Intelligent automobile man-machine co-driving steering device

Abstract

The application provides a kind of intelligent automobile man-machine co-pilot control device, including man-machine co-pilot control pedal and pressure sensor or displacement sensor.Man-machine co-pilot control pedal is arranged in the right side of accelerator pedal, with accelerator pedal at a certain angle, and more close to driving position.Pressure or displacement sensor is set in the inside of control pedal, for collecting the pressure received by control pedal, or collecting the displacement of control pedal.Pressure or displacement sensor is connected with vehicle control system.Vehicle control system receives pressure sensor signal or displacement sensor signal, judges the intention and behavior of driver according to pressure signal value or displacement signal value, and switches the control mode of vehicle to automatic driving mode, slight or emergency braking mode, manual driving mode according to the intention of driver, to realize the quick switching of man-machine co-pilot intelligent automobile control mode, while ensuring the safety of intelligent automobile and the comfort of driver.

Description

Technical Field

[0001] The present invention belongs to the technical field of human-machine co-driving of intelligent vehicles, and relates to a human-machine co-driving control device for an intelligent vehicle. Background Art

[0002] Autonomous driving technology, a rapidly developing emerging field in recent years, aims to achieve environmental perception, behavioral decision-making, path planning, and execution control through advanced sensors, computer vision, artificial intelligence, and other technologies, enabling vehicles to autonomously complete driving tasks without human intervention. However, current autonomous driving technology is not yet fully mature, and cannot safely respond to certain complex scenarios and emergencies. Smart cars are currently at the Level 3 stage of human-machine co-driving, requiring the driver to maintain the ability to take over vehicle control at any time. Human-machine co-driving, where the driver and the autonomous driving system jointly control the vehicle, aims to leverage the respective strengths of both, improve driving safety, reduce the driver's burden, and enable a smooth transfer of driving authority when necessary.

[0003] There are already some human-machine co-driving control devices in the existing smart cars on the market, but they still have many shortcomings in terms of functionality and safety, and usually rely on complex buttons, touch screens or voice commands to switch the control mode of the smart car.

[0004] For example, in Chinese patent CN 114889634 A, "A method for automatically switching driving rights between a driver and a vehicle based on electromyographic signals," the driver's intention is identified by collecting electromyographic signals of the main activated muscles that may be involved when the driver participates in driving, and the driving mode is switched accordingly.

[0005] For example, in Chinese patent CN 117087700 A "A method, device and vehicle for taking over an autonomous vehicle", the driver's confirmation of taking over the vehicle is determined by triggering a takeover confirmation switch or voice command. When all the vehicle takeover conditions are met, the vehicle releases the driving rights to the driver.

[0006] The human-machine switching process of the intelligent car involved in the above-mentioned patent still has many shortcomings in terms of functionality and safety. The switching of human-vehicle driving rights based on electromyography signals has problems such as complex execution process, inaccurate and timely switching of driving rights, etc. Taking over driving control rights by clicking the takeover confirmation switch or voice commands can easily cause the risk of driver distraction, increase the difficulty of operation for the driver, and easily cause misoperation, resulting in the inability to effectively ensure driving safety in an emergency.

[0007] The pedal layout of traditional vehicles is designed for manual driving. During driving, the driver's right foot is either placed on the accelerator pedal or moved from the accelerator pedal to the adjacent brake pedal. However, this arrangement is unsuitable for intelligent vehicles with human-machine co-driving. When autonomous driving is in progress, the driver's right foot can operate normally without the driver having to operate various pedals, steering wheels, buttons, or levers. In this situation, the driver's right foot is placed either in front of the accelerator pedal or in front of the brake pedal. When placed in front of the accelerator pedal, the driver's right foot is relaxed and comfortable, and can remain in this position for a long time. However, in an emergency situation requiring rapid driver intervention, often when applying the brakes, the driver may accidentally press the accelerator pedal, causing the vehicle to become more dangerous. In addition, it takes a long time for the driver's right foot to move from in front of the accelerator pedal to the brake pedal. When placed in front of the brake pedal, although the driver can quickly press the brake pedal to manually intervene in an emergency, the long-term placement of the right foot in front of the brake pedal is not ergonomic, and the right leg is uncomfortable and difficult to maintain in this position for a long time.

[0008] Therefore, the present invention proposes a new intelligent automobile human-machine co-driving control device that is more convenient, safer, more reliable and more comfortable, aiming to solve the above problems, improve the convenience of switching driving control rights of autonomous driving vehicles, and ensure the comfort of the driver. Summary of the Invention

[0009] The purpose of the present invention is to overcome the defects of the existing technology, solve the problems described in the above background technology, and propose an intelligent automobile human-machine co-driving control device.

[0010] The device of the present invention is realized by the following technical solutions:

[0011] A human-machine co-driving control device for an intelligent vehicle includes a human-machine co-driving control pedal and a pressure sensor or displacement sensor. It can monitor the pressure signal or displacement signal generated by the control pedal in real time, and identify the driver's control intention and behavior. According to the driver's intention, the vehicle control mode is switched to automatic driving mode, light braking mode, emergency braking mode, and manual driving mode. At the same time, it can ensure that when the vehicle is in automatic driving mode, the driver can place his right foot on the human-machine co-driving control pedal for a long time and comfortably. The braking deceleration of the light braking mode is relatively small, while the braking deceleration of the emergency braking mode is relatively large, usually greater than 7m / s. 2 .

[0012] The shared human-machine control pedal is tilted to the right of the accelerator pedal, with its longitudinal center axis forming a certain angle with the longitudinal center axis of the accelerator pedal. The center of the shared human-machine control pedal lies on an arc centered on the vehicle's actual H point and with the distance from the center of the circle to the center of the accelerator pedal as the radius. The shared human-machine control pedal is tilted upward, and the angle between the tangent through the center of the pedal surface and the horizontal plane is equal to the corresponding angle of the accelerator pedal. The position and angle of the pedal conform to ergonomic principles and were designed and developed using the standards of the Society of Automotive Engineers (SAE). When the driver's right foot is placed on the pedal for a long time, it can maintain a comfortable experience.

[0013] A pressure sensor or displacement sensor is located inside the control pedal and is used to monitor whether the control pedal is under pressure in real time and collect pressure signals or displacement signals. The pressure sensor or displacement sensor is connected to the vehicle control system and transmits the sensor signal to the vehicle control system.

[0014] The vehicle control system receives pressure sensor signals or displacement sensor signals from real-time monitoring, determines the driver's operating intention and behavior based on the pressure signal value of the pressure sensor or the displacement signal value of the displacement sensor, and switches the vehicle's control mode to automatic driving mode, light braking mode, emergency braking mode, or manual driving mode according to the driver's intention.

[0015] Specifically, during the driving of the vehicle, the driver places his right foot on the brake pedal or the accelerator pedal, or places his right foot on the operating pedal of the present invention.

[0016] When a pressure sensor is used, the pressure sensor transmits the collected pressure signal data to the vehicle control system. After receiving the pressure signal data, the vehicle control system compares and analyzes the specific pressure signal values, determines the driver's operating intention, and adopts different control modes for the smart car according to different pressure signal values.

[0017] The vehicle control modes corresponding to different pressure signal values ​​are as follows:

[0018] 1) If the pressure signal value is zero, that is, the driver's right foot is not placed on the human-machine shared driving control pedal, and other human-machine shared driving switching devices such as buttons have not triggered the automatic driving request, the vehicle control system releases control and switches the vehicle control mode to manual driving mode;

[0019] 2) If the pressure signal value is non-zero, the driver's control intention is determined based on a comparative analysis of the pressure signal value and thresholds a and b, and the vehicle's control mode is switched. Threshold b is greater than threshold a. This can be calibrated before the vehicle leaves the factory or on-site through a specific process.

[0020] 3) If the pressure signal value is less than a certain threshold a and greater than zero, the vehicle control system switches the vehicle control mode to the automatic driving mode;

[0021] 4) If the pressure signal value is greater than a certain threshold a and less than a certain threshold b, the vehicle control system switches the vehicle control mode to a light braking mode;

[0022] 5) If the pressure signal value is greater than a certain threshold value b, the vehicle control system switches the vehicle control mode to the emergency braking mode and applies emergency braking to the vehicle.

[0023] When a displacement sensor is used, the displacement sensor transmits the collected pedal displacement signal data to the vehicle control system. After receiving the displacement signal data, the vehicle control system compares and analyzes the specific displacement signal values, determines the driver's operating intention, and adopts different control modes for the smart car according to different displacement signal values.

[0024] 1) If the displacement signal value is zero, that is, the driver's right foot is not placed on the human-machine shared driving control pedal, and other human-machine shared driving switching devices such as buttons have not triggered the automatic driving request, the vehicle control system releases control and switches the vehicle control mode to manual driving mode;

[0025] 2) If the displacement signal value is non-zero, the driver's control intention is determined based on a comparative analysis of the displacement signal value and thresholds c and d, and the vehicle's control mode is switched. Threshold d is greater than threshold c. This can be calibrated before the vehicle leaves the factory or on-site through a specific process.

[0026] 3) If the displacement signal value is less than a certain threshold value c and greater than zero, the vehicle control system switches the vehicle control mode to the automatic driving mode;

[0027] 4) If the displacement signal value is greater than a certain threshold value c and less than a certain threshold value d, the vehicle control system switches the vehicle control mode to a light braking mode;

[0028] 5) If the displacement signal value is greater than a certain threshold d, the vehicle control system switches the vehicle control mode to the emergency braking mode and applies emergency braking to the vehicle.

[0029] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0030] 1) A more convenient and accurate method is provided for switching the control rights of human-machine co-driving in smart cars. The present invention adds a human-machine co-driving control device to the smart car. By real-time monitoring of the pressure signal or displacement signal of the human-machine co-driving control pedal, different pressure signal values ​​or displacement signal values ​​are used as the judgment criteria for the driver's control intention, and different vehicle control modes are switched. The method is simple and clear, and can ensure the rapid and accurate switching of driving control rights.

[0031] 2) To address the problem that the process of switching driving rights in human-machine co-driving is cumbersome, inconvenient, and prone to misoperation, the present invention only requires the driver to step on or release the human-machine co-driving control pedal to switch the intelligent car control mode, without having to use hands to operate buttons or touch screens, freeing the driver's hands, improving the simplicity of the switching operation, and allowing the driver to better adapt to this switching method.

[0032] 3) To address safety issues in human-machine co-driving, the present invention adds a braking function to the control pedal, so that in an emergency, the driver can, without changing the position of his right foot, simply step on the human-machine co-driving control pedal to promptly intervene in the braking or perform emergency braking operations on the smart car in the automatic driving state, thereby effectively improving driving safety.

[0033] 4) The design of the position of the operating pedals for the human-machine co-driving system in the present invention conforms to the principles of ergonomics, providing the driver with a comfortable footrest space. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Schematic diagram of a human-machine co-driving control device for an intelligent vehicle including a pressure sensor in an embodiment of the present invention;

[0035] Figure 2 This is a flowchart of the working process of the intelligent automobile human-machine co-driving control device including a pressure sensor in an embodiment of the present invention;

[0036] Figure 3 Schematic diagram of a human-machine co-driving control device for an intelligent vehicle including a displacement sensor according to an embodiment of the present invention;

[0037] Figure 4 This is a working flow diagram of the intelligent automobile human-machine co-driving control device including a displacement sensor in an embodiment of the present invention. DETAILED DESCRIPTION

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0039] like Figure 1 As shown, an intelligent car human-machine co-driving control device includes the following parts:

[0040] A human-machine co-driving operating pedal (1) and a pressure sensor (2).

[0041] The human-machine co-driving operating pedal (1) is used to provide a comfortable footrest space for the driver and is arranged obliquely on the right side of the accelerator pedal.

[0042] Preferably, in order to ensure that the driver's right foot feels comfortable when placed, the longitudinal center axis of the human-machine co-driving control pedal (1) is at a certain angle to the longitudinal center axis of the accelerator pedal (4); the center of the human-machine co-driving control pedal (1) is located on an arc with the actual H point of the car as the center and the distance from the center of the circle to the center of the accelerator pedal (4) as the radius; the human-machine co-driving control pedal (1) is tilted upward, and the angle between the tangent through the center of the pedal surface and the horizontal plane is equal to the corresponding angle of the accelerator pedal (4), so that the human-machine co-driving control pedal (1) conforms to ergonomic principles and can provide the driver with a comfortable experience.

[0043] A pressure sensor (2) is used to monitor in real time whether the operating pedal is under pressure and to collect pressure signals;

[0044] The connection relationship between the above components is as follows: the pressure sensor (2) is installed inside the human-machine co-driving operating pedal (1) and transmits the pressure or displacement signal to the vehicle control system.

[0045] like Figure 2 As shown, the specific working process of this device is as follows:

[0046] When the smart car is driving, the driver places his right foot on the brake pedal or the accelerator pedal, and the vehicle's control mode is manual driving mode; when the driver places his right foot on the operating pedal described in the present invention, the vehicle's control mode is automatic driving mode, or light braking mode, or emergency braking mode.

[0047] The pressure sensor (2) in the human-machine co-driving control pedal (1) monitors in real time whether the pedal is subjected to pressure from the driver's right foot and collects pressure signal data.

[0048] The pressure sensor (2) transmits the collected pressure signal data to the vehicle control system.

[0049] After receiving the pressure signal data, the vehicle control system determines the specific pressure signal value, determines the driver's operating intention and behavior based on the pressure signal value, and switches the vehicle's control mode to automatic driving mode, emergency braking mode, light braking mode, or manual driving mode according to the driver's intention.

[0050] The vehicle control modes corresponding to different pressure signal values ​​are as follows:

[0051] 1) If the pressure signal value is zero, that is, the driver's right foot is not placed on the human-machine co-driving control pedal (1), and other human-machine co-driving switching devices such as buttons do not trigger the automatic driving request, the vehicle control system releases the control right and switches the vehicle control mode to the manual driving mode;

[0052] 2) If the pressure signal value is non-zero, the driver's control intention is determined based on a comparative analysis of the pressure signal value and thresholds a and b, and the vehicle's control mode is switched. Threshold b is greater than threshold a. This can be calibrated before the vehicle leaves the factory or on-site through a specific process.

[0053] 3) If the pressure signal value is less than a certain threshold a and greater than zero, the vehicle control system switches the vehicle control mode to the automatic driving mode;

[0054] 4) If the pressure signal value is greater than a certain threshold a and less than a certain threshold b, the vehicle control system switches the vehicle control mode to a light braking mode;

[0055] 5) If the pressure signal value is greater than a certain threshold value b, the vehicle control system switches the vehicle control mode to the emergency braking mode and applies emergency braking to the vehicle.

[0056] The pressure thresholds a and b are pressure signal values ​​measured through multiple experiments, or calibrated online.

[0057] like Figure 3 As shown, an intelligent car human-machine co-driving control device includes the following parts:

[0058] A human-machine co-driving operating pedal (1) and a displacement sensor (3).

[0059] The human-machine co-driving operating pedal (1) is used to provide a comfortable footrest space for the driver and is arranged obliquely on the right side of the accelerator pedal.

[0060] Preferably, in order to ensure that the driver's right foot feels comfortable when placed, the longitudinal center axis of the human-machine co-driving control pedal (1) is at a certain angle to the longitudinal center axis of the accelerator pedal (4); the center of the human-machine co-driving control pedal (1) is located on an arc with the actual H point of the car as the center and the distance from the center of the circle to the center of the accelerator pedal (4) as the radius; the human-machine co-driving control pedal (1) is tilted upward, and the angle between the tangent through the center of the pedal surface and the horizontal plane is equal to the corresponding angle of the accelerator pedal (4), so that the human-machine co-driving control pedal (1) conforms to ergonomic principles and can provide the driver with a comfortable experience.

[0061] A displacement sensor (3) is used to monitor in real time whether the operating pedal generates displacement and to collect displacement signals;

[0062] The connection relationship between the above components is as follows: the displacement sensor (3) is installed inside the human-machine co-driving operating pedal (1) and transmits the displacement signal to the vehicle control system.

[0063] like Figure 4 As shown, the specific working process of this device is as follows:

[0064] When the smart car is driving, the driver places his right foot on the brake pedal or the accelerator pedal, and the vehicle's control mode is manual driving mode; when the driver places his right foot on the operating pedal described in the present invention, the vehicle's control mode is automatic driving mode, or light braking mode, or emergency braking mode.

[0065] The displacement sensor (3) in the human-machine co-driving control pedal (1) monitors in real time whether the pedal is affected by the action of the driver's right foot stepping on the pedal, and collects the displacement signal data of the pedal.

[0066] The displacement sensor (3) transmits the collected displacement signal data to the vehicle control system.

[0067] After receiving the displacement signal data, the vehicle control system determines the specific displacement signal value, judges the driver's operating intention and behavior based on the displacement signal value, and switches the vehicle's control mode to automatic driving mode, emergency braking mode, light braking mode, or manual driving mode according to the driver's intention.

[0068] The vehicle control modes corresponding to different displacement signal values ​​are as follows:

[0069] 1) If the displacement signal value is zero, that is, the driver's right foot is not placed on the human-machine co-driving control pedal (1), and other human-machine co-driving switching devices such as buttons do not trigger the automatic driving request, the vehicle control system releases the control right and switches the vehicle to the manual driving mode;

[0070] 2) If the displacement signal value is non-zero, the driver's control intention is determined based on a comparison of the displacement signal value with thresholds c and d, and the vehicle's control mode is switched. If threshold d is greater than threshold c, this can be calibrated before the vehicle leaves the factory or on-site through a specific process.

[0071] 3) If the displacement signal value is less than the threshold value c and greater than zero, the vehicle control system switches the vehicle control mode to the automatic driving mode;

[0072] 4) If the displacement signal value is greater than the threshold value c and less than the threshold value d, the vehicle control system switches the vehicle control mode to a light braking mode;

[0073] 5) If the pressure signal value is greater than the threshold d, the vehicle control system switches the vehicle control mode to the emergency braking mode and applies emergency braking to the vehicle.

[0074] The displacement thresholds c and d are displacement signal values ​​measured through multiple experiments, or calibrated online.

[0075] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent car human-machine co-driving control device, characterized by: It includes a human-machine co-driving control pedal (1) and a pressure sensor (2), and has a vehicle control mode switching function and a braking function; The human-machine co-driving control pedal (1) is arranged on the right side of the accelerator pedal (4), and its longitudinal center axis forms a certain angle with the longitudinal center axis of the accelerator pedal (4). The center of the human-machine co-driving control pedal (1) is located on an arc with the actual H point of the vehicle as the center and the distance from the center of the circle to the center of the accelerator pedal (4) as the radius. The human-machine co-driving control pedal (1) is tilted upward, and the angle between the tangent line passing through the center of the pedal surface and the horizontal plane is equal to the corresponding angle of the accelerator pedal (4). The pressure sensor (2) is arranged inside the human-machine co-driving control pedal (1) and can monitor in real time the pressure signal received by the pedal when the driver operates the human-machine co-driving control pedal (1), and transmit the signal to the vehicle control system. The vehicle control system judges the driver's operating intention and behavior based on the pressure signal value, and switches the vehicle control mode to the automatic driving mode, the light braking mode, the emergency braking mode, and the manual driving mode according to the driver's intention. When the vehicle control mode is in the light braking mode and the emergency braking mode, the device has a braking function and can directly implement the braking operation.

2. The intelligent car human-machine co-driving control device according to claim 1, characterized in that: The pressure sensor (2) is arranged inside the operating pedal and is used for real-time monitoring whether the operating pedal is subjected to pressure, collecting the pressure signal, and transmitting the pressure signal to the vehicle control system.

3. The intelligent car human-machine co-driving control device according to claim 1, characterized in that: The vehicle control system receives pressure signal data from a pressure sensor (2) in a human-machine co-driving control pedal (1) monitored in real time, judges the driver's control intention and behavior based on the pressure signal value, and adopts different control modes for the intelligent vehicle based on different pressure signal values.

4. The intelligent car human-machine co-driving control device according to claim 1, characterized in that: The vehicle control modes corresponding to different pressure signal values ​​are as follows: 1) If the pressure signal value is zero, that is, the driver's right foot is not placed on the human-machine co-driving control pedal (1), and other human-machine co-driving switching devices such as buttons do not trigger the automatic driving request, the vehicle control system releases the control right and switches the vehicle control mode to the manual driving mode; 2) If the pressure signal value is non-zero, the driver's control intention is determined based on a comparative analysis of the pressure signal value and thresholds a and b, and the vehicle's control mode is switched. Threshold b is greater than threshold a. This can be calibrated before the vehicle leaves the factory or on-site through a specific process. 3) If the pressure signal value is less than the threshold a and greater than zero, the vehicle control system switches the vehicle control mode to the automatic driving mode; 4) If the pressure signal value is greater than threshold a and less than threshold b, the vehicle control system switches the vehicle control mode to a light braking mode; 5) If the pressure signal value is greater than the threshold value b, the vehicle control system switches the vehicle control mode to the emergency braking mode and applies emergency braking to the vehicle.

5. An intelligent car human-machine co-driving control device, characterized by: It includes a human-machine co-driving control pedal (1) and a displacement sensor (3), and has a vehicle control mode switching function and a braking function; The human-machine co-driving control pedal (1) is arranged on the right side of the accelerator pedal (4), and its longitudinal center axis forms a certain angle with the longitudinal center axis of the accelerator pedal (4). The center of the human-machine co-driving control pedal (1) is located on an arc with the actual H point of the vehicle as the center and the distance from the center of the circle to the center of the accelerator pedal (4) as the radius. The human-machine co-driving control pedal (1) is tilted upward, and the angle between the tangent line passing through the center of the pedal surface and the horizontal plane is equal to the corresponding angle of the accelerator pedal (4). The displacement sensor (3) is arranged inside the human-machine co-driving control pedal (1) and can monitor in real time the displacement signal generated by the pedal when the driver operates the human-machine co-driving control pedal (1), and transmit the signal to the vehicle control system. The vehicle control system judges the driver's operating intention and behavior based on the displacement signal value, and switches the vehicle control mode to the automatic driving mode, the light braking mode, the emergency braking mode, and the manual driving mode according to the driver's intention. When the vehicle control mode is in the light braking mode and the emergency braking mode, the device has a braking function and can directly implement the braking operation.

6. The intelligent car human-machine co-driving control device according to claim 5, characterized in that: The displacement sensor (3) is arranged inside the operating pedal and is used for real-time monitoring whether the operating pedal generates displacement, collecting the displacement signal, and transmitting the displacement signal to the vehicle control system.

7. The intelligent car human-machine co-driving control device according to claim 5, characterized in that: The vehicle control system receives displacement signal data monitored in real time by a displacement sensor (3) in a human-machine co-driving control pedal (1), judges the driver's control intention and behavior based on the displacement signal value, and adopts different control modes for the intelligent vehicle based on different displacement signal values.

8. The intelligent car human-machine co-driving control device according to claim 5, characterized in that: The vehicle control modes corresponding to different displacement signal values ​​are as follows: 1) If the displacement signal value is zero, that is, the driver's right foot is not placed on the human-machine co-driving control pedal (1), and other human-machine co-driving switching devices such as buttons do not trigger the automatic driving request, the vehicle control system releases the control right and switches the vehicle control mode to the manual driving mode; 2) If the displacement signal value is non-zero, the driver's control intention is determined based on a comparative analysis of the displacement signal value and thresholds c and d, and the vehicle's control mode is switched. Threshold d is greater than threshold c. This can be calibrated before the vehicle leaves the factory or on-site through a specific process. 3) If the displacement signal value is less than the threshold value c and greater than zero, the vehicle control system switches the vehicle control mode to the automatic driving mode; 4) If the displacement signal value is greater than the threshold value c and less than the threshold value d, the vehicle control system switches the vehicle control mode to a light braking mode; 5) If the displacement signal value is greater than the threshold d, the vehicle control system switches the vehicle control mode to the emergency braking mode and applies emergency braking to the vehicle.

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