Gear signal synchronization method and system for driving mode switching

Abstract

The invention belongs to the technical field of new energy vehicle power assembly control, and discloses a gear signal synchronization method and system used for driving mode switching, when a vehicle is in an unmanned driving mode, a first gear signal sent by an unmanned driving control unit is updated to a gear signal corresponding to a manned driving mode, and the driving mode is switched. When the vehicle is switched from the unmanned driving mode to the manned driving mode, a second gear signal is obtained according to the first gear instruction and the first gear signal corresponding to the gear panel, and the second gear signal serves as a gear signal corresponding to the manned driving mode. According to the method, misoperation of a user and potential safety hazards caused by inconsistent gears are avoided, synchronism and consistency of gear signals can be ensured, and stability and reliability during switching of the driving modes can be improved.

Description

Technical Field

[0001] The present application belongs to the field of powertrain control technology for new energy vehicles, and in particular, relates to a gear signal synchronization method and system for driving mode switching. Background Art

[0002] With the rapid development of autonomous driving technology, driverless vehicles are increasingly used in various traffic scenarios. However, since the current autonomous driving technology is not yet fully mature, many driverless vehicles still need to be equipped with safety officers in actual applications to ensure timely intervention in emergency situations and ensure driving safety. In the development and debugging of driverless vehicles, the intervention of safety officers is particularly frequent, especially in complex traffic environments or emergencies. The driverless system may not be able to respond quickly and correctly. At this time, the safety officer needs to take over the control of the vehicle in time. However, in the process of switching between driverless mode and manned mode, the synchronization and maintenance of gear signals is a key issue.

[0003] The existing gear signal synchronization method mainly activates the automatic driving mode through the gear lever. However, this method is prone to cause delays or errors in the vehicle's gear signal during the driving mode switching process, which not only affects the smooth switching of driving modes, but also easily causes gear confusion and leads to safety accidents. Summary of the invention

[0004] The present application aims to solve the technical defects that the existing gear signal synchronization method mentioned above is prone to delay or error in the gear signal of the vehicle during the driving mode switching process, which not only affects the smooth switching of the driving mode, but also easily causes gear confusion and causes safety accidents. A gear signal synchronization method and system for driving mode switching are proposed, and the technical solution is as follows: In a first aspect, an embodiment of the present application provides a gear signal synchronization method for driving mode switching, the method is applied to a vehicle powertrain device, the vehicle powertrain device includes an unmanned driving control unit, a gear panel and a smart meter, the method includes: When in the unmanned driving mode, the first gear position signal issued by the unmanned driving control unit is displayed on the smart meter, and the gear position signal corresponding to the manned driving mode is updated to the first gear position signal; When it is detected that the unmanned driving mode is switched to the manned driving mode, a second gear position signal is determined according to the first gear position instruction corresponding to the gear position panel and the first gear position signal; The second gear position signal is displayed on the smart instrument, and the gear position signal corresponding to the manned driving mode is updated to the second gear position signal.

[0005] In an optional solution of the first aspect, determining the second gear position signal according to the first gear position instruction and the first gear position signal corresponding to the gear position panel includes: According to the collection time of the first gear position instruction, a second gear position instruction is determined in a gear position instruction database; wherein the gear position instruction database includes at least two historical gear position instructions issued by the gear position panel and the historical collection time corresponding to each historical gear position instruction; When it is detected that the first gear position instruction is inconsistent with the second gear position instruction, a third gear position signal is identified from the first gear position instruction, and the third gear position signal is used as the second gear position signal; When it is detected that the first gear position command is consistent with the second gear position command, the first gear position signal is used as the second gear position signal.

[0006] In yet another optional solution of the first aspect, after the second gear position signal is displayed on the smart meter, the method further includes: When it is detected that the manned driving mode is switched to the unmanned driving mode, a fourth gear position signal is identified from the third gear position instruction corresponding to the gear position panel; The fourth gear position signal is displayed on the smart instrument, and the fourth gear position signal is sent to the unmanned driving control unit.

[0007] In yet another optional solution of the first aspect, after the first gear position signal issued by the unmanned driving control unit is displayed on the smart meter, the method further includes: At least one fourth gear position instruction corresponding to the gear position panel is acquired at a preset time interval, and all fourth gear position instructions and the acquisition time corresponding to each fourth gear position instruction are updated into the gear position instruction database.

[0008] In yet another optional solution of the first aspect, before detecting the switching from the unmanned driving mode to the manned driving mode, the method further includes: After receiving the driving mode switching instruction, determining whether the brake operation signal collected within a preset time period meets the first condition; When it is detected that the braking action signal satisfies the first condition, it is determined to switch from the unmanned driving mode to the manned driving mode; or After receiving the driving mode switching instruction, determining whether the steering wheel operation signal collected within a preset time period meets the second condition; When it is detected that the steering wheel operation signal satisfies the second condition, it is determined to switch from the unmanned driving mode to the manned driving mode.

[0009] In another optional solution of the first aspect, before detecting that the braking action signal satisfies the first condition, the method further includes: Based on the collection time of the brake operation signal, at least two first operation signals are screened out in the brake signal database; wherein the brake signal database includes at least two historical collection times and the brake operation signal corresponding to each historical collection time; Inputting all first operation signals and brake operation signals into a preset deep learning model to obtain a brake prediction value; wherein the preset deep learning model is trained by at least two groups of sample operation signal sets and brake sample values ​​corresponding to each group of sample operation signal sets, and each group of sample operation signal sets includes at least two sample operation signals; When the braking prediction value is within a preset prediction value interval, determining that the braking action signal satisfies a first condition; When the braking prediction value is not within the preset prediction value interval, it is determined that the braking action signal does not satisfy the first condition.

[0010] In yet another optional solution of the first aspect, before detecting that the steering wheel operation signal satisfies the second condition, the method further includes: Determine an adjacent previous moment based on the acquisition moment of the steering wheel operation signal, and obtain a second operation signal corresponding to the adjacent previous moment; Converting the steering wheel operation signal to obtain a first rotation angle, and converting the second operation signal to obtain a second rotation angle; When it is detected that the difference between the first rotation angle and the second rotation angle exceeds a preset difference threshold, determining that the steering wheel operation signal satisfies a second condition; When it is detected that the difference between the first rotation angle and the second rotation angle does not exceed the preset difference threshold, it is determined that the steering wheel operation signal does not satisfy the second condition.

[0011] In a second aspect, an embodiment of the present application provides a gear signal synchronization system for driving mode switching, the system is applied to a vehicle powertrain device, the vehicle powertrain device includes an unmanned driving control unit, a gear panel and an intelligent instrument, and the system includes: A first display module is used to display the first gear position signal sent by the unmanned driving control unit on the smart instrument when in the unmanned driving mode, and to update the gear position signal corresponding to the manned driving mode to the first gear position signal; A signal determination module, for determining a second gear position signal according to a first gear position instruction and a first gear position signal corresponding to the gear position panel when detecting a switch from an unmanned driving mode to a manned driving mode; The second display module is used to display the second gear position signal on the smart instrument and update the gear position signal corresponding to the manned driving mode to the second gear position signal.

[0012] In a third aspect, an embodiment of the present application further provides a gear signal synchronization system for driving mode switching, including a processor and a memory; The processor is connected to the memory; A memory for storing executable program codes; The processor runs the program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the gear signal synchronization method for driving mode switching provided by the first aspect of the embodiment of the present application or any one of the implementation methods of the first aspect.

[0013] In a fourth aspect, an embodiment of the present application provides a computer storage medium, which stores a computer program. The computer program includes program instructions. When the program instructions are executed by a processor, the gear signal synchronization method for driving mode switching provided by the first aspect of the embodiment of the present application or any one of the implementation methods of the first aspect can be implemented.

[0014] In the embodiment of the present application, when the gear signal of the vehicle driving mode switching is synchronously processed, when the vehicle is in the unmanned driving mode, the first gear signal issued by the unmanned driving control unit is displayed on the smart meter, and the gear signal corresponding to the manned driving mode is updated to the first gear signal; when it is detected that the unmanned driving mode is switched to the manned driving mode, the second gear signal is determined according to the first gear instruction corresponding to the gear panel and the first gear signal; the second gear signal is displayed on the smart meter, and the gear signal corresponding to the manned driving mode is updated to the second gear signal. By updating the first gear signal issued by the unmanned driving control unit when the vehicle is in the unmanned driving mode to the gear signal corresponding to the manned driving mode, when the vehicle is switched from the unmanned driving mode to the manned driving mode, the second gear signal is obtained according to the first gear instruction corresponding to the gear panel and the first gear signal, and the second gear signal is used as the gear signal corresponding to the manned driving mode, so as to avoid user misoperation and safety hazards caused by inconsistent gears, not only the synchronization and consistency of the gear signal can be ensured, but also the stability and reliability when the driving mode is switched can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 An overall flow chart of a gear signal synchronization method for driving mode switching provided in an embodiment of the present application; Figure 2 A schematic diagram of the structure of a vehicle powertrain device provided in an embodiment of the present application; Figure 3 A schematic diagram of the structure of a gear signal synchronization system for driving mode switching provided in an embodiment of the present application; Figure 4 A schematic structural diagram of another gear signal synchronization system for driving mode switching provided in an embodiment of the present application. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0018] In the following introduction, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The following introduction provides multiple embodiments of the present application, and different embodiments can be replaced or combined, so the present application can also be considered to include all possible combinations of the same and / or different embodiments recorded. Therefore, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments containing one or more of all other possible combinations of A, B, C, and D, although the embodiment may not be clearly recorded in the following text.

[0019] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements described without departing from the scope of the present application. Various processes or components may be appropriately omitted, substituted or added to each example. For example, the described method may be performed in an order different from the order described, and various steps may be added, omitted or combined. In addition, features described in some examples may be combined in other examples.

[0020] See also Figure 1 , Figure 1 An overall flow chart of a gear signal synchronization method for driving mode switching provided in an embodiment of the present application is shown.

[0021] like Figure 1 As shown, the gear signal synchronization method for driving mode switching may at least include the following steps: Step 102: When in the unmanned driving mode, the first gear position signal issued by the unmanned driving control unit is displayed on the smart meter, and the gear position signal corresponding to the manned driving mode is updated to the first gear position signal.

[0022] In an embodiment of the present application, the gear signal synchronization method for driving mode switching can be but is not limited to being applied to a vehicle control terminal of a vehicle. The vehicle control terminal can establish a connection with a vehicle powertrain device to control the vehicle to perform unmanned automatic driving according to an unmanned driving gear signal issued by the vehicle powertrain device when the vehicle is in an unmanned driving mode; and, when the vehicle is switched from an unmanned driving mode to a manned driving mode, a manned driving gear signal can be generated and displayed according to the gear command issued by the vehicle powertrain device and the unmanned driving gear signal, so that the safety officer can control the vehicle to drive in time according to the manned driving gear signal, thereby effectively avoiding user misoperation and safety hazards caused by inconsistent gears, and can not only ensure the synchronization and consistency of the gear signal, but also improve the stability and reliability when switching driving modes.

[0023] Here, the vehicle powertrain device may at least include an unmanned driving control unit, a gear panel and an intelligent instrument, wherein the unmanned driving control unit may, but is not limited to, establish a communication connection with the vehicle control terminal through an unmanned driving network, so that when the vehicle is in unmanned driving mode, it automatically generates a control instruction including an unmanned driving gear signal according to the current vehicle condition and road condition, and sends the control instruction to the vehicle control terminal, and controls the vehicle to perform unmanned automatic driving through the vehicle control terminal. It can be understood that the unmanned driving control unit mentioned in the embodiment of the present application may be composed of an automatic driving module well known in the art, and the control instructions generated by it may include, but are not limited to, motor control signals, battery control signals and brake control signals, etc., so that the vehicle control terminal sends the various signals to the corresponding controllers through the power network for control processing, and then combines the unmanned driving gear signal to jointly ensure the normal unmanned automatic driving of the vehicle.

[0024] Among them, the gear panel can be, but is not limited to, establishing a communication connection with the vehicle control terminal through the instrument network to send the gear command selected by the safety officer to the vehicle control terminal. For example, when the safety officer presses or selects the R gear on the gear panel, the gear panel can send the gear command representing the reverse signal to the vehicle control terminal; or when the safety officer presses or selects the D gear on the gear panel, the gear panel can send the gear command representing the forward signal to the vehicle control terminal. It can be understood that the gear panel mentioned in the embodiment of the present application can be set on the main driving side of the vehicle, and it can be, but is not limited to, provided with multiple gear physical buttons (such as D gear, R gear, N gear and P gear), or it can also be provided with a physical lever device for selecting the corresponding gear according to different operations of the safety officer (for example, one downward movement along the direction of movement is D gear, two downward movements are R gear, three downward movements are N gear, and four downward movements are P gear).

[0025] It should be noted that no matter whether the vehicle is in unmanned driving mode or manned driving mode, the vehicle control terminal can receive the unmanned driving gear signal issued by the unmanned driving control unit and the gear command issued by the gear panel at preset time intervals. For example, when the vehicle is in unmanned driving mode, in addition to controlling the vehicle to perform unmanned automatic driving according to the control command of the unmanned driving gear signal, the vehicle control terminal can also separately receive and store multiple gear commands issued by the gear panel (and also separately store multiple unmanned driving gear signals issued by the unmanned driving control unit) to facilitate subsequent rapid retrieval and processing when the driving mode is switched. Compared with the redundant design of the existing solution that stores all gear signals together, it can effectively ensure the authenticity and reliability of different gear signals and avoid confusion in the switching of gear signals.

[0026] Among them, the smart meter can, but is not limited to, establish a communication connection with the vehicle control terminal through the instrument network to promptly display the gear signal sent by the vehicle control terminal to the safety officer. For example, when the vehicle switches from unmanned driving mode to manned driving mode, the vehicle control terminal can send the gear signal corresponding to the switching to manned driving mode to the smart meter, so as to display the current gear signal of the vehicle to the safety officer and facilitate the safety officer to drive the vehicle based on the current gear signal of the vehicle. It is understandable that the smart meter mentioned in the embodiment of the present application can be a display screen set in front of the vehicle steering wheel, or a central control display screen on the main driver's side, so that the safety officer can quickly view it.

[0027] Also see here Figure 2 The schematic diagram of the structure of a vehicle powertrain device provided by an embodiment of the present application is shown in FIG. Figure 2 As shown, the vehicle powertrain device may include an unmanned driving control unit 1, a vehicle control terminal 2 (i.e. Figure 2 VCU in the battery management unit 3 (i.e. Figure 2 BMS in the integrated power unit 4 (i.e. Figure 2 The unmanned driving control unit 1 can establish a communication connection with the vehicle control terminal 2 through the unmanned driving network 101, the vehicle control terminal 2 can establish a communication connection with the battery management unit 3, the integrated power unit 4 and the brake system 5 through the power network 102, and the vehicle control terminal 2 can establish a communication connection with the gear panel 6 and the smart meter 7 through the instrument network 103. Here, the unmanned driving control unit 1, the battery management unit 3, the integrated power unit 4, the brake system 5, the gear panel 6 and the smart meter 7 can all be composed of automatic driving modules well known in the art, and their corresponding working principles are not repeated here.

[0028] It can also be understood that the vehicle control terminal can specifically update the first gear signal emitted by the unmanned driving control unit when the vehicle is in the unmanned driving mode to the gear signal corresponding to the manned driving mode, so that when the vehicle switches from the unmanned driving mode to the manned driving mode, the second gear signal is obtained according to the first gear instruction corresponding to the gear panel and the first gear signal, and the second gear signal is used as the gear signal corresponding to the manned driving mode, thereby avoiding user misoperation and safety hazards caused by inconsistent gears, which can not only ensure the synchronization and consistency of the gear signal, but also improve the stability and reliability when switching driving modes.

[0029] Specifically, when synchronously processing the gear position signal of the vehicle driving mode switching, the vehicle control terminal can, but is not limited to, when the vehicle is currently in the unmanned driving mode, control the vehicle to perform unmanned automatic driving according to the unmanned driving gear position signal (i.e., the first gear position signal) sent by the unmanned driving control unit through the unmanned driving network, and synchronously send the unmanned driving gear position signal to the smart instrument through the instrument network, so as to display the current gear position signal of the vehicle to the safety officer in time through the smart instrument. It is understandable that the vehicle can, but is not limited to, be defined as an unmanned driving mode according to a preset automatic control program during the startup phase, or can also be switched from a manned driving mode to an unmanned driving mode, and when switching from a manned driving mode to an unmanned driving mode, the vehicle control terminal can also, but is not limited to, detect whether a switching instruction of the driving mode selected by the safety officer (such as pressing a switching button) is received to determine whether to switch from the manned driving mode to the unmanned driving mode, and is not limited to this.

[0030] Here, in addition to sending an unmanned driving gear signal to the vehicle control terminal through the unmanned driving network, the unmanned driving control unit can also, but is not limited to, synchronously send motor control signals, battery control signals, and brake control signals through the unmanned driving network, so that after receiving the motor control signal, battery control signal, and brake control signal, the vehicle control terminal sends the motor control signal to the integrated power unit through the power network, and the integrated power unit controls the vehicle; and, the battery control model can also be sent to the battery management unit through the power network, and the battery management unit controls the vehicle; and, the brake signal can also be sent to the brake system through the power network, and the brake system controls the vehicle, thereby jointly realizing unmanned automatic driving of the vehicle.

[0031] Furthermore, after displaying the vehicle's current unmanned driving gear signal through the smart instrument, the vehicle control terminal can also update the gear signal corresponding to the manned driving mode to an unmanned driving gear signal. Here, the gear signal corresponding to the manned driving mode can be understood as the gear signal contained in the gear command most recently received by the gear panel. For example, if the gear signal contained in the gear command most recently selected by the safety officer on the gear panel is D gear, then the gear signal corresponding to the manned driving mode is D gear. At this time, if the unmanned driving gear signal is R gear, the vehicle control terminal can update the D gear to R gear.

[0032] Regardless of whether the vehicle is in unmanned driving mode or manned driving mode, the vehicle control terminal can receive the unmanned driving gear signal issued by the unmanned driving control unit and the gear command issued by the gear panel at preset time intervals. After the smart instrument displays the vehicle's current unmanned driving gear signal, the vehicle control terminal can also, but is not limited to, query the gear command database used to store all gear commands for the most recently stored gear command, and update the gear signal contained in the gear command to the vehicle's current unmanned driving gear signal, and is not limited to this.

[0033] Step 104: When it is detected that the unmanned driving mode is switched to the manned driving mode, a second gear position signal is determined according to the first gear position instruction and the first gear position signal corresponding to the gear position panel.

[0034] Specifically, when the vehicle encounters a special situation during unmanned automatic driving and needs to switch from the unmanned driving mode to the manned driving mode, the vehicle control terminal can, but is not limited to, detect whether the switching instruction of the driving mode selected by the safety officer is received, so as to determine that the vehicle is switched from the unmanned driving mode to the manned driving mode after detecting the switching instruction of the driving mode, and can determine the gear signal (i.e., the second gear signal) of the manned driving mode at the current moment according to the gear instruction (i.e., the first gear instruction) of the gear panel at the current moment and the unmanned driving gear signal (i.e., the first gear signal) mentioned above. For example, when the gear command of the gear panel at the current moment is a gear command that has not been switched by the safety officer, the above-mentioned unmanned driving gear signal can be used as the gear signal of the manned driving mode at the current moment; or when the gear command of the gear panel at the current moment is a gear command switched by the safety officer, the gear signal contained in the gear command can be used as the gear signal of the manned driving mode at the current moment, thereby avoiding the safety officer's misoperation caused by the inconsistency between the current gear of the manned driving mode and the current gear of the unmanned driving mode, as well as comfort problems such as frustration caused by gear switching.

[0035] As an option of the embodiment of the present application, determining the second gear position signal according to the first gear position instruction corresponding to the gear position panel and the first gear position signal includes: According to the collection time of the first gear position instruction, a second gear position instruction is determined in a gear position instruction database; wherein the gear position instruction database includes at least two historical gear position instructions issued by the gear position panel and the historical collection time corresponding to each historical gear position instruction; When it is detected that the first gear position instruction is inconsistent with the second gear position instruction, a third gear position signal is identified from the first gear position instruction, and the third gear position signal is used as the second gear position signal; When it is detected that the first gear position command is consistent with the second gear position command, the first gear position signal is used as the second gear position signal.

[0036] Specifically, in order to more accurately obtain the gear position signal of the manned driving mode at the current moment when the vehicle switches from the unmanned driving mode to the manned driving mode, the vehicle control terminal may also, but is not limited to, receive the gear position instruction (i.e., the first gear position instruction) sent by the gear panel at the current moment after determining that the vehicle switches from the unmanned driving mode to the manned driving mode, and query the gear position instruction corresponding to the moment closest to the current moment (i.e., the second gear position instruction) in the gear position instruction database. Here, the gear position instruction database may be stored in the designated path of the vehicle control terminal, which may include the historical gear position instructions sent by the gear panel to the vehicle control terminal at least two historical moments, and the gear position instruction database may also store and process the gear position instructions sent by the gear panel to the vehicle control terminal in real time, that is, the gear position instruction database may be updated in real time to ensure the accuracy of the gear position signal of the manned driving mode.

[0037] Next, when it is detected that the first gear command is inconsistent with the second gear command queried in the gear command database, it indicates that when the vehicle switched from the unmanned driving mode to the manned driving mode, the safety officer has intervened and executed the gear switching action, and the first gear command can be identified and processed, and the identified gear signal (that is, the third gear signal) can be used as the gear signal (that is, the second gear signal) of the manned driving mode at the current moment.

[0038] It can be understood that when it is detected that the first gear command is consistent with the second gear command queried in the gear command database, it indicates that the safety officer has not intervened when the vehicle switches from unmanned driving mode to manned driving mode. Therefore, the unmanned driving gear signal sent by the above-mentioned unmanned driving control unit to the vehicle control terminal can be used as the gear signal of the manned driving mode at the current moment (that is, the second gear signal).

[0039] As another option of the embodiment of the present application, before detecting the switching from the unmanned driving mode to the manned driving mode, the method further includes: After receiving the driving mode switching instruction, determining whether the brake operation signal collected within a preset time period meets the first condition; When it is detected that the braking action signal satisfies the first condition, it is determined to switch from the unmanned driving mode to the manned driving mode; or After receiving the driving mode switching instruction, determining whether the steering wheel operation signal collected within a preset time period meets the second condition; When it is detected that the steering wheel operation signal satisfies the second condition, it is determined to switch from the unmanned driving mode to the manned driving mode.

[0040] Specifically, in order to ensure the accuracy of judging whether the vehicle has switched from an unmanned driving mode to a manned driving mode, the vehicle control terminal may, after receiving the driving mode switching instruction, further judge whether there is an emergency braking or sudden turning operation by the safety officer in combination with the brake action signal or the steering wheel operation signal received within a preset time period, so that when it is detected that the brake action signal meets the first condition, it indicates that there is an emergency braking operation by the safety officer, and thus it can be determined that the vehicle has switched from an unmanned driving mode to a manned driving mode; or, when it is detected that the steering wheel operation signal meets the second condition, it indicates that there is an sudden turning operation by the safety officer, and thus it can also be determined that the vehicle has switched from an unmanned driving mode to a manned driving mode.

[0041] Here, the braking action signal can be but is not limited to the signal collected by the vehicle's built-in brake pedal position sensor, wheel speed sensor or brake booster position sensor, and the brake pedal position sensor, wheel speed sensor or brake booster position sensor and other sensors can all establish a communication connection with the vehicle control terminal through the power network; the steering wheel operation signal can be but is not limited to the model collected by the vehicle's built-in steering wheel angle sensor or steering column position sensor, and the steering wheel angle sensor or steering column position sensor can also establish a communication connection with the vehicle control terminal through the power network.

[0042] As another option of the embodiment of the present application, before detecting that the braking action signal satisfies the first condition, the method further includes: Based on the collection time of the brake operation signal, at least two first operation signals are screened out in the brake signal database; wherein the brake signal database includes at least two historical collection times and the brake operation signal corresponding to each historical collection time; Inputting all first operation signals and brake operation signals into a preset deep learning model to obtain a brake prediction value; wherein the preset deep learning model is trained by at least two groups of sample operation signal sets and brake sample values ​​corresponding to each group of sample operation signal sets, and each group of sample operation signal sets includes at least two sample operation signals; When the braking prediction value is within a preset prediction value interval, determining that the braking action signal satisfies a first condition; When the braking prediction value is not within the preset prediction value interval, it is determined that the braking action signal does not satisfy the first condition.

[0043] Specifically, when determining whether there is an emergency braking operation by the safety officer, the vehicle control terminal can also filter out at least two historical collection times that are close to the collection time in the brake signal database according to the collection time of the brake operation signal, and the brake operation signal corresponding to each historical collection time (that is, the first operation signal), and all brake operation signals can be input into a preset deep learning model together to use artificial intelligence algorithms to predict more accurate brake prediction values.

[0044] Here, the brake signal database can be stored in the path specified by the vehicle control terminal, which includes the brake operation signals collected by any one of the above-mentioned brake pedal position sensor, wheel speed sensor or brake booster position sensor at at least two historical collection times, and the corresponding historical collection times; the preset deep learning model can be a neural network structure well known in the art, which can be trained by multiple groups of sample operation signal sets and brake sample values ​​corresponding to each group of sample operation signal sets (which can also be understood as manually labeled sample values), and each group of sample operation signal sets includes the brake operation signals collected by any one of the above-mentioned brake pedal position sensor, wheel speed sensor or brake booster position sensor at at least two historical collection times.

[0045] It can be understood that when the braking prediction value is in the preset prediction value range, it indicates that the current braking action of the vehicle is large, that is, there is an emergency braking operation by the safety officer, and it can be determined that the braking action signal meets the first condition; when the braking prediction value is not in the preset prediction value range, it indicates that the current braking action of the vehicle is small or there is no braking action, and it can be determined that the braking action signal has not yet met the first condition.

[0046] As another option of the embodiment of the present application, before detecting that the steering wheel operation signal satisfies the second condition, the method further includes: Determine an adjacent previous moment based on the acquisition moment of the steering wheel operation signal, and obtain a second operation signal corresponding to the adjacent previous moment; Converting the steering wheel operation signal to obtain a first rotation angle, and converting the second operation signal to obtain a second rotation angle; When it is detected that the difference between the first rotation angle and the second rotation angle exceeds a preset difference threshold, determining that the steering wheel operation signal satisfies a second condition; When it is detected that the difference between the first rotation angle and the second rotation angle does not exceed the preset difference threshold, it is determined that the steering wheel operation signal does not satisfy the second condition.

[0047] Specifically, when determining whether there is a sudden steering operation by the safety officer, the vehicle control terminal can also determine the adjacent previous moment according to the acquisition moment of the steering wheel operation signal, and can, but is not limited to, filter out the steering wheel operation signal (i.e., the second operation signal) corresponding to the previous moment from the steering wheel operation signals acquired by the steering wheel angle sensor or the steering column position sensor at least two historical acquisition moments mentioned above. Here, the steering wheel operation signals acquired by the steering wheel angle sensor or the steering column position sensor at at least two historical acquisition moments can also be stored in the path specified by the vehicle control terminal, but are not limited to this.

[0048] Then, the steering wheel operation signal and the second operation signal can be converted and processed respectively to obtain the first rotation angle and the second rotation angle corresponding to each of them. The conversion processing method can be, but is not limited to, taking the steering wheel operation signal as a pinion pulse signal collected by the steering wheel angle sensor as an example, and taking the product of the number of pulses accumulated in the pinion pulse signal and the preset rotation angle corresponding to each pulse as the corresponding rotation angle.

[0049] Then, when it is detected that the difference between the first rotation angle and the second rotation angle exceeds the preset difference threshold, it indicates that the rotation angle of the steering wheel is large, that is, there is a sudden turning operation by the safety officer, and it can be determined that the steering wheel operation signal meets the second condition; when it is detected that the difference between the first rotation angle and the second rotation angle does not exceed the preset difference threshold, it indicates that the rotation angle of the steering wheel is small or no rotation has occurred, that is, there is no sudden turning operation by the safety officer, and it can be determined that the steering wheel operation signal has not yet met the second condition.

[0050] Step 106: Display the second gear position signal on the smart meter, and update the gear position signal corresponding to the manned driving mode to the second gear position signal.

[0051] Specifically, after determining the gear signal of the manned driving mode at the current moment, the vehicle control terminal can, but is not limited to, send the gear signal of the manned driving mode at the current moment to the smart instrument through the instrument network, so that the smart instrument can promptly display the gear signal of the manned driving mode at the current moment (that is, the vehicle's current driving gear signal) to the safety officer.

[0052] Furthermore, after the smart instrument displays the gear signal of the manned driving mode at the current moment to the safety officer, the vehicle control terminal can also update the gear signal corresponding to the manned driving mode to the gear signal at the current moment, so that the safety officer can control the vehicle driving according to the gear signal at the current moment, and the vehicle control terminal can also send the motor control signal, battery control signal and brake control signal generated by the safety officer when controlling the vehicle driving to the corresponding controller or control system through the power network to ensure the normal driving of the vehicle.

[0053] As another option of the embodiment of the present application, after the second gear position signal is displayed on the smart meter, the method further includes: When it is detected that the manned driving mode is switched to the unmanned driving mode, a fourth gear position signal is identified from the third gear position instruction corresponding to the gear position panel; The fourth gear position signal is displayed on the smart instrument, and the fourth gear position signal is sent to the unmanned driving control unit.

[0054] Specifically, when the safety officer drives the vehicle to avoid danger and needs to switch from manned driving mode to unmanned driving mode, the vehicle control terminal can, but is not limited to, detect whether the switching instruction of the driving mode selected by the safety officer is received, so as to determine that the vehicle is switched from manned driving mode to unmanned driving mode after detecting the switching instruction of the driving mode, and can identify the current gear signal (i.e., the fourth gear signal) from the gear instruction (i.e., the third gear instruction) corresponding to the gear panel after the safety officer drives the vehicle, so as to display the gear signal on the smart instrument for the safety officer to view, and can also promptly feed back the gear signal to the unmanned driving control unit, so that the unmanned driving control unit can determine the gear signal for subsequent unmanned automatic driving based on the gear signal, thereby further avoiding comfort problems such as frustration caused by gear switching.

[0055] As another option of the embodiment of the present application, after the first gear position signal issued by the unmanned driving control unit is displayed on the smart instrument, the method further includes: At least one fourth gear position instruction corresponding to the gear position panel is acquired at a preset time interval, and all fourth gear position instructions and the acquisition time corresponding to each fourth gear position instruction are updated into the gear position instruction database.

[0056] In order to ensure the real-time and effectiveness of the gear command database stored in the vehicle control terminal, after the first gear signal issued by the unmanned driving control unit is displayed on the smart instrument, that is, when the vehicle is in unmanned driving mode, the vehicle control terminal can also obtain one or more gear commands (that is, the fourth gear command) retained by the gear panel at a preset time interval. The one or more gear commands can be understood as the gear command selected by the safety officer when the vehicle was in the last manned driving mode, or the gear command preset when the vehicle has not yet switched to the manned driving mode after starting. It can be understood that when the vehicle is in unmanned driving mode, the gear command corresponding to the gear panel generally remains unchanged.

[0057] Next, the vehicle control terminal can also update one or more gear instructions received in real time in the gear instruction database, so that when the vehicle switches from unmanned driving mode to manned driving mode, it can quickly determine the gear signal corresponding to the manned driving mode, thereby avoiding the safety officer's erroneous operation caused by the inconsistency between the current gear of the manned driving mode and the current gear of the unmanned driving mode.

[0058] See also Figure 3 , Figure 3 A schematic structural diagram of a gear signal synchronization system for driving mode switching provided in an embodiment of the present application is shown.

[0059] The gear position signal synchronization system for driving mode switching in the embodiment of the present application can be applied to a vehicle powertrain device, which may include at least an unmanned driving control unit, a gear position panel, and an intelligent instrument. Figure 3 As shown, the gear signal synchronization system for driving mode switching includes at least a first display module 301, a signal determination module 302 and a second display module 303, wherein: The first display module 301 is used to display the first gear position signal sent by the unmanned driving control unit on the smart meter when in the unmanned driving mode, and update the gear position signal corresponding to the manned driving mode to the first gear position signal; The signal determination module 302 is used to determine a second gear position signal according to the first gear position instruction and the first gear position signal corresponding to the gear position panel when detecting that the unmanned driving mode is switched to the manned driving mode; The second display module 303 is used to display the second gear position signal on the smart meter and update the gear position signal corresponding to the manned driving mode to the second gear position signal.

[0060] In some possible embodiments, determining the second gear position signal according to the first gear position instruction and the first gear position signal corresponding to the gear position panel includes: According to the collection time of the first gear position instruction, a second gear position instruction is determined in a gear position instruction database; wherein the gear position instruction database includes at least two historical gear position instructions issued by the gear position panel and the historical collection time corresponding to each historical gear position instruction; When it is detected that the first gear position instruction is inconsistent with the second gear position instruction, a third gear position signal is identified from the first gear position instruction, and the third gear position signal is used as the second gear position signal; When it is detected that the first gear position command is consistent with the second gear position command, the first gear position signal is used as the second gear position signal.

[0061] In some possible embodiments, after the second gear position signal is displayed on the smart meter, the method further includes: When it is detected that the manned driving mode is switched to the unmanned driving mode, a fourth gear position signal is identified from the third gear position instruction corresponding to the gear position panel; The fourth gear position signal is displayed on the smart instrument, and the fourth gear position signal is sent to the unmanned driving control unit.

[0062] In some possible embodiments, after the first gear position signal issued by the unmanned driving control unit is displayed on the smart meter, the method further includes: At least one fourth gear position instruction corresponding to the gear position panel is acquired at a preset time interval, and all fourth gear position instructions and the acquisition time corresponding to each fourth gear position instruction are updated into the gear position instruction database.

[0063] In some possible embodiments, before detecting the switching from the unmanned driving mode to the manned driving mode, the method further includes: After receiving the driving mode switching instruction, determining whether the brake operation signal collected within a preset time period meets the first condition; When it is detected that the braking action signal satisfies the first condition, it is determined to switch from the unmanned driving mode to the manned driving mode; or After receiving the driving mode switching instruction, determining whether the steering wheel operation signal collected within a preset time period meets the second condition; When it is detected that the steering wheel operation signal satisfies the second condition, it is determined to switch from the unmanned driving mode to the manned driving mode.

[0064] In some possible embodiments, before detecting that the braking action signal satisfies the first condition, the method further includes: Based on the collection time of the brake operation signal, at least two first operation signals are screened out in the brake signal database; wherein the brake signal database includes at least two historical collection times and the brake operation signal corresponding to each historical collection time; Inputting all first operation signals and brake operation signals into a preset deep learning model to obtain a brake prediction value; wherein the preset deep learning model is trained by at least two groups of sample operation signal sets and brake sample values ​​corresponding to each group of sample operation signal sets, and each group of sample operation signal sets includes at least two sample operation signals; When the braking prediction value is within a preset prediction value interval, determining that the braking action signal satisfies a first condition; When the braking prediction value is not within the preset prediction value interval, it is determined that the braking action signal does not satisfy the first condition.

[0065] In some possible embodiments, before detecting that the steering wheel operation signal satisfies the second condition, the method further includes: Determine an adjacent previous moment based on the acquisition moment of the steering wheel operation signal, and obtain a second operation signal corresponding to the adjacent previous moment; Converting the steering wheel operation signal to obtain a first rotation angle, and converting the second operation signal to obtain a second rotation angle; When it is detected that the difference between the first rotation angle and the second rotation angle exceeds a preset difference threshold, determining that the steering wheel operation signal satisfies a second condition; When it is detected that the difference between the first rotation angle and the second rotation angle does not exceed the preset difference threshold, it is determined that the steering wheel operation signal does not satisfy the second condition.

[0066] Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present application can be implemented with the help of software and / or hardware. The "unit" and "module" in this specification refer to software and / or hardware that can independently complete or cooperate with other components to complete specific functions, where the hardware can be, for example, a field programmable gate array (FPGA), an integrated circuit (IC), etc.

[0067] See also Figure 4 , Figure 4 A structural schematic diagram of another gear signal synchronization system for driving mode switching provided in an embodiment of the present application is shown.

[0068] The gear position signal synchronization system for driving mode switching in the embodiment of the present application can be applied to a vehicle powertrain device, which may include at least an unmanned driving control unit, a gear position panel, and an intelligent instrument. Figure 4 As shown, the gear signal synchronization system 400 for driving mode switching may include at least one processor 401 , at least one network interface 404 , a user interface 403 , a memory 405 and at least one communication bus 402 .

[0069] The communication bus 402 may be used to realize the connection and communication among the above-mentioned components.

[0070] The user interface 403 may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.

[0071] The network interface 404 may include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, etc.

[0072] Among them, the processor 401 may include one or more processing cores. The processor 401 uses various interfaces and lines to connect various parts in the gear signal synchronization system 400 for driving mode switching, and executes various functions and processes data of the gear signal synchronization system 400 for driving mode switching by running or executing instructions, programs, code sets or instruction sets stored in the memory 405, and calling data stored in the memory 405. Optionally, the processor 401 can be implemented in at least one hardware form of DSP, FPGA, and PLA. The processor 401 can integrate one or a combination of CPU, GPU, modem, etc. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 401, and it can be implemented by a single chip.

[0073] The memory 405 may include a RAM or a ROM. Optionally, the memory 405 includes a non-transitory computer-readable medium. The memory 405 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 405 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 405 may optionally be at least one storage device located away from the aforementioned processor 401. As Figure 4 As shown, the memory 405 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a gear signal synchronization application for driving mode switching.

[0074] Specifically, the processor 401 may be used to call the gear signal synchronization application for driving mode switching stored in the memory 405, and specifically perform the following operations: When in the unmanned driving mode, the first gear position signal issued by the unmanned driving control unit is displayed on the smart meter, and the gear position signal corresponding to the manned driving mode is updated to the first gear position signal; When it is detected that the unmanned driving mode is switched to the manned driving mode, a second gear position signal is determined according to the first gear position instruction corresponding to the gear position panel and the first gear position signal; The second gear position signal is displayed on the smart instrument, and the gear position signal corresponding to the manned driving mode is updated to the second gear position signal.

[0075] In some possible embodiments, determining the second gear position signal according to the first gear position instruction and the first gear position signal corresponding to the gear position panel includes: According to the collection time of the first gear position instruction, a second gear position instruction is determined in a gear position instruction database; wherein the gear position instruction database includes at least two historical gear position instructions issued by the gear position panel and the historical collection time corresponding to each historical gear position instruction; When it is detected that the first gear position instruction is inconsistent with the second gear position instruction, a third gear position signal is identified from the first gear position instruction, and the third gear position signal is used as the second gear position signal; When it is detected that the first gear position command is consistent with the second gear position command, the first gear position signal is used as the second gear position signal.

[0076] In some possible embodiments, after the second gear position signal is displayed on the smart meter, the method further includes: When it is detected that the manned driving mode is switched to the unmanned driving mode, a fourth gear position signal is identified from the third gear position instruction corresponding to the gear position panel; The fourth gear position signal is displayed on the smart instrument, and the fourth gear position signal is sent to the unmanned driving control unit.

[0077] In some possible embodiments, after the first gear position signal issued by the unmanned driving control unit is displayed on the smart meter, the method further includes: At least one fourth gear position instruction corresponding to the gear position panel is acquired at a preset time interval, and all fourth gear position instructions and the acquisition time corresponding to each fourth gear position instruction are updated into the gear position instruction database.

[0078] In some possible embodiments, before detecting the switching from the unmanned driving mode to the manned driving mode, the method further includes: After receiving the driving mode switching instruction, determining whether the brake operation signal collected within a preset time period meets the first condition; When it is detected that the braking action signal satisfies the first condition, it is determined to switch from the unmanned driving mode to the manned driving mode; or After receiving the driving mode switching instruction, determining whether the steering wheel operation signal collected within a preset time period meets the second condition; When it is detected that the steering wheel operation signal satisfies the second condition, it is determined to switch from the unmanned driving mode to the manned driving mode.

[0079] In some possible embodiments, before detecting that the braking action signal satisfies the first condition, the method further includes: Based on the collection time of the brake operation signal, at least two first operation signals are screened out in the brake signal database; wherein the brake signal database includes at least two historical collection times and the brake operation signal corresponding to each historical collection time; Inputting all first operation signals and brake operation signals into a preset deep learning model to obtain a brake prediction value; wherein the preset deep learning model is trained by at least two groups of sample operation signal sets and brake sample values ​​corresponding to each group of sample operation signal sets, and each group of sample operation signal sets includes at least two sample operation signals; When the braking prediction value is within a preset prediction value interval, determining that the braking action signal satisfies a first condition; When the braking prediction value is not within the preset prediction value interval, it is determined that the braking action signal does not satisfy the first condition.

[0080] In some possible embodiments, before detecting that the steering wheel operation signal satisfies the second condition, the method further includes: Determine an adjacent previous moment based on the acquisition moment of the steering wheel operation signal, and obtain a second operation signal corresponding to the adjacent previous moment; Converting the steering wheel operation signal to obtain a first rotation angle, and converting the second operation signal to obtain a second rotation angle; When it is detected that the difference between the first rotation angle and the second rotation angle exceeds a preset difference threshold, determining that the steering wheel operation signal satisfies a second condition; When it is detected that the difference between the first rotation angle and the second rotation angle does not exceed the preset difference threshold, it is determined that the steering wheel operation signal does not satisfy the second condition.

[0081] The present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the above method are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0082] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0083] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0084] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0085] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0086] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

Claims

1. A gear signal synchronization method for driving mode switching, characterized in that: The method is applied to a vehicle powertrain device, the vehicle powertrain device includes an unmanned driving control unit, a gear panel and an intelligent instrument, and the method includes: When in the unmanned driving mode, the first gear position signal emitted by the unmanned driving control unit is displayed on the smart meter, and the gear position signal corresponding to the manned driving mode is updated to the first gear position signal; When it is detected that the unmanned driving mode is switched to the manned driving mode, a second gear position signal is determined according to the first gear position instruction corresponding to the gear position panel and the first gear position signal; The second gear position signal is displayed on the smart meter, and the gear position signal corresponding to the manned driving mode is updated to the second gear position signal.

2. The method according to claim 1, characterized in that The determining the second gear position signal according to the first gear position instruction corresponding to the gear position panel and the first gear position signal comprises: According to the collection time of the first gear position instruction, a second gear position instruction is determined in a gear position instruction database; wherein the gear position instruction database includes at least two historical gear position instructions issued by the gear position panel and the historical collection time corresponding to each of the historical gear position instructions; When it is detected that the first gear position instruction is inconsistent with the second gear position instruction, a third gear position signal is identified from the first gear position instruction, and the third gear position signal is used as the second gear position signal; When it is detected that the first gear position instruction is consistent with the second gear position instruction, the first gear position signal is used as the second gear position signal.

3. The method according to claim 1, characterized in that After displaying the second gear position signal on the smart meter, the method further includes: When it is detected that the manned driving mode is switched to the unmanned driving mode, a fourth gear position signal is identified from the third gear position instruction corresponding to the gear position panel; The fourth gear position signal is displayed on the smart meter, and the fourth gear position signal is sent to the unmanned driving control unit.

4. The method according to claim 2, characterized in that: After displaying the first gear position signal sent by the unmanned driving control unit on the smart meter, the method further includes: At least one fourth gear position instruction corresponding to the gear position panel is acquired at a preset time interval, and all the fourth gear position instructions and the collection time corresponding to each fourth gear position instruction are updated to the gear position instruction database.

5. The method according to claim 1, characterized in that Before detecting the switching from the unmanned driving mode to the manned driving mode, the method further includes: After receiving the driving mode switching instruction, determining whether the brake operation signal collected within a preset time period meets the first condition; When it is detected that the braking action signal satisfies a first condition, determining to switch from the unmanned driving mode to the manned driving mode; or After receiving the driving mode switching instruction, determining whether the steering wheel operation signal collected within a preset time period meets the second condition; When it is detected that the steering wheel operation signal satisfies a second condition, it is determined to switch from the unmanned driving mode to the manned driving mode.

6. The method according to claim 5, characterized in that Before detecting that the brake action signal satisfies the first condition, the method further includes: Based on the collection time of the brake operation signal, at least two first operation signals are screened out in the brake signal database; wherein the brake signal database includes at least two historical collection times and the brake operation signal corresponding to each of the historical collection times; Inputting all the first operation signals and the brake operation signals into a preset deep learning model to obtain a brake prediction value; wherein the preset deep learning model is trained by at least two groups of sample operation signal sets and brake sample values ​​corresponding to each group of the sample operation signal sets, and each group of the sample operation signal sets includes at least two sample operation signals; When the braking prediction value is within a preset prediction value interval, determining that the braking action signal satisfies a first condition; When the braking prediction value is not within the preset prediction value interval, it is determined that the braking action signal does not satisfy the first condition.

7. The method according to claim 5, characterized in that Before detecting that the steering wheel operation signal satisfies the second condition, the method further includes: Determine an adjacent previous moment based on the acquisition moment of the steering wheel operation signal, and acquire a second operation signal corresponding to the adjacent previous moment; Converting the steering wheel operation signal to obtain a first rotation angle, and converting the second operation signal to obtain a second rotation angle; When it is detected that the difference between the first rotation angle and the second rotation angle exceeds a preset difference threshold, determining that the steering wheel operation signal satisfies a second condition; When it is detected that the difference between the first rotation angle and the second rotation angle does not exceed the preset difference threshold, it is determined that the steering wheel operation signal does not meet the second condition.

8. A gear signal synchronization system for driving mode switching, characterized in that: The system is applied to a vehicle powertrain device, the vehicle powertrain device includes an unmanned driving control unit, a gear panel and an intelligent instrument, and the system includes: a first display module, configured to display, when in the unmanned driving mode, a first gear position signal emitted by the unmanned driving control unit on the smart meter, and to update the gear position signal corresponding to the manned driving mode to the first gear position signal; a signal determination module, configured to determine a second gear position signal according to a first gear position instruction corresponding to the gear position panel and the first gear position signal when detecting that the unmanned driving mode is switched to the manned driving mode; The second display module is used to display the second gear position signal on the smart instrument and update the gear position signal corresponding to the manned driving mode to the second gear position signal.

9. A gear signal synchronization system for driving mode switching, characterized in that: including a processor and a memory; The processor is connected to the memory; The memory is used to store executable program code; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a computer or a processor, the computer or the processor executes the steps of the method according to any one of claims 1 to 7.

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