Human-machine co-driving control method, device, vehicle and storage medium for vehicle

Abstract

This application relates to a human-machine co-driving control method, device, vehicle, and storage medium for a vehicle. The method includes: monitoring the lateral functions of the vehicle and the corresponding user hand torque sent by the EPS (Electrical Power Steering) via a host computer; generating upper and lower limits for EPS limit torque based on the lateral functions and user hand torque; and determining that the user has a takeover request when the absolute value of the upper and lower limits is less than a first preset threshold after receiving the upper and lower limits from the host computer. The system then controls the vehicle to enter human-machine co-driving mode, simultaneously limiting the steering wheel torque responding to the host computer's angle request, limiting the user's hand torque, and activating EPS steering assist. Otherwise, it determines that the user has no takeover request and continues to respond to the steering wheel torque responding to the host computer's angle request. This solves the problems in related technologies where the human-machine co-driving process does not consider the host computer's functional strategies, cannot distinguish lateral functions, and is prone to functional interference and steering wheel resonance.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a human-machine co-driving control method, device, vehicle, and storage medium for a vehicle. Background Technology

[0002] With the development of intelligent driving technology, assisted driving can not only improve the safe driving performance of vehicles, but also enhance the user's driving experience. Generally, assisted driving is mainly based on lane centering assist, lane emergency assist, and following assist. When these functions are disengaged, the EPS (Electric Power Steering) cannot receive the steering angle request from the host computer and only executes the steering wheel torque, which will cause the steering wheel to feel uneven and jerky. At the same time, the steering wheel can only be controlled after the lateral function is disengaged, which reduces the driver's sense of security. Therefore, human-machine co-driving has become an important function of assisted driving.

[0003] In related technologies, human-machine co-driving solutions generally add a human-machine co-driving state machine within the EPS. When the steering wheel torque is greater than or equal to the maximum set value, it is determined that the driver intends to take over, and the semi-autonomous driving function is disengaged. When the steering wheel torque is less than the maximum set value, it is determined that the driver does not intend to take over, and the semi-autonomous driving function remains active, maintaining the human-machine co-driving mode.

[0004] However, the above methods still have some shortcomings: (1) the host computer does not participate in the human-machine co-driving process and cannot distinguish the lateral functions; (2) the functional strategies of the host computer are not considered, which can easily cause functional interference and steering wheel resonance, which urgently need to be solved. Summary of the Invention

[0005] This application provides a human-machine co-driving control method, device, vehicle, and storage medium for vehicles, in order to solve the problems in the related technology that the human-machine co-driving process does not consider the functional strategy of the host computer, cannot distinguish lateral functions, and is prone to functional interference and steering wheel resonance.

[0006] The first aspect of this application provides a human-machine co-driving control method for a vehicle, including the following steps:

[0007] The system monitors the lateral function of the vehicle and the hand torque of the user corresponding to the lateral function, sent by the EPS. It determines whether the lateral function meets a first preset takeover condition and whether the hand torque of the user corresponding to the lateral function meets a second preset takeover condition. If the lateral function of the vehicle meets the first preset takeover condition and the hand torque of the user meets the second preset takeover condition, it generates an initial upper limit value and an initial lower limit value of the EPS limit torque. Based on a preset slope limit value, it adjusts the initial upper limit value and the initial lower limit value. When the initial upper limit value is adjusted to the first preset limit value, the upper limit value of the EPS limit torque is obtained. When the initial lower limit value is adjusted to the second preset limit value, the lower limit value of the EPS limit torque is obtained. The upper limit value and the lower limit value of the EPS limit torque are then sent to the EPS. The lateral function of the vehicle and the hand torque of the user corresponding to the lateral function are monitored by the host computer.

[0008] Receive the upper limit value and the lower limit value of the EPS limit torque, and determine whether the absolute value of the upper limit value and the lower limit value of the EPS limit torque is less than a first preset threshold.

[0009] If the absolute values ​​of the upper limit and the lower limit are less than the first preset threshold, it is determined that the user has a takeover request, and the vehicle is controlled to enter the human-machine co-driving mode. At the same time, the steering wheel torque in response to the host computer's angle request and the hand torque in response to the user are limited, and the EPS steering assist is activated. Otherwise, it is determined that the user has no takeover request, and the steering wheel torque in response to the host computer's angle request continues.

[0010] According to one embodiment of this application, determining whether the lateral function meets the first preset takeover condition includes:

[0011] Determine whether the corner request validity bit of the host computer is in a valid state;

[0012] If the corner request validity bit of the host computer is in the valid state, the lateral function of the vehicle is activated, and it is determined that the lateral function meets the first preset takeover condition.

[0013] According to one embodiment of this application, determining whether the user's hand torque corresponding to the lateral function meets the second preset takeover condition includes:

[0014] Determine whether the hand torque of the user corresponding to the lateral function is continuously greater than a second preset threshold within a preset time.

[0015] If the hand torque of the user corresponding to the lateral function is continuously greater than the second preset threshold within the preset time period, it is determined that the hand torque of the user corresponding to the lateral function meets the preset second takeover condition.

[0016] According to one embodiment of this application, the steering wheel torque in response to the host computer's angle request includes:

[0017] Receive the rotation request from the host computer;

[0018] The ADAS (Advanced Driver Assistance Systems) torque is calculated based on the steering angle request, and the host computer steering angle request is converted into steering wheel torque and ADAS torque of steering motor.

[0019] According to the human-machine co-driving control method for vehicles in this application embodiment, the host computer monitors the lateral functions of the vehicle and the corresponding user hand torque sent by the EPS (Electrical Power Steering). Based on the lateral functions of the vehicle and the user's hand torque, the host computer generates upper and lower limits for the EPS limit torque. After receiving the upper and lower limits from the host computer, if the absolute values ​​of the upper and lower limits are less than a first preset threshold, the host computer determines that the user has a takeover request, controls the vehicle to enter the human-machine co-driving mode, and simultaneously limits the steering wheel torque responding to the host computer's angle request, the user's hand torque, and activates the EPS steering assist. Otherwise, the host computer determines that the user has no takeover request and continues to respond to the steering wheel torque responding to the host computer's angle request. This solves the problems in related technologies where the host computer's functional strategy is not considered during human-machine co-driving, making it impossible to distinguish lateral functions and easily causing functional interference and steering wheel resonance. By comprehensively considering the host computer and EPS, the human-machine co-driving method achieves smooth steering wheel control and reduces the switching frequency of lateral functions during human-machine co-driving.

[0020] A second aspect of this application provides a human-machine co-driving control device for a vehicle, comprising:

[0021] The judgment module is used to monitor the lateral function of the vehicle and the hand torque of the user corresponding to the lateral function sent by the EPS, and to determine whether the lateral function meets the first preset takeover condition and whether the hand torque of the user corresponding to the lateral function meets the second preset takeover condition. If the lateral function of the vehicle meets the first preset takeover condition and the hand torque of the user meets the second preset takeover condition, then an initial upper limit value and an initial lower limit value of the EPS limit torque are generated, and the initial upper limit value and the initial lower limit value are adjusted based on a preset slope limit value. When the initial upper limit value is adjusted to the first preset limit value, the upper limit value of the EPS limit torque is obtained. When the initial lower limit value is adjusted to the second preset limit value, the lower limit value of the EPS limit torque is obtained. The upper limit value and the lower limit value of the EPS limit torque are sent to the EPS. The lateral function of the vehicle and the hand torque of the user corresponding to the lateral function are monitored by the host computer.

[0022] The receiving module is used to receive the upper limit value and the lower limit value of the EPS limit torque, and to determine whether the absolute value of the upper limit value and the lower limit value of the EPS limit torque is less than a first preset threshold.

[0023] The determination module is used to determine if the absolute value of the upper limit and the lower limit is less than the first preset threshold, and then control the vehicle to enter the human-machine co-driving mode. At the same time, it limits the steering wheel torque in response to the host computer's angle request, the hand torque in response to the user's hand torque, and activates the EPS steering assist. Otherwise, it determines that the user has no takeover request and continues to respond to the steering wheel torque in response to the host computer's angle request.

[0024] According to one embodiment of this application, the determining module includes:

[0025] The first judgment unit is used to determine whether the corner request validity bit of the host computer is in a valid state;

[0026] The first determination unit is used to determine that the lateral function satisfies the first preset takeover condition if the corner request validity bit of the host computer is in the valid state and the lateral function of the vehicle is activated.

[0027] According to one embodiment of this application, the determining module includes:

[0028] The second judgment unit is used to determine whether the hand torque of the user corresponding to the horizontal function is continuously greater than the second preset threshold within a preset time.

[0029] The second determination unit is used to determine that if the hand torque of the user corresponding to the lateral function is continuously greater than the second preset threshold within the preset time period, the hand torque of the user corresponding to the lateral function satisfies the preset second takeover condition.

[0030] According to one embodiment of this application, the determination module includes:

[0031] A receiving unit is used to receive the rotation request from the host computer;

[0032] The conversion unit is used to calculate the ADAS torque based on the steering angle request, and convert the host computer steering angle request into steering wheel torque and steering motor ADAS torque.

[0033] According to the vehicle human-machine co-driving control device of this application embodiment, the host computer monitors the lateral functions of the vehicle and the corresponding user hand torque sent by the EPS (Electric Power Steering). Based on the lateral functions of the vehicle and the user's hand torque, the host computer generates upper and lower limits for the EPS limit torque. After receiving the upper and lower limits from the host computer, if the absolute values ​​of the upper and lower limits are less than a first preset threshold, the host computer determines that the user has a takeover request, controls the vehicle to enter the human-machine co-driving mode, and simultaneously limits the steering wheel torque in response to the host computer's angle request, the user's hand torque, and activates the EPS steering assist. Otherwise, the host computer determines that the user has no takeover request and continues to respond to the steering wheel torque in response to the host computer's angle request. This solves the problems in related technologies where the host computer's functional strategy is not considered during human-machine co-driving, making it impossible to distinguish lateral functions and easily causing functional interference and steering wheel resonance. By comprehensively considering the host computer and EPS in the human-machine co-driving method, smooth steering wheel control is achieved during human-machine co-driving, reducing the switching frequency of lateral functions.

[0034] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the human-machine co-driving control method for the vehicle as described in the above embodiments.

[0035] A fourth aspect of this application provides a computer-readable storage medium storing computer instructions for causing the computer to perform the human-machine co-driving control method for a vehicle as described in the above embodiments.

[0036] A fifth aspect of this application provides a computer program product, including a computer program that is executed to implement the human-machine co-driving control method for vehicles described in the above embodiments.

[0037] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. Attached Figure Description

[0038] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0039] Figure 1 This is a flowchart of a human-machine co-driving control method for a vehicle according to an embodiment of this application;

[0040] Figure 2 This is a schematic diagram of the human-machine co-driving signal flow according to an embodiment of this application;

[0041] Figure 3 This is a schematic diagram illustrating the change of torque limit during human-machine co-driving entry and exit according to an embodiment of this application;

[0042] Figure 4 This is a schematic diagram of the intelligent driving function and the human-machine co-driving process of EPS according to an embodiment of this application;

[0043] Figure 5 This is a flowchart of a human-machine co-driving procedure according to an embodiment of this application;

[0044] Figure 6 This is an example diagram of a human-machine co-driving control device for a vehicle according to an embodiment of this application;

[0045] Figure 7 This is a structural schematic diagram of a vehicle according to an embodiment of this application. Detailed Implementation

[0046] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0047] The following description, with reference to the accompanying drawings, outlines a human-machine co-driving control method, apparatus, vehicle, and storage medium for vehicles according to embodiments of this application. Addressing the issues mentioned in the background art where the human-machine co-driving process does not consider the functional strategies of the host computer, cannot distinguish lateral functions, and is prone to functional interference and steering wheel resonance, this application provides a human-machine co-driving control method for vehicles. In this method, the host computer monitors the lateral functions of the vehicle and the corresponding user's hand torque sent by the EPS (Electrical Steering) system. Based on the lateral functions of the vehicle and the user's hand torque, an upper and lower limit value of the EPS limit torque is generated. After receiving the upper and lower limit values ​​sent by the host computer, if the absolute value of the upper and lower limit values ​​is less than a first preset threshold, it determines that the user has a takeover request, controls the vehicle to enter the human-machine co-driving mode, and simultaneously limits the steering wheel torque responding to the host computer's angle request, the user's hand torque, and activates the EPS steering assist. Otherwise, it determines that the user has no takeover request and continues to respond to the host computer's angle request with the steering wheel torque. This solves the problems in related technologies, such as the failure to consider the functional strategies of the host computer during human-machine co-driving, the inability to distinguish lateral functions, and the easy occurrence of functional interference and steering wheel resonance. By comprehensively considering the human-machine co-driving method of the host computer and EPS, the steering wheel can be smoothly controlled during human-machine co-driving, and the frequency of switching of lateral functions can be reduced.

[0048] Specifically, Figure 1 This is a flowchart illustrating a human-machine co-driving control method for a vehicle provided in an embodiment of this application.

[0049] like Figure 1 As shown, the human-machine co-driving control method for this vehicle includes the following steps:

[0050] In step S101, the lateral function of the vehicle and the hand torque of the user corresponding to the lateral function are monitored by the EPS. It is determined whether the lateral function meets the first preset takeover condition and whether the hand torque of the user corresponding to the lateral function meets the second preset takeover condition. If the lateral function of the vehicle meets the first preset takeover condition and the hand torque of the user meets the second preset takeover condition, the initial upper limit value and the initial lower limit value of the EPS limit torque are generated. The initial upper limit value and the initial lower limit value are adjusted based on the preset slope limit value. When the initial upper limit value is adjusted to the first preset limit value, the upper limit value of the EPS limit torque is obtained. When the initial lower limit value is adjusted to the second preset limit value, the lower limit value of the EPS limit torque is obtained. The upper limit value and the lower limit value of the EPS limit torque are sent to the EPS. The lateral function of the vehicle and the hand torque of the user corresponding to the lateral function are monitored by the host computer.

[0051] According to one embodiment of this application, determining whether the lateral function meets the first preset takeover condition includes: determining whether the corner request valid bit of the host computer is in a valid state; if the corner request valid bit of the host computer is in a valid state, the lateral function of the vehicle is activated, and then it is determined that the lateral function meets the first preset takeover condition.

[0052] According to one embodiment of this application, determining whether the hand torque of the user corresponding to the lateral function meets the second preset takeover condition includes: determining whether the hand torque of the user corresponding to the lateral function is continuously greater than the second preset threshold within a preset time; if the hand torque of the user corresponding to the lateral function is continuously greater than the second preset threshold within a preset time, then determining that the hand torque of the user corresponding to the lateral function meets the preset second takeover condition.

[0053] Among them, the first preset takeover condition, the second preset takeover condition, the preset time, the preset slope limit, the first preset limit, the second preset limit, and the second preset threshold can all be set by those skilled in the art according to the testing needs of different project vehicle models, and no specific limitations are made here.

[0054] Specifically, to reduce steering wheel vibration and frequent function switching due to user intervention, this application embodiment achieves smooth steering wheel control during human-machine co-driving based on a host computer and EPS. For example... Figure 2 As shown, this is the signal flow related to human-machine co-driving between the host computer and EPS for intelligent driving function. Its main functions include the EPS sending the EPS steering wheel angle signal and the user's hand torque to the host computer. The host computer can determine whether to enter or exit human-machine co-driving based on the lateral function type and the user's hand torque, and send the function request angle, the request angle valid flag, the upper limit value of the EPS limit torque, and the lower limit value of the EPS limit torque to the EPS.

[0055] Specifically, firstly, the EPS sends the EPS steering wheel angle signal and the user's hand torque to the host computer; secondly, the host computer determines whether to enter or exit human-machine co-driving mode based on the lateral function type corresponding to the EPS steering wheel angle signal and the user's hand torque. Figure 3As shown, the host computer determines whether the vehicle's lateral function meets the first preset takeover condition and whether the user's hand torque corresponding to the lateral function meets the second preset takeover condition based on the user's hand torque and lateral function type. If the host computer's corner request valid bit is in a valid state, that is, when the host computer's corner request valid bit is True, the EPS considers the vehicle's lateral function to be activated. At this time, it is determined that the lateral function meets the first preset takeover condition. At the same time, if the hand torque of the user corresponding to the lateral function is continuously greater than the second preset threshold within a preset time (e.g., the debounce time), it is determined that the hand torque of the user corresponding to the lateral function meets the preset second takeover condition. Finally, after the vehicle's lateral function meets the first preset takeover condition and the user's hand torque meets the second preset takeover condition, the initial upper limit value and the initial lower limit value of the EPS limit torque are generated.

[0056] Furthermore, such as Figure 3 As shown, under normal circumstances, the absolute values ​​of the upper limit and lower limit of the EPS limit torque sent by the host computer are both relatively large. If the hand torque of the horizontal function type and the user corresponding to the horizontal function continues to be greater than the second preset threshold during the Debounce time, the initial upper limit and initial lower limit need to be adjusted based on the preset slope limit to avoid the torque limit changing too quickly during the change of the EPS limit torque.

[0057] In other words, in this embodiment of the application, an initial upper limit value and an initial lower limit value of the EPS limit torque are first obtained. Since the initial upper limit value and the initial lower limit value of the EPS limit torque are relatively large, that is, the absolute values ​​of the initial upper limit value and the initial lower limit value are relatively large, it is necessary to adjust the initial upper limit value and the initial lower limit value of the EPS limit torque based on a preset slope limit value to avoid the torque limit value changing too quickly, that is, to reduce the absolute values ​​of the initial upper limit value and the initial lower limit value. When the initial upper limit value is adjusted to the first preset limit value, the upper limit value of the EPS limit torque is obtained, and when the initial lower limit value is adjusted to the second preset limit value, the upper limit value and the lower limit value of the EPS limit torque are obtained. Then, the upper limit value and the lower limit value of the EPS limit torque are sent to the EPS to limit the EPS response to the steering wheel torque of the host computer. The upper limit value and the lower limit value of the EPS limit torque can be calibrated.

[0058] In step S102, the upper limit value and the lower limit value of the EPS limit torque are received, and it is determined whether the absolute values ​​of the upper limit value and the lower limit value of the EPS limit torque are less than the first preset threshold.

[0059] The first preset threshold can be set by those skilled in the art according to the testing requirements, or obtained through a limited number of computer simulations, and is not specifically limited here.

[0060] Specifically, after receiving the upper limit and lower limit of the EPS limit torque sent by the host computer, the EPS needs to determine whether the absolute values ​​of the upper limit and lower limit of the EPS limit torque are less than a first preset threshold, so as to control whether the vehicle enters the human-machine co-driving mode and the torque required to enter the human-machine co-driving mode based on the judgment result.

[0061] In step S103, if the absolute values ​​of the upper limit and the lower limit are less than the first preset threshold, it is determined that the user has a takeover request, and the vehicle is controlled to enter the human-machine co-driving mode. At the same time, the steering wheel torque in response to the host computer's angle request and the hand torque in response to the user are limited, and EPS steering assist is activated. Otherwise, it is determined that the user has no takeover request, and the steering wheel torque in response to the host computer's angle request continues.

[0062] According to one embodiment of this application, the steering wheel torque response to a host computer steering angle request includes: receiving a host computer steering angle request; calculating ADAS torque based on the steering angle request; and converting the host computer steering angle request into steering wheel torque and steering motor ADAS torque.

[0063] Specifically, such as Figure 4 and Figure 5 As shown in this embodiment, after the host computer sends the upper and lower limits of the corresponding EPS limit torque to the EPS based on LCC (Lane Center Control) or LSS (Lane Support System), if the absolute values ​​of the upper and lower limits of the EPS limit torque are less than a first preset threshold, it is determined that the user has a takeover request, that is, an intention to take over the vehicle, and the vehicle is controlled to enter the human-machine co-driving mode. At the same time, the EPS requests a steering angle based on the function sent by the host computer, and the steering angle validity flag is False. At this time, the steering wheel torque responding to the steering angle request from the host computer is limited. This steering wheel torque will not exceed the upper and lower limits of the EPS limit torque, thereby limiting the motor request torque. When EPS power steering is activated, the portion of the motor torque that increases the hand torque responds to the user's hand torque, without adding ADAS torque. If the absolute values ​​of the upper and lower limits of the EPS limit torque are greater than or equal to the first preset threshold, it is determined that the user has no takeover request. At this time, the EPS calculates the ADAS torque based on the function request angle sent by the host computer, and the request angle validity flag is True, indicating that the lateral function is activated. The EPS calculates the ADAS torque based on the angle request and converts the host computer's angle request into steering wheel torque and steering motor ADAS torque. In other words, the EPS strictly executes the function request angle and does not consider the assist effect of the user's hand torque.

[0064] In other words, when the vehicle is in autonomous driving mode, the EPS will perform steering operations according to the steering angle request sent by the host computer to keep the vehicle in the predetermined lane or perform other driving tasks; when the user attempts to take over control, such as by gently turning the steering wheel, the host computer will adjust the force of the requested steering angle according to the user's action to allow the user to make fine adjustments to the vehicle's driving direction. During this process, the host computer will send an EPS torque limit signal to the EPS to control the degree to which the EPS responds to the user's operation.

[0065] In summary, the embodiments of this application comprehensively consider the human-machine co-driving method of the intelligent driving host computer and EPS, that is, it takes into account both the intelligent driving function status and the EPS execution accuracy. During the human-machine co-driving process, the steering wheel control is stable and does not vibrate. At the same time, the lateral function will not frequently exit and switch due to user intervention. In addition, the method can make customized human-machine co-driving functions according to different lateral functions, thereby improving the user experience.

[0066] According to the human-machine co-driving control method for vehicles in this application embodiment, the host computer monitors the lateral functions of the vehicle and the corresponding user hand torque sent by the EPS (Electrical Power Steering). Based on the lateral functions of the vehicle and the user's hand torque, the host computer generates upper and lower limits for the EPS limit torque. After receiving the upper and lower limits from the host computer, if the absolute values ​​of the upper and lower limits are less than a first preset threshold, the host computer determines that the user has a takeover request, controls the vehicle to enter the human-machine co-driving mode, and simultaneously limits the steering wheel torque responding to the host computer's angle request, the user's hand torque, and activates the EPS steering assist. Otherwise, the host computer determines that the user has no takeover request and continues to respond to the steering wheel torque responding to the host computer's angle request. This solves the problems in related technologies where the host computer's functional strategy is not considered during human-machine co-driving, making it impossible to distinguish lateral functions and easily causing functional interference and steering wheel resonance. By comprehensively considering the host computer and EPS, the human-machine co-driving method achieves smooth steering wheel control and reduces the switching frequency of lateral functions during human-machine co-driving.

[0067] Next, the human-machine co-driving control device for a vehicle according to an embodiment of this application is described with reference to the accompanying drawings.

[0068] Figure 6 This is a block diagram of a human-machine co-driving control device for a vehicle according to an embodiment of this application.

[0069] like Figure 6 As shown, the human-machine co-driving control device 10 of the vehicle includes: a judgment module 100, a receiving module 200 and a determination module 300.

[0070] The judgment module 100 is used to monitor the lateral function of the vehicle and the hand torque of the user corresponding to the lateral function sent by the EPS, and to determine whether the lateral function meets the first preset takeover condition and whether the hand torque of the user corresponding to the lateral function meets the second preset takeover condition. If the lateral function of the vehicle meets the first preset takeover condition and the hand torque of the user meets the second preset takeover condition, the initial upper limit value and the initial lower limit value of the EPS limit torque are generated, and the initial upper limit value and the initial lower limit value are adjusted based on the preset slope limit value. When the initial upper limit value is adjusted to the first preset limit value, the upper limit value of the EPS limit torque is obtained, and when the initial lower limit value is adjusted to the second preset limit value, the lower limit value of the EPS limit torque is obtained. The upper limit value and the lower limit value of the EPS limit torque are sent to the EPS. The lateral function of the vehicle and the hand torque of the user corresponding to the lateral function are monitored by the host computer.

[0071] The receiving module 200 is used to receive the upper limit value and the lower limit value of the EPS limit torque, and to determine whether the absolute value of the upper limit value and the lower limit value of the EPS limit torque is less than a first preset threshold.

[0072] The determination module 300 is used to determine that if the absolute value of the upper limit and the lower limit is less than the first preset threshold, the user has a takeover request, and the vehicle is controlled to enter the human-machine co-driving mode. At the same time, the steering wheel torque in response to the host computer's angle request and the user's hand torque are limited, and EPS steering assist is activated. Otherwise, the user has no takeover request, and the steering wheel torque in response to the host computer's angle request continues.

[0073] According to one embodiment of this application, the determination module 100 includes:

[0074] The first judgment unit is used to determine whether the corner request validity bit of the host computer is in a valid state;

[0075] The first determination unit is used to determine that the lateral function meets the first preset takeover condition if the corner request validity bit of the host computer is in a valid state and the lateral function of the vehicle is activated.

[0076] According to one embodiment of this application, the determination module 100 includes:

[0077] The second judgment unit is used to determine whether the hand torque of the user corresponding to the horizontal function is continuously greater than the second preset threshold within a preset time.

[0078] The second determination unit is used to determine that if the hand torque of the user corresponding to the lateral function is greater than the second preset threshold for a preset time, the hand torque of the user corresponding to the lateral function meets the preset second takeover condition.

[0079] According to one embodiment of this application, the determination module 300 includes:

[0080] The receiving unit is used to receive the rotation request from the host computer;

[0081] The conversion unit is used to calculate the ADAS torque based on the steering angle request and convert the steering angle request from the host computer into steering wheel torque and steering motor ADAS torque.

[0082] According to the vehicle human-machine co-driving control device of this application embodiment, the host computer monitors the lateral functions of the vehicle and the corresponding user hand torque sent by the EPS (Electric Power Steering). Based on the lateral functions of the vehicle and the user's hand torque, the host computer generates upper and lower limits for the EPS limit torque. After receiving the upper and lower limits from the host computer, if the absolute values ​​of the upper and lower limits are less than a first preset threshold, the host computer determines that the user has a takeover request, controls the vehicle to enter the human-machine co-driving mode, and simultaneously limits the steering wheel torque in response to the host computer's angle request, the user's hand torque, and activates the EPS steering assist. Otherwise, the host computer determines that the user has no takeover request and continues to respond to the steering wheel torque in response to the host computer's angle request. This solves the problems in related technologies where the host computer's functional strategy is not considered during human-machine co-driving, making it impossible to distinguish lateral functions and easily causing functional interference and steering wheel resonance. By comprehensively considering the host computer and EPS in the human-machine co-driving method, smooth steering wheel control is achieved during human-machine co-driving, reducing the switching frequency of lateral functions.

[0083] Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0084] The memory 701, the processor 702, and the computer program stored on the memory 701 and executable on the processor 702.

[0085] When the processor 702 executes the program, it implements the human-machine co-driving control method for vehicles provided in the above embodiments.

[0086] Furthermore, the vehicle also includes:

[0087] Communication interface 703 is used for communication between memory 701 and processor 702.

[0088] The memory 701 is used to store computer programs that can run on the processor 702.

[0089] The memory 701 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0090] If the memory 701, processor 702, and communication interface 703 are implemented independently, then the communication interface 703, memory 701, and processor 702 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 7 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0091] Optionally, in a specific implementation, if the memory 701, processor 702, and communication interface 703 are integrated on a single chip, then the memory 701, processor 702, and communication interface 703 can communicate with each other through an internal interface.

[0092] The processor 702 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0093] This embodiment also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described human-machine co-driving control method for vehicles.

[0094] This embodiment also provides a computer program product, including a computer program that is executed to implement the human-machine co-driving control method for vehicles described in the above embodiment.

[0095] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0096] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0097] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0098] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0099] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0100] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware, and the program can be stored in a computer-readable storage medium. When executed, the program includes one or a combination of the steps of the method embodiments.

[0101] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0102] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A human-machine co-driving control method for a vehicle, characterized in that, Includes the following steps: The host computer monitors the vehicle's lateral function and the user's hand torque corresponding to the lateral function, sent by the EPS. It determines whether the lateral function meets a first preset takeover condition and whether the user's hand torque meets a second preset takeover condition. If the vehicle's lateral function meets the first preset takeover condition and the user's hand torque meets the second preset takeover condition, an initial upper limit and an initial lower limit of the EPS limit torque are generated. Based on a preset slope limit, the initial upper limit and the initial lower limit are adjusted. The EPS limit is obtained when the initial upper limit is adjusted to the first preset limit. The upper limit of the torque is obtained when the initial lower limit is adjusted to the second preset limit. The upper limit of the EPS limit torque and the lower limit of the EPS limit torque are then sent to the EPS. The signal flow related to human-machine co-driving between the host computer and the EPS includes: the EPS sending the EPS steering wheel angle signal and the user's hand torque to the host computer; the host computer determining whether to enter or exit human-machine co-driving based on the lateral function type and the user's hand torque; and sending the function request angle, the request angle valid flag, the upper limit of the EPS limit torque, and the lower limit of the EPS limit torque to the EPS. The EPS receives the upper limit value and the lower limit value of the EPS limit torque sent by the host computer, and determines whether the absolute value of the upper limit value and the lower limit value of the EPS limit torque is less than a first preset threshold. If the absolute values ​​of the upper limit and the lower limit are less than the first preset threshold, the EPS determines that the user has a takeover request, controls the vehicle to enter the human-machine co-driving mode, and at the same time limits the steering wheel torque in response to the host computer's angle request, the hand torque in response to the user, and activates the EPS steering assist. Otherwise, it determines that the user has no takeover request and continues to respond to the steering wheel torque in response to the host computer's angle request.

2. The method according to claim 1, characterized in that, The determination of whether the lateral function meets the first preset takeover condition includes: Determine whether the corner request validity bit of the host computer is in a valid state; If the corner request validity bit of the host computer is in the valid state, the lateral function of the vehicle is activated, and it is determined that the lateral function meets the first preset takeover condition.

3. The method according to claim 1, characterized in that, The step of determining whether the user's hand torque corresponding to the lateral function meets the second preset takeover condition includes: Determine whether the hand torque of the user corresponding to the lateral function is continuously greater than a second preset threshold within a preset time. If the hand torque of the user corresponding to the lateral function is continuously greater than the second preset threshold within the preset time period, it is determined that the hand torque of the user corresponding to the lateral function meets the preset second takeover condition.

4. The method according to claim 1, characterized in that, The steering wheel torque in response to the host computer's angle request includes: Receive the rotation request from the host computer; The ADAS torque is calculated based on the steering angle request, and the host computer steering angle request is converted into steering wheel torque and steering motor ADAS torque.

5. A human-machine co-driving control device for a vehicle, characterized in that, A human-machine co-driving control method for a vehicle as described in any one of claims 1-4, comprising: The judgment module is used to monitor the lateral function of the vehicle and the hand torque of the user corresponding to the lateral function sent by the EPS, and to determine whether the lateral function meets the first preset takeover condition and whether the hand torque of the user corresponding to the lateral function meets the second preset takeover condition. If the lateral function of the vehicle meets the first preset takeover condition and the hand torque of the user meets the second preset takeover condition, then an initial upper limit value and an initial lower limit value of the EPS limit torque are generated, and the initial upper limit value and the initial lower limit value are adjusted based on a preset slope limit value. When the initial upper limit value is adjusted to the first preset limit value, the upper limit value of the EPS limit torque is obtained. When the initial lower limit value is adjusted to the second preset limit value, the lower limit value of the EPS limit torque is obtained. The upper limit value and the lower limit value of the EPS limit torque are sent to the EPS. The lateral function of the vehicle and the hand torque of the user corresponding to the lateral function are monitored by the host computer. The receiving module is used to receive the upper limit value and the lower limit value of the EPS limit torque, and to determine whether the absolute value of the upper limit value and the lower limit value of the EPS limit torque is less than a first preset threshold. The determination module is used to determine if the absolute value of the upper limit and the lower limit is less than the first preset threshold, and then control the vehicle to enter the human-machine co-driving mode. At the same time, it limits the steering wheel torque in response to the host computer's angle request, the hand torque in response to the user's hand torque, and activates the EPS steering assist. Otherwise, it determines that the user has no takeover request and continues to respond to the steering wheel torque in response to the host computer's angle request.

6. The apparatus according to claim 5, characterized in that, The judgment module includes: The first judgment unit is used to determine whether the corner request validity bit of the host computer is in a valid state; The first determination unit is used to determine that the lateral function satisfies the first preset takeover condition if the corner request validity bit of the host computer is in the valid state and the lateral function of the vehicle is activated.

7. The apparatus according to claim 5, characterized in that, The judgment module includes: The second judgment unit is used to determine whether the hand torque of the user corresponding to the horizontal function is continuously greater than the second preset threshold within a preset time. The second determination unit is used to determine that if the hand torque of the user corresponding to the lateral function is continuously greater than the second preset threshold within the preset time period, the hand torque of the user corresponding to the lateral function satisfies the preset second takeover condition.

8. The apparatus according to claim 5, characterized in that, The determination module includes: a receiving unit, used to receive the host computer's rotation request; The conversion unit is used to calculate the ADAS torque based on the steering angle request, and convert the host computer steering angle request into steering wheel torque and steering motor ADAS torque.

9. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the human-machine co-driving control method for a vehicle as described in any one of claims 1-4.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the human-machine co-driving control method for the vehicle as described in any one of claims 1-4.

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