An automatic driving gear arbitration method and device, a vehicle and a storage medium

Abstract

The application relates to the technical field of automatic driving and discloses an automatic driving gear arbitration method and device, a vehicle and a storage medium, the method comprises the following steps: receiving gear signals input by a safety guarantee driving module, an automatic driving gear control module and manual gear shifting operation, the safety guarantee driving module is used for outputting gear signals for guaranteeing the safety of a driver according to a driving environment, and the automatic driving gear control module is used for outputting gear signals according to vehicle speed changes and driving direction changes; when at least two kinds of gear signals in the safety guarantee driving module, the automatic driving gear control module and the manual gear shifting operation are acquired at the same time, a target gear signal with the highest priority at the current time is responded according to the priority order of the safety guarantee driving module, the manual gear shifting operation and the automatic driving gear control module. The application improves the driving safety of an automatic driving gear shifting strategy.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and specifically to an autonomous driving gear arbitration method, device, vehicle, and storage medium. Background Technology

[0002] With the development of connected, digital, and intelligent vehicles, automotive architecture has undergone tremendous changes, and the vehicle's electronic and electrical systems have become increasingly complex. According to the definition of Level 3 autonomous driving systems, drivers can take their hands off the steering wheel and their eyes off the road for a certain period of time; in most cases, the autonomous driving system can maintain control of the vehicle. Currently, there are two main strategies for gear shifting arbitration in autonomous vehicles. One is that the controller executes the gear selection output by the autonomous driving module and the gear selection manually input by the driver sequentially. This method has no protection against gear conflict signals, easily leading to gear shifting confusion and compromising driving safety. The other is that the controller determines whether the current mode is autonomous driving. If it is, it shifts gears according to the gear selection output by the autonomous driving module, ignoring the manual input by the driver; if it is not, it shifts gears according to the manual input by the driver, ignoring the gear selection signal output by the autonomous driving module. This method is prone to problems with the start / stop of autonomous driving modes, preventing gear shifts from occurring as desired by the user, also compromising driving safety. Therefore, a new gear shift arbitration method is needed for autonomous driving. Summary of the Invention

[0003] In view of this, the present invention provides an autonomous driving gear arbitration method, device, vehicle and storage medium to solve the problem that autonomous driving gear shifting is detrimental to driving safety.

[0004] In a first aspect, the present invention provides an autonomous driving gear arbitration method applied to a vehicle processor. The method includes: receiving gear signals input from a safety-enhancing driving module, an autonomous driving gear control module, and a manual gear shifting operation; the safety-enhancing driving module outputting a gear signal to ensure driver safety based on the driving environment; and the autonomous driving gear control module outputting a gear signal based on changes in vehicle speed and driving direction. When at least two gear signals from the safety-enhancing driving module, the autonomous driving gear control module, and the manual gear shifting operation are acquired at the same time, the target gear signal with the highest priority at the current time is responded to according to the priority order of the safety-enhancing driving module, the manual gear shifting operation, and the autonomous driving gear control module.

[0005] Based on the aforementioned technical means, this invention divides the software modules involved in autonomous driving into a safety-assurance driving module and an autonomous driving gear control module. The safety-assurance driving module outputs gear signals to ensure driver safety based on the driving environment, while the autonomous driving gear control module adjusts the gears normally according to vehicle speed changes. Therefore, when the vehicle processor simultaneously receives gear signals from the safety-assurance driving module, the autonomous driving gear control module, and manual gear shifting input, the gear signal from the safety-assurance driving module takes precedence. If no gear signal is received from the safety-assurance driving module, manual operation takes precedence, and finally, the gear signal from the autonomous driving gear control module takes precedence. During autonomous driving, this maintains normal vehicle operation while providing a mechanism for manual intervention at any time. This allows for correction of shifting risks introduced by the autonomous driving gear control module, and further mitigates shifting risks from both the autonomous driving gear control module and manual operation through the safety-assurance driving module.

[0006] In one optional implementation, the safety-assured driving module includes a backup power system status judgment module, a vehicle drivability status module, and a parking gear judgment module; the backup power system status judgment module is used to determine whether the vehicle's main power system has failed, and takes over the vehicle's power control when the main power system fails; the vehicle drivability status module is used to determine whether the vehicle can be driven, and the parking gear judgment module is used to determine whether a parking request has been received.

[0007] Based on the above technical means, the safety-assured driving module provided in this embodiment of the invention mainly includes a backup power system status judgment module, a vehicle drivable status module, and a parking gear judgment module. The backup power system status judgment module is used to output a gear signal to ensure safety when the main power system fails. The vehicle drivable status module is used to output a gear signal to ensure driver safety according to the drivable and non-drivable states of the vehicle. The parking gear judgment module is used to output a parking brake gear signal in a timely manner when the vehicle processor receives a parking request, thereby comprehensively ensuring driver safety in multiple dimensions.

[0008] In one optional implementation, the step of the backup power system status judgment module outputting a gear position signal includes: determining the current actual gear of the vehicle; when the current actual gear of the vehicle is P gear, outputting P gear as the gear position signal of the backup power system status judgment module; when the current actual gear of the vehicle is not P gear, checking the power system; when the power system is not faulty, outputting an invalid signal as the gear position signal of the backup power system status judgment module; when the power system is faulty, outputting N gear as the gear position signal of the backup power system status judgment module.

[0009] Based on the above technical means, the backup power system status judgment module provided in this embodiment of the invention performs a comprehensive analysis based on the current actual gear position and the effectiveness of the main power system, thereby outputting a more reliable gear signal. If the actual gear of the preceding vehicle is P, it indicates that the vehicle is in a parked state, and the main power system does not provide power, so there is no need to check it; simply maintain the P gear output. When the actual gear of the current vehicle is not P (e.g., D, R, or N), the main power system is checked; if the main power system is not faulty, there is no need to adjust the gear signal, and the vehicle can continue to be controlled by the gear output by the automatic driving gear control module, thereby the backup power system status judgment module outputs an invalid signal, indicating that the backup power system status judgment module does not participate in control. If the main powertrain fails, the backup powertrain status assessment module immediately outputs "N" (Neutral). Although the backup powertrain has taken over vehicle drive control, to improve driving safety, it does not directly continue the main powertrain's gear position. Instead, it shifts the vehicle to N, allowing the driver to manually take over the vehicle. This effectively notifies the driver that the main powertrain has failed, preventing the driver from being unaware. Furthermore, switching to N allows the driver to apply the brakes promptly, preventing the inability to perform emergency parking maneuvers due to the main powertrain's gear position, further enhancing driving safety.

[0010] In one optional implementation, the step of the vehicle drivability status module outputting a gear position signal includes: determining the drivability status of the vehicle; if the drivability status indicates that the vehicle is currently not drivable, outputting an invalid signal as the gear position signal of the vehicle drivability status module; if the drivability status indicates that the vehicle changes from being not drivable to being drivable, obtaining the current actual gear of the vehicle; if the current actual gear of the vehicle is P gear, then outputting P gear as the gear position signal of the vehicle drivability status module; if the current actual gear of the vehicle is not P gear, then outputting N gear as the gear position signal of the vehicle drivability status module.

[0011] According to the above-mentioned technical means, the vehicle drivability module provided by this invention outputs an invalid signal when the vehicle is in a non-drivable state, indicating that it will not participate in gear control and will use the vehicle's current gear as the reference. When the vehicle changes from a non-drivable state to a drivable state, if the current gear is P (Park), the gear will not be changed; if the vehicle's gear before the state change was not P, then N (Neutral) will be output when the vehicle changes from a non-drivable state to a drivable state. This serves to notify the user that the vehicle has changed from a non-drivable state to a drivable state and avoids the problem of accidental vehicle start-up due to continuing the original gear, further improving vehicle driving safety.

[0012] In one optional implementation, the step of the parking gear determination module outputting a gear signal includes: when a parking request message is received, determining the state of the vehicle's brake pedal; if the vehicle's brake pedal is depressed, determining whether the current vehicle speed is less than a preset vehicle speed threshold, and if the current vehicle speed is less than the preset vehicle speed threshold, outputting the P gear as the gear signal of the parking gear determination module; if no parking request message is received, the vehicle's brake pedal is not depressed, or the current vehicle speed is greater than or equal to the preset vehicle speed threshold, then outputting an invalid signal as the gear signal of the parking gear determination module.

[0013] Based on the aforementioned technical means, the parking gear determination module provided in this embodiment of the invention employs a dual-insurance mechanism for automatic parking control. The parking request information received by the module comes from various sources, including manual user operation and automatic generation by the software during vehicle autonomous driving. To adjust the current gear to parking (P), to extend vehicle life and ensure user safety, it is necessary to determine whether the brake pedal is depressed upon receiving the parking request information. Only when the brake pedal is depressed can the vehicle's braking system be guaranteed to be operational, thus decelerating the vehicle until it stops. This avoids extreme situations where electrical wiring or software configuration issues prevent other parking control software signals from effectively controlling the vehicle's stop. Furthermore, the actual gear is only switched to P when the current vehicle speed is below a preset speed threshold, protecting vehicle components from damage.

[0014] In one optional implementation, when at least two gear signals from the safety-assurance driving module, the automatic driving gear control module, and the manual gear shifting operation are acquired simultaneously, the target gear signal with the highest priority at the current moment is responded to according to the priority order of the safety-assurance driving module, the manual gear shifting operation, and the automatic driving gear control module. This includes: when any module among the backup power system status judgment module, the vehicle drivable status module, and the parking gear judgment module outputs P gear, P gear is used as the target gear signal; when none of the backup power system status judgment module, the vehicle drivable status module, and the parking gear judgment module outputs P gear, and either the backup power system status judgment module or the vehicle drivable status module outputs N gear, N gear is used as the target gear signal; when all three modules output invalid signals, it is determined whether a manual gear shifting operation signal has been received; if an operation signal is received, the operation signal is used as the target gear signal; if no operation signal is received, the signal output by the automatic driving gear control module is used as the target gear signal.

[0015] Based on the above technical means, in this embodiment of the invention, when the safety-protection driving module outputs at least one P gear, the P gear is prioritized to maintain the parking state and ensure user driving safety; when the safety-protection driving module does not output a P gear, but at least one of the backup power system status judgment module or vehicle drivability status module outputs an N gear, the vehicle gear is switched to N gear, which, while ensuring vehicle driving safety, also serves to remind the user that a problem has occurred and manual intervention is required; when the safety-protection driving module outputs neither a P gear nor an N gear, gear switching is prioritized based on manual operation, ensuring the user's ability to intervene in autonomous driving at any time and further improving the safety of autonomous driving.

[0016] In one optional implementation, the method further includes: acquiring the vehicle's current driving state and current driving environment; performing accident analysis based on the current driving state, current driving environment, and target gear signal; and maintaining the vehicle's current actual gear unchanged when the accident analysis results indicate an increase in safety risk.

[0017] Based on the above technical means, the embodiments of the present invention also perform accident analysis on the gear position signal output by the aforementioned module. If the accident analysis results indicate that the gear position after switching will pose a greater safety risk to the vehicle than the gear position before switching, then the gear position will not be switched, but the current actual gear position of the vehicle will remain unchanged, thus achieving the effect of gear position protection.

[0018] In one optional embodiment, the step of receiving a gear position signal input by a manual gear shift operation includes: when a P gear operation signal is input, determining whether the brake pedal is depressed and whether the current vehicle speed is less than a first preset vehicle speed threshold; if the brake pedal is depressed and the current vehicle speed is less than the first preset vehicle speed threshold, then the P gear operation signal is received; otherwise, the P gear operation signal is considered invalid. When a N gear operation signal is input, obtaining the current actual gear of the vehicle; if the current actual gear of the vehicle is P and the brake pedal is depressed, then the N gear operation signal is received; if the current actual gear of the vehicle is P and the brake pedal is not depressed, then the N gear operation signal is considered invalid; if the current actual gear of the vehicle is not P, then the N gear operation signal is received. When a D gear operation signal is input, obtaining the current actual gear of the vehicle; if the current actual gear of the vehicle is P and the brake pedal is depressed, then the D gear operation signal is received; if the current actual gear of the vehicle is P and the brake pedal is depressed, then the D gear operation signal is received. If the brake pedal is not depressed, the D gear operation signal is considered invalid. If the current vehicle gear is not P, it is determined whether the current vehicle speed is less than the second preset speed threshold and whether the vehicle is traveling forward. If the current vehicle speed is less than the second preset speed threshold or the vehicle is traveling forward, the D gear operation signal is received; otherwise, the D gear operation signal is considered invalid. When the R gear operation signal is input, the current vehicle gear is obtained. If the current vehicle gear is P and the brake pedal is depressed, the R gear operation signal is received. If the current vehicle gear is P and the brake pedal is not depressed, the R gear operation signal is considered invalid. If the current vehicle gear is not P, it is determined whether the current vehicle speed is less than the second preset speed threshold and whether the vehicle is traveling backward. If the current vehicle speed is less than the second preset speed threshold or the vehicle is traveling backward, the R gear operation signal is received; otherwise, the R gear operation signal is considered invalid.

[0019] Secondly, the present invention provides an autonomous driving gear arbitration device applied to a vehicle processor. The device includes: a signal receiving module for receiving gear signals input from a safety-enhancing driving module, an autonomous driving gear control module, and a manual gear shifting operation; the safety-enhancing driving module for outputting a gear signal to ensure driver safety based on the driving environment; and the autonomous driving gear control module for outputting a gear signal based on changes in vehicle speed and driving direction. A signal arbitration module is used to respond to the target gear signal with the highest priority at the current moment, according to the priority order of the safety-enhancing driving module, the manual gear shifting operation, and the autonomous driving gear control module, when at least two gear signals from the safety-enhancing driving module, the autonomous driving gear control module, and the manual gear shifting operation are received simultaneously.

[0020] Thirdly, the present invention provides a vehicle, comprising: a memory and a vehicle processor, the memory and the vehicle processor being communicatively connected to each other, the memory storing computer instructions, and the vehicle processor executing the computer instructions to perform the method described in the first aspect or any corresponding embodiment thereof.

[0021] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the method described in the first aspect or any corresponding embodiment thereof.

[0022] The technical solution provided by the embodiments of the present invention has the following advantages:

[0023] (1) Based on the above technical means, this invention divides the software modules involved in autonomous driving into a safety-assurance driving module and an autonomous driving gear control module. The safety-assurance driving module outputs gear signals to ensure driver safety according to the driving environment, while the autonomous driving gear control module is a control module that normally adjusts the gear according to changes in vehicle speed and direction. Therefore, when the vehicle processor simultaneously receives gear signals from the safety-assurance driving module, the autonomous driving gear control module, and manual gear shifting operation, the gear signal from the safety-assurance driving module takes precedence. When there is no gear signal from the safety-assurance driving module, manual operation takes precedence, and finally, the gear signal from the autonomous driving gear control module takes precedence. During the autonomous driving process, the vehicle maintains normal driving and provides a mechanism for manual intervention at any time, enabling humans to correct the gear shifting risks caused by the autonomous driving gear control module. Furthermore, the safety-assurance driving module further avoids the gear shifting risks caused by both the autonomous driving gear control module and manual operation.

[0024] (2) The safety assurance driving module provided in this embodiment of the invention mainly includes a backup power system status judgment module, a vehicle drivable status module and a parking gear judgment module. The backup power system status judgment module is used to output a gear signal to ensure safety when the main power system fails. The vehicle drivable status module is used to output a gear signal to ensure driver safety according to the drivable and non-drivable states of the vehicle. The parking gear judgment module is used to output a gear signal about parking brake in a timely manner when the vehicle processor receives a parking request, thereby ensuring driver safety in multiple dimensions.

[0025] (3) The backup power system status judgment module provided in this embodiment of the invention performs a comprehensive analysis based on the current actual gear position and the effectiveness of the main power system, thereby outputting a more reliable gear signal. If the main power system fails, the backup power system status judgment module immediately outputs N gear. Although the backup power system has taken over the driving control of the vehicle, in order to improve the safety of driving, it does not directly continue to control the vehicle using the gear of the main power system, but adjusts the vehicle gear to N gear, thereby allowing the driver to manually take over the vehicle, which serves to notify the driver that the main power system has failed, avoiding the driver being unaware. Furthermore, switching to N gear also allows the driver to operate the brakes in time to stop the vehicle, avoiding the inability to perform emergency parking operations due to the continued use of the gear of the main power system, further improving driving safety.

[0026] (4) When the vehicle is in a non-drivable state, the vehicle drivable state module provided by this invention outputs an invalid signal to indicate that it does not participate in gear control and uses the current gear of the vehicle as the reference. When the vehicle changes from a non-drivable state to a drivable state, if the current gear is P, the gear is not changed. If the vehicle was not in P before the state change, the N gear is output when the vehicle changes from a non-drivable state to a drivable state. This serves to notify the user that the vehicle has changed from a non-drivable state to a drivable state and avoids the problem of the vehicle starting accidentally due to the continuation of the original gear, thus further improving the safety of vehicle driving.

[0027] (5) The parking gear judgment module provided in this embodiment of the invention adopts a dual-insurance mechanism for automatic parking control. The parking request information received by the parking gear judgment module comes from various sources, including manual operation by the user and automatic generation by the software during vehicle autonomous driving. If the current gear needs to be adjusted to parking (P), to extend vehicle life and ensure user safety, it is necessary to determine whether the vehicle's brake pedal is depressed upon receiving the parking request information. Only when the brake pedal is depressed can the vehicle's braking system be guaranteed to be in working condition, thus decelerating the vehicle until it stops. This avoids extreme situations where electrical wiring problems or software configuration issues prevent other parking control software signals from effectively controlling the vehicle to stop. Furthermore, the current actual gear is switched to P only when the current vehicle speed is less than a preset speed threshold, protecting vehicle components from damage.

[0028] (6) In this embodiment of the invention, when the safety protection driving module outputs at least one P gear, the P gear is prioritized to maintain the parking state and ensure the user's driving safety; when the safety protection driving module does not output P gear but at least one of the backup power system status judgment module or vehicle drivability status module outputs N gear, the vehicle gear is switched to N gear, which, while ensuring vehicle driving safety, also serves to remind the user that there is a problem with the vehicle and manual intervention is required; when the safety protection driving module outputs neither P gear nor N gear, the gear switching is prioritized by manual operation to ensure the user's ability to intervene in autonomous driving at any time and further improve the safety of autonomous driving.

[0029] (7) In this embodiment of the invention, the gear position signal output by the aforementioned module is also subjected to accident analysis. If the accident analysis results indicate that the gear position after switching will pose a greater safety risk to the vehicle than the gear position before switching, then the gear position will no longer be switched, but the current actual gear position of the vehicle will remain unchanged, thus achieving the effect of gear position protection. Attached Figure Description

[0030] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 This is a flowchart illustrating an automatic driving gear arbitration method according to an embodiment of the present invention;

[0032] Figure 2 This is another flowchart illustrating an automatic driving gear arbitration method according to an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the structure of an automatic driving gear arbitration device according to an embodiment of the present invention;

[0034] Figure 4 This is a structural block diagram of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] According to an embodiment of the present invention, an embodiment of an automatic driving gear arbitration method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0037] This embodiment provides an autonomous driving gear arbitration method, which can be used in the aforementioned vehicle processor. Figure 1 This is a flowchart of an automatic driving gear arbitration method according to an embodiment of the present invention, such as... Figure 1 As shown, the process includes the following steps:

[0038] Step S101: Receive gear position signals from the safety driving module, the automatic driving gear control module, and the manual gear shifting operation. The safety driving module is used to output gear position signals to ensure driver safety based on the driving environment. The automatic driving gear control module is used to output gear position signals based on changes in vehicle speed and driving direction.

[0039] Specifically, in this embodiment of the invention, for autonomous driving software modules used to control the automatic driving of a vehicle, these modules are divided into a safety-assurance driving module and an autonomous driving gear control module according to the degree of emphasis on safety factors when shifting gears. The safety-assurance driving module outputs gear signals to ensure driver safety based on the driving environment. For example, when the vehicle processor determines that there are potential safety risks based on data collected by external sensors, the safety-assurance driving module outputs a specific gear signal to avoid these risks. The autonomous driving gear control module outputs gear signals based on changes in vehicle speed and direction of travel. In other words, the autonomous driving gear control module is the software module that switches gears according to changes in vehicle speed and direction of travel during normal driving when there are no safety risks. For example, it switches gears to D, R, P, and the appropriate D gear position. It is the control module that enables gear switching during autonomous driving.

[0040] Step S102: When at least two gear signals from the safety protection driving module, the automatic driving gear control module, and the manual gear shifting operation are obtained at the same time, the target gear signal with the highest priority at the current time is responded to in the priority order of the safety protection driving module, the manual gear shifting operation, and the automatic driving gear control module.

[0041] Specifically, when the vehicle processor simultaneously receives gear position signals from the safety-assurance driving module, the autonomous driving gear position control module, and the manual gear shifting operation, the gear position signal from the safety-assurance driving module takes precedence. If no gear position signal from the safety-assurance driving module is received, then the manual operation takes precedence, and finally, the autonomous driving gear position control module takes precedence. During autonomous driving, the operation of the autonomous driving gear position control module in this embodiment of the invention maintains normal vehicle operation. Manual operation has higher priority than the autonomous driving gear position control module, and a mechanism for manual intervention at any time is provided, allowing humans to correct gear shifting risks introduced by the autonomous driving gear position control module. In particular, the safety-assurance driving module further mitigates the gear shifting risks introduced by both the autonomous driving gear position control module and manual operation. The solution provided by this embodiment of the invention significantly improves the safety of the gear shift arbitration strategy.

[0042] In some optional implementations, the safety-assured driving module includes a backup power system status determination module, a vehicle drivability status module, and a parking gear determination module; the backup power system status determination module is used to determine whether the vehicle's main power system has failed, and takes over the vehicle's power control when the main power system fails; the vehicle drivability status module is used to determine whether the vehicle can be driven, and the parking gear determination module is used to determine whether a parking request has been received.

[0043] Specifically, the safety-assured driving module provided in this embodiment of the invention mainly includes a backup power system status judgment module, a vehicle drivable status module, and a parking gear judgment module. In the event of a controller failure in the autonomous driving system, to further enhance system safety, related technologies have proposed solutions such as functional backup or system redundancy, thereby overcoming the bottleneck of L3-level driving safety. Meanwhile, intelligent driving vehicles with functional backup or system redundancy require a method capable of switching to backup functions and taking over the vehicle to ensure driving safety in the event of a primary function failure. Based on this, when the primary power system fails or malfunctions, the backup power system shifting mechanism provided in this embodiment of the invention needs to promptly identify the system fault and obtain the current vehicle status, combining the target gear signal from the driver or intelligent driving system to complete the gear switching of the backup power system and output a safe gear signal.

[0044] The vehicle drivability status module is used to determine whether a vehicle is drivable or not by analyzing data collected from vehicle sensors. Examples of drivable states include the charging gun not being unplugged or the battery being too low; these are just examples and not exhaustive. Any vehicle state that is not considered drivable is considered drivable. Therefore, after determining the specific drivability status of the vehicle, the module outputs appropriate gear signals to ensure driver safety.

[0045] The parking gear determination module is used to output a parking brake gear signal in a timely manner when the vehicle processor receives a parking request.

[0046] The solution provided by the embodiments of the present invention enables the safety-assured driving module to measure the risks faced by the driver and the vehicle in multiple dimensions, and then output a gear signal that prioritizes safety to comprehensively ensure the safety of the driver and significantly improve the safety of the autonomous driving gear arbitration strategy.

[0047] In some optional implementations, the step of the backup power system status determination module outputting the gear position signal includes:

[0048] Step a1: Determine the current gear of the vehicle.

[0049] Step a2: When the current actual gear of the vehicle is P gear, output the gear position signal of the P gear backup power system status judgment module.

[0050] Step a3: When the current vehicle is not in P gear, check the powertrain system.

[0051] Step a4: When the main power system is not faulty, the output invalid signal is the gear position signal of the backup power system status judgment module.

[0052] Step a5: When the main power system fails, output the gear position signal of the backup power system status judgment module for gear N.

[0053] Specifically, such as Figure 2 As shown, the backup power system status judgment module provided in this embodiment of the invention performs a comprehensive analysis based on the current actual gear position and the effective status of the main power system, thereby outputting a gear signal with higher reliability.

[0054] If the vehicle in front is actually in P gear, it means that the vehicle is in a parked state. In this case, the main power system is not providing power, so the backup power system status judgment module does not need to check it and can simply maintain P gear output.

[0055] When the current vehicle is not in P gear (e.g., D, R, or N gear), the backup power system status judgment module checks the active power system. If the active power system is not faulty, it means that the active power system can continue to control the vehicle to drive normally through the gear signal output by the automatic driving gear control module. At this time, there is no need to adjust the gear signal. Thus, the backup power system status judgment module outputs an invalid signal. An invalid signal means that the output signal is empty, indicating that the backup power system status judgment module does not participate in the control.

[0056] If the backup power system status judgment module detects a failure in the main power system, it immediately outputs "N" (Neutral). Although the backup power system has taken over the vehicle's drive control, to improve driving safety, this embodiment of the invention does not directly continue the main power system's gear position to control the vehicle. Instead, it adjusts the vehicle to N, preventing the vehicle from continuing automatic driving in the original gear, thus notifying the driver to take manual control. This arbitration strategy effectively notifies the driver that the main power system has failed, preventing the driver from being unaware of the failure. Furthermore, switching to N allows the driver to apply the brakes promptly, avoiding the inability to perform emergency parking maneuvers due to the continued use of the main power system's gear position, further improving driving safety.

[0057] In some alternative implementations, the step of the vehicle drivability state module outputting a gear signal includes:

[0058] Step b1: Determine the drivability of the vehicle.

[0059] Step b2: If the drivable status indicates that the vehicle is currently not drivable, the invalid signal output is the gear position signal of the vehicle drivable status module.

[0060] Step b3: If the drivable state means that the vehicle changes from being unable to drive to being drivable, obtain the current actual gear of the vehicle.

[0061] Step b4: If the current actual gear of the vehicle is P gear, then output the gear position signal of the P gear as the vehicle drivable status module.

[0062] Step b5: If the current vehicle is not in P gear, then output the N gear signal of the vehicle drivable status module.

[0063] Specifically, the vehicle drivability status module provided by the present invention is a software module used to determine whether the current vehicle is in a drivable or indestructible state, and outputs a gear signal that prioritizes the safety of people and vehicles according to the corresponding state.

[0064] When the vehicle is in a non-drivable state, it indicates that the vehicle is not moving. The drivable state module outputs an invalid signal, indicating that it will not participate in gear control and will use the vehicle's current gear. When the vehicle changes from a non-drivable state to a drivable state, if the current gear is P (Park), it means that the vehicle should have been in a stationary state such as charging before the change to drivable, and the gear should also be marked as P (Park). Therefore, the gear will not be changed to ensure vehicle stability. If the vehicle was not in P (Park) before the state change, for example, if the gear was shifted to D (Drive) or R (Reverse) due to a software signal error or manual operation error when the vehicle was in a non-drivable state, then the drivable state module will output N (Neutral) when the vehicle changes from a non-drivable state to a drivable state. On the one hand, this method can notify the user that the vehicle has changed from a non-drivable state to a drivable state. On the other hand, it avoids the problem of accidental vehicle start-up due to continued erroneous gear shifting, further improving the safety and reliability of vehicle driving.

[0065] In some optional implementations, the step of the parking gear position determination module outputting a gear position signal includes:

[0066] Step c1: When a parking request message is received, determine the status of the vehicle's brake pedal.

[0067] Step c2: If the vehicle brake pedal is pressed, determine whether the current vehicle speed is less than the preset vehicle speed threshold, and if the current vehicle speed is less than the preset vehicle speed threshold, output the P gear as parking gear determination module gear signal.

[0068] Step c3: If no parking request information is received, the vehicle brake pedal is not pressed, or the current vehicle speed is greater than or equal to the preset vehicle speed threshold, then an invalid signal is output as the gear signal of the parking gear judgment module.

[0069] Specifically, the parking gear determination module provided in this embodiment of the invention employs a dual-insurance mechanism for automatic parking control. The parking request information received by the parking gear determination module comes from various sources, including manual user operation and automatic software generation during vehicle autonomous driving. For example, the parking request information may originate from the vehicle's P gear button, handbrake button, or a soft switch on the vehicle's infotainment display. If the current gear is adjusted to parking (P), to extend vehicle life and ensure user safety, this embodiment of the invention defines that upon receiving the parking request information, it must determine whether the vehicle's brake pedal is depressed. Only when the brake pedal is depressed can the vehicle's braking system be guaranteed to be engaged, causing the vehicle to decelerate until it stops, thus setting the output gear to P. This avoids extreme situations where electrical wiring or software configuration issues prevent the parking control software signal from effectively controlling the vehicle to stop, thereby preventing forced conversion to P gear in extreme circumstances, protecting the vehicle from damage, and ensuring user safety. In addition, the current actual gear will only be switched to P gear when the current vehicle speed is less than the preset vehicle speed threshold (e.g., 3km / h, this is just an example and not a limit; the actual threshold for low vehicle speed can be defined based on the engineer's experience), to avoid switching to P gear at high speed and protect the vehicle's parts from damage.

[0070] Specifically, in some optional embodiments, step S102 includes:

[0071] Step d1: When any module among the backup power system status judgment module, vehicle drivable status module and parking gear judgment module outputs P gear, use P gear as the target gear signal.

[0072] Step d2: When the backup power system status judgment module, the vehicle drivable status module and the parking gear judgment module do not output P gear, and the backup power system status judgment module or the vehicle drivable status module outputs N gear, N gear is used as the target gear signal.

[0073] Step d3: When the backup power system status judgment module, the vehicle drivable status module and the parking gear judgment module all output invalid signals, determine whether a manual gear shifting operation signal has been received.

[0074] Step d4: If an operation signal is received, the operation signal is used as the target gear signal.

[0075] In step d5, if no operation signal is received, the signal output by the automatic driving gear control module is used as the target gear signal.

[0076] Specifically, such as Figure 2 As shown, in this embodiment of the invention, a gear position arbitration is performed on the safety driving module, the automatic driving gear position control module, and the manual gear shifting operation through a gear position state switching machine.

[0077] For the safety-assurance driving module, when at least one of the backup power system status judgment module, vehicle drivability status module, and parking gear judgment module outputs "P" (Park) gear, the gear arbitration strategy provided in this embodiment prioritizes "P" gear to maintain the parking state and ensure user driving safety. When the safety-assurance driving module does not output "P", but at least one of the backup power system status judgment module or vehicle drivability status module outputs "N" gear, the gear arbitration strategy provided in this embodiment switches the vehicle gear to "N" gear. This ensures vehicle driving safety while also alerting the user to a vehicle problem, allowing the user to manually take over the vehicle. When the safety-assurance driving module outputs neither "P" nor "N", gear switching prioritizes manual operation, ensuring the user can intervene in the autonomous driving gear control module at any time to control the vehicle's driving ability, further improving the safety of autonomous driving.

[0078] In some optional embodiments, the automatic driving gear arbitration method provided by the present invention further includes the following steps:

[0079] Step e1: Obtain the vehicle's current driving status and current driving environment.

[0080] Step e2: Perform accident analysis based on the current driving status, current driving environment, and target gear signal.

[0081] Step e3: When the accident analysis results indicate an increased safety risk, keep the current actual gear position of the vehicle unchanged.

[0082] Specifically, in embodiments of the present invention, such as Figure 2 As shown, in addition to gear arbitration, this embodiment of the invention also provides a gear shift protection function. After the gear shifter outputs the target gear signal, it does not directly apply the target gear signal. This embodiment of the invention also performs accident analysis on the target gear signal output by the aforementioned module. Based on the current driving state and current driving environment of the vehicle, it determines whether the shifted gear will increase the safety risk. The process of accident analysis based on the driving state and current driving environment can be implemented through an accident classification model trained by a neural network or by looking up an accident table. The specific model training process will not be described in detail.

[0083] If the accident analysis results indicate that the shifted gear poses a greater safety risk to the vehicle than the original gear, the shift protection function will restrict the output of the target gear signal and stop shifting gears. Instead, it will keep the current actual gear of the vehicle unchanged, thus achieving the effect of shift protection, minimizing safety risks, and further improving the safety of the user driving the vehicle.

[0084] In some alternative implementations, the step of receiving the gear position signal input by manual gear shifting operation includes:

[0085] Step f1: When the P gear operation signal is input, determine whether the brake pedal is depressed and whether the current vehicle speed is less than the first preset vehicle speed threshold.

[0086] Step f2: If the brake pedal is depressed and the current vehicle speed is less than the first preset vehicle speed threshold, then the P gear operation signal is received; otherwise, the P gear operation signal is considered invalid.

[0087] Step f3: When the N gear operation signal is input, obtain the current actual gear of the vehicle;

[0088] Step f4: If the current vehicle is in P gear and the brake pedal is depressed, then receive the N gear operation signal.

[0089] Step f5: If the current vehicle is in P gear and the brake pedal is not depressed, then the N gear operation signal is considered invalid.

[0090] Step f6: If the current vehicle is not in P gear, then receive the N gear operation signal.

[0091] Step f7: When the D gear operation signal is input, obtain the current actual gear of the vehicle;

[0092] Step f8: If the current vehicle is in P gear and the brake pedal is depressed, then receive the D gear operation signal.

[0093] Step f9: If the current vehicle is in P gear and the brake pedal is not depressed, then the D gear operation signal is considered invalid.

[0094] Step f10: If the current vehicle is not in P gear, determine whether the current vehicle speed is less than the second preset vehicle speed threshold and whether the vehicle is moving forward.

[0095] Step f11: When the current vehicle speed is less than the second preset vehicle speed threshold or the vehicle is traveling in the forward direction, receive the D gear operation signal; otherwise, consider the D gear operation signal as an invalid signal.

[0096] Step f12: When the R gear operation signal is input, obtain the current actual gear of the vehicle;

[0097] Step f13: If the current vehicle is in P gear and the brake pedal is depressed, then receive the R gear operation signal.

[0098] Step f14: If the current vehicle is in P gear and the brake pedal is not depressed, then the R gear operation signal is considered invalid.

[0099] Step f15: If the current vehicle is not in P gear, determine whether the current vehicle speed is less than the second preset vehicle speed threshold and whether the vehicle is moving backward.

[0100] Step f16: When the current vehicle speed is less than the second preset vehicle speed threshold or the vehicle is traveling in reverse, receive the R gear operation signal; otherwise, consider the R gear operation signal as an invalid signal.

[0101] Specifically, the embodiments of the present invention perform gear position verification for manual operation gear positions, so that only manual operations that pass the verification can be used as valid gear position signals to enter the gear position arbitration strategy, thereby further improving driving safety.

[0102] Firstly, regarding manual shifting to P gear, the operation is only considered valid if the driver depresses the brake pedal and the vehicle speed is below a first preset speed threshold (e.g., 3 km / h). This prevents issues such as vehicle rollback or damage to components during high-speed shifting. Secondly, for N gear shifting, if the current gear is P, it's necessary to check if the driver has depressed the brake pedal. If not, the shift cannot proceed to N to prevent vehicle rollback during manual shifting. However, if the current gear is D or R (not P), no conditions are required, and the gear can be shifted directly to N. The principle for shifting between D and R gears is similar, requiring one of two conditions to be met. The first condition is that the vehicle is traveling in the direction corresponding to D or R gear, and the second condition is that the current vehicle speed is less than a second preset speed threshold (e.g., 5 km / h). Shifting can proceed as long as either condition is met; otherwise, switching to D or R gear will be refused. This is to avoid damage to vehicle parts caused by reverse or high-speed shifting of the transmission, thereby preventing transmission damage and potential driving safety issues.

[0103] This embodiment also provides an automatic driving gear arbitration device, which is used to implement the above embodiments and preferred embodiments, and will not be repeated as described previously. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0104] This embodiment provides an automatic driving gear arbitration device, applied to a vehicle processor, such as... Figure 3 As shown, it includes:

[0105] The signal receiving module 301 is used to receive gear signals input from the safety driving module, the automatic driving gear control module and the manual gear shifting operation. The safety driving module is used to output gear signals to ensure driver safety according to the driving environment. The automatic driving gear control module is used to output gear signals according to changes in vehicle speed and driving direction.

[0106] The signal arbitration module 302 is used to respond to the target gear signal with the highest priority at the current moment according to the priority order of the safety protection driving module, the automatic driving gear control module and the manual gear shifting operation when at least two gear signals from the safety protection driving module, the automatic driving gear shifting operation and the automatic driving gear control module are acquired at the same time.

[0107] In some optional implementations, the safety-assured driving module includes a backup power system status determination module, a vehicle drivability status module, and a parking gear determination module; the backup power system status determination module is used to determine whether the vehicle's main power system has failed, and takes over the vehicle's power control when the main power system fails; the vehicle drivability status module is used to determine whether the vehicle can be driven, and the parking gear determination module is used to determine whether a parking request has been received.

[0108] In some optional embodiments, the signal receiving module 301 includes a unit for backing up the gear position signal output by the power system status determination module:

[0109] The current gear determination unit is used to determine the current actual gear of the vehicle;

[0110] The first P gear unit is used to not check the main power system when the current actual gear of the vehicle is P gear, and outputs the gear position signal of the backup power system status judgment module.

[0111] The powertrain inspection unit is used to inspect the powertrain system when the current vehicle is not in P gear.

[0112] The first invalid unit is used to output an invalid signal as the gear position signal of the backup power system status judgment module when the main power system has not failed.

[0113] The first N-gear unit is used to output the gear position signal of the backup power system status judgment module when the main power system fails.

[0114] In some optional embodiments, the signal receiving module 301 includes a unit for outputting a gear position signal from the vehicle drivable state module:

[0115] The driving status analysis unit is used to determine the drivability of the vehicle;

[0116] The second invalidation unit is used to output an invalid signal as the gear signal of the vehicle drivable status module if the drivable status indicates that the vehicle is currently not drivable.

[0117] The second current gear acquisition unit is used to acquire the current actual gear of the vehicle when the drivable state indicates that the vehicle has changed from being unable to drive to being drivable.

[0118] The second P gear unit is used to output the gear position signal of the vehicle driving status module if the current actual gear position of the vehicle is P gear.

[0119] The second N-gear unit is used to output the gear position signal of the vehicle drivable status module if the current actual gear position of the vehicle is not P gear.

[0120] In some optional embodiments, the signal receiving module 301 includes a unit for the parking gear position determination module to output a gear position signal as follows:

[0121] The parking request unit is used to determine the status of the vehicle's brake pedal when a parking request message is received.

[0122] The third P gear unit is used to determine whether the current vehicle speed is less than a preset vehicle speed threshold when the vehicle brake pedal is pressed, and outputs the P gear as parking gear determination module when the current vehicle speed is less than the preset vehicle speed threshold.

[0123] The third invalidation unit is used to output an invalid signal as the gear position signal of the parking gear judgment module if no parking request information is received, the vehicle brake pedal is not pressed, or the current vehicle speed is greater than or equal to a preset vehicle speed threshold.

[0124] In some alternative implementations, the signal arbitration module 302 includes:

[0125] The arbitration P gear unit is used to take the P gear as the target gear signal when any of the backup power system status judgment module, vehicle drivable status module and parking gear judgment module outputs the P gear.

[0126] The arbitration N-gear unit is used to take N-gear as the target gear signal when the backup power system status judgment module, the vehicle drivable status module and the parking gear judgment module do not output P gear, and the backup power system status judgment module or the vehicle drivable status module outputs N gear.

[0127] The manual signal receiving unit is used to determine whether a manual gear shifting operation signal has been received when the backup power system status judgment module, the vehicle drivable status module and the parking gear judgment module all output invalid signals.

[0128] The arbitration unit is used to take the operation signal as the target gear signal if an operation signal is received.

[0129] The arbitration autonomous driving unit is used to take the signal output by the autonomous driving gear control module as the target gear signal if no operation signal is received.

[0130] In some optional embodiments, the automatic driving gear arbitration device provided by the present invention further includes:

[0131] The driving condition acquisition module is used to acquire the vehicle's current driving status and current driving environment;

[0132] The accident analysis module is used to perform accident analysis based on the current driving status, current driving environment, and target gear signal.

[0133] The shift protection module is used to maintain the current actual gear of the vehicle when the accident analysis results indicate an increase in safety risk.

[0134] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0135] In this embodiment, an automatic driving gear arbitration device is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above-mentioned functions.

[0136] This invention also provides a computer device having the above-described features. Figure 3 The image shows an automatic driving gear arbitration device.

[0137] Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of a vehicle provided in an optional embodiment of the present invention, such as... Figure 4 As shown, the vehicle includes one or more vehicle processors 10, a memory 20, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The vehicle processors can process instructions executed within the vehicle, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple vehicle processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple vehicles can be connected, with each device providing some of the necessary operations (e.g., as a server array, a set of blade servers, or a multi-vehicle processor system). Figure 4Take a vehicle processor 10 as an example.

[0138] The vehicle processor 10 may be a central vehicle processor, a network vehicle processor, or a combination thereof. The vehicle processor 10 may further include a hardware chip. This hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CLP), a field-programmable gate array (FPGA), a general-purpose array logic (GPRS), or any combination thereof.

[0139] The memory 20 stores instructions executable by at least one vehicle processor 10 to cause the at least one vehicle processor 10 to perform the method shown in the above embodiments.

[0140] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on vehicle usage. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the vehicle processor 10, and these remote memories may be connected to the vehicle via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0141] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0142] The vehicle also includes a communication interface 30 for communicating with other devices or communication networks.

[0143] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as recordable on a storage medium, or implemented as computer code originally stored on a remote storage medium or a non-transitory machine-readable storage medium and subsequently stored on a local storage medium after being downloaded via a network. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated vehicle processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium may also include combinations of the above types of memory. It is understood that the computer, vehicle processor, micro-vehicle processor controller, or programmable hardware includes storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, vehicle processor, or hardware, the methods shown in the above embodiments are implemented.

[0144] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. An automatic driving gear arbitration method, characterized in that, Applied to a vehicle processor, the method includes: The system receives gear signals from a safety-assurance driving module, an autonomous driving gear control module, and a manual gear shifting operation. The safety-assurance driving module outputs gear signals to ensure driver safety based on the driving environment. The autonomous driving gear control module outputs gear signals based on changes in vehicle speed and direction. The safety-assurance driving module includes a backup power system status judgment module, a vehicle drivability status module, and a parking gear judgment module. The backup power system status judgment module determines whether the vehicle's main power system has failed and takes over power control of the vehicle when the main power system fails. The vehicle drivability status module determines whether the vehicle can be driven, and the parking gear judgment module determines whether a parking request has been received. When at least two gear signals from the safety driving module, the automatic driving gear control module, and the manual gear shifting operation are acquired at the same time, the target gear signal with the highest priority at the current time is responded to in the order of priority of the safety driving module, the manual gear shifting operation, and the automatic driving gear control module.

2. The method according to claim 1, characterized in that, The process by which the backup power system status determination module outputs the gear position signal includes: Determine the current gear of the vehicle; When the current vehicle is in P gear, the P gear signal is output to the backup power system status judgment module. When the current vehicle is not in P gear, the powertrain system is checked. When the main power system is not faulty, the output invalid signal is the gear signal of the backup power system status judgment module; When the main power system fails, the N gear is output as the gear position signal of the backup power system status judgment module.

3. The method according to claim 2, characterized in that, The process of the vehicle drivability status module outputting the gear signal includes: Determine the vehicle's drivability; If the drivable state indicates that the vehicle is currently not drivable, the invalid signal output is the gear signal of the vehicle drivable state module; If the drivable state indicates that the vehicle changes from being unable to drive to being drivable, obtain the current actual gear position of the vehicle. If the current actual gear of the vehicle is P gear, then output P gear as the gear position signal of the vehicle drivable status module. If the current actual gear of the vehicle is not P gear, then the output N gear is the gear position signal of the vehicle drivable status module.

4. The method according to claim 1 or 3, characterized in that, The process by which the parking gear position determination module outputs the gear position signal includes: When a parking request message is received, determine the status of the vehicle's brake pedal; If the vehicle brake pedal is pressed, it is determined whether the current vehicle speed is less than a preset vehicle speed threshold. If the current vehicle speed is less than the preset vehicle speed threshold, the P gear is output as the gear position signal of the parking gear determination module. If the parking request information is not received, the vehicle brake pedal is not depressed, or the current vehicle speed is greater than or equal to the preset vehicle speed threshold, then an invalid signal is output as the gear signal of the parking gear determination module.

5. The method according to claim 4, characterized in that, When at least two gear signals from the safety driving module, the automatic driving gear control module, and the manual gear shifting operation are acquired simultaneously, the system responds to the target gear signal with the highest priority at the current moment according to the priority order of the safety driving module, manual gear shifting operation, and automatic driving gear control module, including: When any one of the backup power system status judgment module, the vehicle drivable status module and the parking gear judgment module outputs P gear, P gear is used as the target gear signal; When the backup power system status judgment module, the vehicle drivable status module and the parking gear judgment module do not output P gear, and the backup power system status judgment module or the vehicle drivable status module outputs N gear, N gear is used as the target gear signal. When the backup power system status judgment module, the vehicle drivable status module and the parking gear judgment module all output the invalid signal, determine whether the manual gear shifting operation signal has been received; If the operation signal is received, the operation signal is used as the target gear signal; If the operation signal is not received, the signal output by the automatic driving gear control module shall be used as the target gear signal.

6. The method according to claim 5, characterized in that, The method further includes: Obtain the vehicle's current driving status and current driving environment; Accident analysis is performed based on the current driving status, the current driving environment, and the target gear signal. When the accident analysis results indicate an increased safety risk, the current actual gear position of the vehicle remains unchanged.

7. The method according to claim 1, characterized in that, The process of receiving the gear position signal input by the manual gear shifting operation includes: When the P gear operation signal is input, it is determined whether the brake pedal is depressed and whether the current vehicle speed is less than the first preset vehicle speed threshold. If the brake pedal is depressed and the current vehicle speed is less than a first preset vehicle speed threshold, then the P gear operation signal is received; otherwise, the P gear operation signal is considered invalid. When the N gear operation signal is input, the current actual gear of the vehicle is obtained; If the current vehicle is in P gear and the brake pedal is depressed, then the N gear operation signal is received. If the current vehicle is in P gear and the brake pedal is not depressed, then the N gear operation signal is considered invalid. If the current vehicle is not in P gear, then the N gear operation signal is received. When the D gear operation signal is input, the current actual gear of the vehicle is obtained; If the current vehicle is in P gear and the brake pedal is depressed, then the D gear operation signal is received. If the current vehicle is in P gear and the brake pedal is not depressed, then the D gear operation signal is considered invalid. If the current vehicle is not in P gear, then determine whether the current vehicle speed is less than the second preset vehicle speed threshold and whether the vehicle is moving forward. When the current vehicle speed is less than the second preset vehicle speed threshold or the vehicle is traveling in a forward direction, the D gear operation signal is received; otherwise, the D gear operation signal is considered an invalid signal. When the reverse gear operation signal is input, the current actual gear position of the vehicle is obtained; If the current vehicle is in P gear and the brake pedal is depressed, then the R gear operation signal is received. If the current vehicle is in P gear and the brake pedal is not depressed, then the R gear operation signal is considered invalid. If the current vehicle is not in P gear, then determine whether the current vehicle speed is less than the second preset vehicle speed threshold, and determine whether the vehicle is traveling in reverse. When the current vehicle speed is less than the second preset vehicle speed threshold or the vehicle is traveling in reverse, the reverse gear operation signal is received; otherwise, the reverse gear operation signal is considered invalid.

8. An automatic driving gear arbitration device, characterized in that, Applied to a vehicle processor, the device includes: The signal receiving module receives gear signals from the safety-assurance driving module, the automatic driving gear control module, and manual gear shifting operations. The safety-assurance driving module outputs gear signals to ensure driver safety based on the driving environment. The automatic driving gear control module outputs gear signals based on changes in vehicle speed and direction. The safety-assurance driving module includes a backup power system status judgment module, a vehicle drivability status module, and a parking gear judgment module. The backup power system status judgment module determines whether the vehicle's main power system has failed and takes over power control of the vehicle when the main power system fails. The vehicle drivability status module determines whether the vehicle can be driven, and the parking gear judgment module determines whether a parking request has been received. The signal arbitration module is used to respond to the target gear signal with the highest priority at the current moment, according to the priority order of the safety protection driving module, the automatic driving gear control module and the manual gear shifting operation, when at least two gear signals from the safety protection driving module, the automatic driving gear shifting operation and the automatic driving gear control module are acquired at the same time.

9. A vehicle, characterized in that, include: A memory and a vehicle processor are communicatively connected, the memory storing computer instructions, and the vehicle processor executing the computer instructions to perform the method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the method of any one of claims 1 to 7.

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