent switching of driving modes and gear confusion can be further reduced.

[0052] For example, after the intelligent driving system gains control of the gear shift, if the gear shift controller receives a request from the user to shift to neutral while the car is moving at high speed, it sends a human intervention flag to the intelligent driving system to indicate that someone has intervened. The intelligent driving system will retain control of the gear shift after receiving the human intervention flag for the first and second time. However, after receiving the human intervention flag for the third time, it determines that the user has a strong intention to manually operate the gear shift, and therefore sends a control invalidation flag to the gear shift controller to relinquish control of the gear shift. Upon receiving the control invalidation flag, the gear shift controller will proactively return control of the gear shift to the driver.

[0053] In another feasible approach, after the gear position controller detects the gear position enable flag of the intelligent driving system, it can also switch the car's gear to parking gear after the car enters the off-vehicle parking scenario or charging scenario; send the switched car gear to the intelligent driving system, so that the intelligent driving system can monitor the duration of the car's stay in the off-vehicle parking scenario or charging scenario, and send a control invalid flag to the local end when the monitored stay duration reaches the preset duration.

[0054] In this embodiment, since the gear position controller and the intelligent driving system can receive signals such as the car door opening signal and the charging gun plugging signal, they can determine that the car has entered an off-vehicle parking scenario upon detecting the door opening signal, and that the car has entered a charging scenario upon detecting the charging gun plugging signal. After the car enters either the off-vehicle parking or charging scenario, the gear position controller will prioritize responding to the demand for shifting to park (P) gear in these scenarios. Specifically, after detecting the EPB (Electronic Brake Brake) system engaging, it will shift the car's gear to park. After shifting the car to park, the gear position controller will also send the shifted gear to the intelligent driving system, allowing the system to monitor the car's dwell time in both scenarios. If the dwell time reaches a preset duration (e.g., 3 minutes), it can determine that the user does not need to use the intelligent driving system to control the gear position and will send a control invalidation flag to the gear position controller. If the intelligent driving system needs to regain gear position control, it must resend the control enable flag to the gear position controller. As can be seen, this application does not immediately exit the intelligent driving mode after the car enters the parking or charging scenario, but exits after a preset time, thereby reducing the switching between intelligent driving and human driving and improving the problem of chaotic gear switching in the prior art.

[0055] It should be noted that in special scenarios such as when the vehicle is off-vehicle and during charging, the EPB and other braking systems will automatically engage to ensure the safety of the user and the vehicle. Even if the intelligent driving system requests the gear selector to shift to a non-P gear when the vehicle is off-vehicle or during charging, the gear selector will still shift the vehicle to P gear after the EPB and other braking systems have engaged.

[0056] In addition, in some dangerous scenarios, such as when obstacles suddenly appear, emergency braking is required to avoid traffic accidents. This application also provides a gear control solution for a special scenario: gear control in an emergency braking scenario. Unlike the aforementioned off-vehicle parking and charging scenarios, where the EPB automatically clamps, in an emergency braking scenario, the intelligent driving controller can directly control the braking system to clamp without going through the gear controller. Therefore, after an emergency braking occurs, although the gear controller does not receive a parking gear switching request from the intelligent driving system, it detects the braking system clamping. At this point, it can be determined that the vehicle's emergency braking function has been triggered, and the gear will not be switched to P gear, thus reducing frequent switching between human driving and intelligent driving and gear confusion. Specifically, after the gear position controller detects the gear position enable flag of the intelligent driving system, it can also determine that the emergency braking function of the car has been triggered if it detects that the braking system is in a clamped state, even if it has not received a parking gear switching request from the intelligent driving system. After the emergency braking function is triggered, the current gear position of the car is maintained until a new gear position switching request is received from the intelligent driving system, and then the gear position is switched according to the new gear position switching request.

[0057] In this embodiment, if the intelligent driving system does not request the gear position controller to switch to P gear, the gear position controller can detect that the braking system is clamped and determine that the car has undergone emergency braking. Since the time required for emergency braking is short, the gear position controller does not need to switch the car to P gear, but can continue to maintain the current car gear, such as D gear, so that the intelligent driving system will not disengage. When the car starts again, the operation of re-entering intelligent driving mode and re-shifting gears is reduced, thereby reducing the frequent switching between human driving and intelligent driving and gear confusion.

[0058] The second type involves a gear shift controller that can abnormally exit intelligent driving mode and reclaim gear shift control from the driver when a timeout occurs or a gear shift anomaly is detected. This application provides two implementation methods for this second type:

[0059] In one feasible approach, after the gear position controller hands over gear position control to the intelligent driving system, it can also listen to at least one of the signals from the intelligent driving system's gear position enable flag and gear position switching request; if the listening timeout occurs, gear position control is handed over to the driver.

[0060] In this embodiment, if the gear position controller receives the control invalidation flag and / or the gear position invalidation flag times out from the intelligent driving system, it will treat the system as untrusted and hand over the gear position control to the driver.

[0061] In another feasible approach, if the intelligent driving system's control is ineffective but the gear is enabled, the gear controller determines that the intelligent driving system has abnormally exited. Since the user may not be aware of this and therefore cannot control the gear in time, the gear controller takes different control measures based on the vehicle speed. Specifically, after the gear controller performs a gear shift based on the received gear shift request from the intelligent driving system, the method further includes: if it receives both a control invalidation flag and a gear enable flag, it detects the vehicle speed; if the vehicle speed is greater than or equal to a preset speed, it maintains the current gear; if the vehicle speed is less than the preset speed, it shifts the vehicle to park.

[0062] In this embodiment, if the gear position controller receives a control invalidation flag and a gear position enable flag from the intelligent driving system, the gear shifting fails. The user may not be able to notice or react in time, potentially leading to a traffic accident. To address this, the gear position controller can take different measures depending on the vehicle speed. For example, when the vehicle speed is greater than or equal to a preset speed (e.g., 3 km / h), it maintains the current gear, i.e., the gear from the moment before the failed shift. When the vehicle speed is less than the preset speed, if the speed is low, the gear position controller directly shifts the vehicle to P gear to ensure vehicle and personal safety.

[0063] In addition, the intelligent driving system can also exit abnormally when the monitoring timeout occurs or when an abnormal gear position is detected. For example, it can send a control invalid flag and / or a gear invalid flag to the gear position controller, or stop sending information to the gear position controller, so that the gear position controller exits abnormally when the monitoring timeout occurs, that is, it takes back the gear position control and hands it over to the driver. Specifically: First, in scenarios where the intelligent driving system experiences a timeout, if the system does not receive the vehicle's gear position from the gear controller within the first time period (e.g., 500 milliseconds) after sending a gear shift request, it considers the gear controller's gear position processing unreliable. In this case, it sends a control invalidation flag and / or a gear invalidation flag to the gear controller, or stops sending information to the gear controller to exit the intelligent driving mode. Second, in scenarios where the intelligent driving system detects a gear position anomaly, it performs a filtering time judgment on the received vehicle gear position within the second time period (e.g., 100 milliseconds) to determine whether the vehicle's gear position matches the gear shift request. If they do not match, it means that the gear controller has not shifted the gear to the gear requested by the intelligent driving system. Furthermore, if the vehicle is not in a special scenario such as emergency braking, parking after leaving the vehicle, or charging, a gear position anomaly is confirmed. In this case, it sends a control invalidation flag and / or a gear invalidation flag to the gear controller, or stops sending information to the gear controller to exit the intelligent driving mode.

[0064] It should be understood that, although Figure 1 as well as Figure 2 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 as well as Figure 2 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0065] This application also provides a gear position controller, such as Figure 3 As shown. This application embodiment can divide the device into functional modules based on the above method example. For example, each function can be divided into its own functional module, or two or more functions can be integrated into one module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division; in actual implementation, there may be other division methods. For example... Figure 3 As shown, the gear control unit includes a transceiver unit 310, a monitoring unit 320, and a switching unit 330. Specifically: the transceiver unit 310 is used to transfer gear control to the intelligent driving system after receiving the control enable flag; the monitoring unit 320 is used to monitor the information sent by the intelligent driving system; and the switching unit 330 is used to switch gears according to the gear switching request received from the intelligent driving system after monitoring the gear enable flag of the intelligent driving system.

[0066] In another possible implementation, the transceiver unit 310 is also used to: determine whether the vehicle is in a high-voltage power-on state and a gear position available state; if the determination result is yes, then execute the step of handing over the gear position control to the intelligent driving system.

[0067] In another possible implementation, the transceiver unit 310 is further configured to: receive a user's gear shifting request while the vehicle is moving at high speed; if the user's gear shifting request is a neutral shifting request, send a human intervention flag to the intelligent driving system, so that after receiving a preset number of human intervention flags, the intelligent driving system sends a control invalidation flag to the local end; after receiving the control invalidation flag, the gear control is handed over to the driver.

[0068] In another possible implementation, the aforementioned switching unit 330 is further configured to switch the vehicle gear to parking gear after the vehicle enters an off-vehicle parking scenario or a charging scenario; the aforementioned transceiver unit 310 is further configured to send the switched vehicle gear to the intelligent driving system, so that the intelligent driving system can monitor the duration of the vehicle's stay in the off-vehicle parking scenario or the charging scenario, and send a control invalidation flag bit to the local end when the monitored stay duration reaches a preset duration.

[0069] In another possible implementation, the switching unit 330 is further configured to: if the braking system is detected to be in a clamped state when no parking gear switching request is received from the intelligent driving system, determine that the emergency braking function of the vehicle has been triggered; after the emergency braking function is triggered, maintain the current vehicle gear until a new gear switching request is received from the intelligent driving system, and then perform gear switching according to the new gear switching request.

[0070] In another possible implementation, the transceiver unit 310 is also used to: monitor at least one of the signals of the gear enable flag and the gear shift request of the intelligent driving system; if the monitoring timeout occurs, the gear control is handed over to the driver.

[0071] In another possible implementation, the switching unit 330 is further configured to: detect the vehicle speed if a control invalidation flag and a gear enable flag are received; maintain the current vehicle gear if the vehicle speed is greater than or equal to a preset speed; and switch the vehicle gear to parking gear if the vehicle speed is less than the preset speed.

[0072] This application also provides a gear position controller, see [link to relevant documentation] Figure 4 As shown in the figure, the gear control in this embodiment may include a processor 410, a transceiver 420, and a memory 430. The processor 410, transceiver 420, and memory 430 are connected via a bus 440. The processor 410 is used to execute multiple instructions; the transceiver 420 is used to interact with other devices; and the memory 430 is used to store multiple instructions adapted to be loaded by the processor 410 and executed as in the gear control method described in the above embodiment.

[0073] The processor 410 can be an Electronic Control Unit (ECU), a Central Processing Unit (CPU), a general-purpose processor, a coprocessor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The processor 410 can also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a 5SP and a microprocessor, etc. In this embodiment, the processor 410 can be a microcontroller. By programming the microcontroller, various control functions can be implemented. The processor has the advantages of powerful computing capabilities and fast processing speed. Specifically: the transceiver 420 performs the function of the transceiver unit 310, and transfers gear control to the intelligent driving system after receiving the control enable flag; the processor 410 performs the function of the listening unit 320, and listens to the information sent by the intelligent driving system; the processor 410 performs the function of the switching unit 330, and performs gear switching according to the gear switching request received from the intelligent driving system after listening to the gear enable flag of the intelligent driving system.

[0074] In another possible implementation, the transceiver 420 is also used to: determine whether the vehicle is in a high-voltage power-on state and a gear position is available; if the determination result is yes, then execute the step of handing over gear position control to the intelligent driving system.

[0075] In another possible implementation, the transceiver 420 is also used to: receive a user's gear shifting request while the car is moving at high speed; if the user's gear shifting request is a neutral shifting request, send a human intervention flag to the intelligent driving system, so that after receiving a preset number of human intervention flags, the intelligent driving system sends a control invalidation flag to the local end; after receiving the control invalidation flag, the gear control is handed over to the driver.

[0076] In another possible implementation, the processor 410 is further configured to switch the vehicle gear to parking gear after the vehicle enters an off-vehicle parking scenario or a charging scenario; the transceiver 420 is further configured to send the switched vehicle gear to the intelligent driving system, so that the intelligent driving system can monitor the duration of the vehicle's stay in the off-vehicle parking scenario or the charging scenario, and send a control invalidation flag bit to the local end when the monitored stay duration reaches a preset duration.

[0077] In another possible implementation, the processor 410 is further configured to: if a parking gear shifting request is not received from the intelligent driving system, and the braking system is detected to be in a clamped state, determine that the vehicle's emergency braking function has been triggered; after the emergency braking function is triggered, maintain the current vehicle gear until a new gear shifting request is received from the intelligent driving system, and then perform a gear shifting according to the new gear shifting request.

[0078] In another possible implementation, the transceiver 420 is also used to: listen to at least one of the signals of the intelligent driving system's gear enable flag and gear shift request; if the listening timeout occurs, then hand over gear control to the driver.

[0079] In another possible implementation, the processor 410 is further configured to: detect the vehicle speed if a control invalidation flag and a gear enable flag are received; maintain the current vehicle gear if the vehicle speed is greater than or equal to a preset speed; and switch the vehicle gear to parking gear if the vehicle speed is less than the preset speed.

[0080] In one embodiment, this application also provides a computer-readable storage medium storing a plurality of instructions adapted for loading by a processor and executing the methods in any of the foregoing embodiments. The processor is used to execute the plurality of instructions; the memory is used to store the plurality of instructions, which are loaded by the processor and executed as the gear control method in the above embodiments.

[0081] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0082] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A gear control method, characterized in that, The method includes: After receiving the control enable flag, the gear control is handed over to the intelligent driving system; The system listens to the information sent by the intelligent driving system, and after listening to the gear enable flag of the intelligent driving system, it performs gear switching according to the received gear switching request from the intelligent driving system. After performing gear shifting according to the received gear shifting request from the intelligent driving system, the process further includes: If a control invalidation flag and a gear enable flag are received, the vehicle speed is detected; if the vehicle speed is greater than or equal to a preset speed, the current vehicle gear is maintained. If the vehicle speed is less than the preset speed, the vehicle gear will be switched to park.

2. The method according to claim 1, characterized in that, After receiving the control enable flag, and before handing over gear control to the intelligent driving system, the process further includes: Determine whether the car is under high voltage and whether the gear is available; If the judgment result is yes, then the step of handing over the gear control to the intelligent driving system will be executed.

3. The method according to claim 1, characterized in that, After transferring gear control to the intelligent driving system, the method further includes: While the car is moving at high speed, a gear shifting request is received from the user. If the user's gear shifting request is a neutral shifting request, then a human intervention flag is sent to the intelligent driving system, so that after receiving the human intervention flag a preset number of times, the intelligent driving system sends a control invalid flag to the local end; Upon receiving the control invalidation flag, the gear shift control is handed over to the driver.

4. The method according to claim 1, characterized in that, After detecting the gear enable flag of the intelligent driving system, the method further includes: After the car enters a parking or charging scenario, shift the car's gear to park. The switched vehicle gear is sent to the intelligent driving system, which monitors the duration of the vehicle's stay in the off-vehicle parking or charging scenarios. When the monitoring shows that the stay duration has reached a preset duration, a control invalidation flag is sent to the local end.

5. The method according to claim 1, characterized in that, After detecting the gear enable flag of the intelligent driving system, the method further includes: If the braking system is detected to be in a clamped state when no parking gear switching request is received from the intelligent driving system, it is determined that the emergency braking function of the vehicle has been triggered. After the emergency braking function is triggered, the current gear position of the vehicle is maintained until a new gear shift request is received from the intelligent driving system, at which point the gear shift is performed according to the new gear shift request.

6. The method according to claim 1, characterized in that, After transferring gear control to the intelligent driving system, the method further includes: Listen to at least one of the signals from the gear enable flag and the gear shift request of the intelligent driving system; If the monitoring timeout expires, the control of the gear position will be handed over to the driver.

7. A gear position controller, characterized in that, include: The transceiver unit is used to transfer gear control to the intelligent driving system after receiving the control enable flag. The monitoring unit is used to monitor the information sent by the intelligent driving system; The switching unit is used to switch gears according to the received gear switching request from the intelligent driving system after listening to the gear enable flag bit of the intelligent driving system. After performing gear shifting according to the received gear shifting request from the intelligent driving system, the method further includes: if a control invalidation flag and a gear enable flag are received, then the vehicle speed is detected. If the vehicle speed is greater than or equal to the preset speed, maintain the current vehicle gear; if the vehicle speed is less than the preset speed, shift the vehicle gear to park.

8. A gear position controller, characterized in that, The gear control unit includes a processor, a transceiver, and a memory, which are connected via a bus. The processor is used to execute multiple instructions. The transceiver is used to interact with other devices. The memory is used to store the multiple instructions, which are adapted to be loaded by the processor and executed using the gear control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a plurality of instructions adapted for loading by a processor and executing the gear control method of any one of claims 1 to 6.

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