A gear signal synchronization method and system for driving mode switching

Abstract

This application belongs to the technical field of new energy vehicle powertrain control, and discloses a gear signal synchronization method and system for driving mode switching. When the vehicle is in the driverless mode, the first gear signal sent by the driverless control unit is updated to the gear signal corresponding to the manned driving mode, so that when the vehicle switches from the driverless mode to the manned driving mode, the second gear signal is obtained according to the first gear command 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, avoiding user misoperations and potential safety hazards caused by inconsistent gears. It can not only ensure the synchronization and consistency of gear signals, but also improve the smoothness and reliability during driving mode switching.

Description

Technical Field

[0001] This application belongs to the technical field of new energy vehicle powertrain control, and particularly 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 widely used in various traffic scenarios. However, due to the immaturity of current autonomous driving technology, many driverless vehicles still need to be equipped with safety officers during actual applications to ensure timely intervention in case of emergencies and guarantee driving safety. Among them, during the research and 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 quickly make correct responses, and at this time, the safety officer needs to take over the control of the vehicle in a timely manner. However, during the switching process between the driverless mode and the manned driving mode, the synchronization and maintenance of gear signals are a key issue.

[0003] The existing gear signal synchronization methods mainly activate the autonomous driving mode through the shift lever. However, this method is likely to cause delays or errors in the gear signals 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 leads to safety accidents. Summary of the Invention

[0004] To solve the above-mentioned technical defects that the existing gear signal synchronization methods are likely to cause delays or errors in the gear signals of the vehicle during the driving mode switching process, which not only affect the smooth switching of the driving mode but also easily cause gear confusion and lead to safety accidents, this application proposes a gear signal synchronization method and system for driving mode switching, and its technical solutions are as follows:

[0005] In a first aspect, an embodiment of this application provides a gear signal synchronization method for driving mode switching. The method is applied to a vehicle powertrain device, and the vehicle powertrain device includes an autonomous driving control unit, a gear panel, and an intelligent instrument. The method includes:

[0006] When in the autonomous driving mode, display the first gear signal sent by the autonomous driving control unit on the intelligent instrument, and update the gear signal corresponding to the manned driving mode to the first gear signal;

[0007] When it is detected that the vehicle switches from the autonomous driving mode to the manned driving mode, determine the second gear signal according to the first gear command corresponding to the gear panel and the first gear signal;

[0008] Display the second gear signal on the intelligent instrument, and update the gear signal corresponding to the manned driving mode to the second gear signal.

[0009] In an alternative solution of the first aspect, determining a second gear signal according to the first gear command corresponding to the gear panel and the first gear signal includes:

[0010] Determining a second gear command in the gear command database according to the acquisition moment of the first gear command; wherein, the gear command database includes at least two historical gear commands issued by the gear panel and the historical acquisition moments corresponding to each historical gear command;

[0011] When it is detected that the first gear command is inconsistent with the second gear command, identifying a third gear signal from the first gear command and using the third gear signal as the second gear signal;

[0012] When it is detected that the first gear command is consistent with the second gear command, using the first gear signal as the second gear signal.

[0013] In another alternative solution of the first aspect, after displaying the second gear signal on the intelligent instrument, it further includes:

[0014] When it is detected that the mode is switched from the manned driving mode to the driverless driving mode, identifying a fourth gear signal from the third gear command corresponding to the gear panel;

[0015] Displaying the fourth gear signal on the intelligent instrument and sending the fourth gear signal to the driverless control unit.

[0016] In another alternative solution of the first aspect, after displaying the first gear signal issued by the driverless control unit on the intelligent instrument, it further includes:

[0017] Obtaining at least one fourth gear command corresponding to the gear panel at a preset time interval and updating all the fourth gear commands and the acquisition moments corresponding to each fourth gear command to the gear command database.

[0018] In another alternative solution of the first aspect, before detecting that the mode is switched from the driverless driving mode to the manned driving mode, it further includes:

[0019] After receiving the switching command of the driving mode, determining whether the brake operation signal collected within a preset time period meets the first condition;

[0020] When it is detected that the brake action signal meets the first condition, determining that the mode is switched from the driverless driving mode to the manned driving mode; or

[0021] After receiving the switching command of the driving mode, determining whether the steering wheel operation signal collected within a preset time period meets the second condition;

[0022] When it is detected that the steering wheel operation signal meets the second condition, it is determined to switch from the driverless mode to the manned driving mode.

[0023] In another alternative solution of the first aspect, before it is detected that the brake action signal meets the first condition, it further includes:

[0024] Based on the acquisition time of the brake operation signal, at least two first operation signals are filtered out in the brake signal database; wherein, the brake signal database includes at least two historical acquisition times and the brake operation signals corresponding to each historical acquisition time;

[0025] All the first operation signals and the brake operation signal are input into a preset deep learning model to obtain a brake prediction value; wherein, the preset deep learning model is trained by at least two sets of sample operation signal sets and the brake sample values corresponding to each set of sample operation signal sets, and each set of sample operation signal sets includes at least two sample operation signals;

[0026] When the brake prediction value is within a preset prediction value interval, it is determined that the brake action signal meets the first condition;

[0027] When the brake prediction value is not within the preset prediction value interval, it is determined that the brake action signal does not meet the first condition.

[0028] In another alternative solution of the first aspect, before it is detected that the steering wheel operation signal meets the second condition, it further includes:

[0029] Based on the acquisition time of the steering wheel operation signal, the adjacent previous moment is determined, and the second operation signal corresponding to the adjacent previous moment is obtained;

[0030] The steering wheel operation signal is converted to obtain a first rotation angle, and the second operation signal is converted to obtain a second rotation angle;

[0031] When it is detected that the difference between the first rotation angle and the second rotation angle exceeds a preset difference threshold, it is determined that the steering wheel operation signal meets the second condition;

[0032] 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.

[0033] 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 a driverless control unit, a gear panel, and an intelligent instrument. The system includes:

[0034] The first display module is used to display the first gear signal sent by the driverless control unit on the intelligent instrument when in the driverless mode, and update the gear signal corresponding to the manned driving mode to the first gear signal;

[0035] The signal determination module is used to determine the second gear signal according to the first gear command corresponding to the gear panel and the first gear signal when it is detected that the mode is switched from the driverless mode to the manned driving mode;

[0036] The second display module is used to display the second gear signal on the intelligent instrument and update the gear signal corresponding to the manned driving mode to the second gear signal.

[0037] 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;

[0038] The processor is connected to the memory;

[0039] The memory is used to store executable program codes;

[0040] 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 in the first aspect or any implementation manner of the first aspect of the embodiment of the present application.

[0041] In a fourth aspect, an embodiment of the present application provides a computer storage medium, and the computer storage medium stores a computer program, and the computer program includes program instructions, and when the program instructions are executed by a processor, the gear signal synchronization method for driving mode switching provided in the first aspect or any implementation manner of the first aspect of the embodiment of the present application can be implemented.

[0042] In the embodiment of the present application, when synchronizing the gear signal for vehicle driving mode switching, when in the driverless mode, the first gear signal sent by the driverless control unit is displayed on the intelligent instrument, and the gear signal corresponding to the manned driving mode is updated to the first gear signal; when it is detected that the vehicle switches from the driverless mode to the manned driving mode, the second gear signal is determined according to the first gear command corresponding to the gear panel and the first gear signal; the second gear signal is displayed on the intelligent instrument, and the gear signal corresponding to the manned driving mode is updated to the second gear signal. By updating the first gear signal sent by the driverless control unit when the vehicle is in the driverless mode to the gear signal corresponding to the manned driving mode, when the vehicle switches from the driverless mode to the manned driving mode, the second gear signal is obtained according to the first gear command 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, avoiding user misoperations and safety hazards caused by inconsistent gears, not only ensuring the synchronization and consistency of the gear signal, but also improving the smoothness and reliability during driving mode switching. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] 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 in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0044] Figure 1 It is the overall flowchart of a method for synchronizing gear signals for driving mode switching provided by an embodiment of the present application;

[0045] Figure 2 It is the structural schematic diagram of a vehicle powertrain device provided by an embodiment of the present application;

[0046] Figure 3 It is the structural schematic diagram of a system for synchronizing gear signals for driving mode switching provided by an embodiment of the present application;

[0047] Figure 4 It is the structural schematic diagram of another system for synchronizing gear signals for driving mode switching provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] 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.

[0049] In the following description, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance. The following description provides multiple embodiments of the present application. 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 described. Thus, 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, even though such embodiments may not be explicitly described in the following content.

[0050] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes can be made to the functions and arrangements of the described elements without departing from the scope of the content of the present application. Various processes or components can be appropriately omitted, substituted, or added to each example. For example, the described method can be executed in a different order than the described order, and various steps can be added, omitted, or combined. In addition, the features described for some examples can be combined into other examples.

[0051] Please refer to Figure 1 , Figure 1 which shows the overall flowchart of a gear signal synchronization method for driving mode switching provided by an embodiment of the present application.

[0052] As Figure 1 shown, the gear signal synchronization method for driving mode switching can at least include the following steps:

[0053] Step 102: When in the driverless mode, display the first gear signal sent by the driverless control unit on the intelligent instrument and update the gear signal corresponding to the manned driving mode to the first gear signal.

[0054] In the embodiment of the present application, the gear signal synchronization method for driving mode switching can be but is not limited to being applied to the vehicle's vehicle control terminal. The vehicle control terminal can establish a connection with the vehicle powertrain device to control the vehicle to perform driverless autonomous driving according to the driverless gear signal sent by the vehicle powertrain device when the vehicle is in the driverless mode; and, when the vehicle switches from the driverless mode to the manned driving mode, generate and display the manned driving gear signal according to the gear command and the driverless gear signal sent by the vehicle powertrain device, so that the safety officer can timely control the vehicle to drive according to the manned driving gear signal, thereby effectively avoiding user misoperations and safety hazards caused by inconsistent gears, and not only ensuring the synchronization and consistency of the gear signal, but also improving the smoothness and reliability during driving mode switching.

[0055] Here, the vehicle powertrain device may at least include a driverless control unit, a gear panel, and an intelligent instrument. Among them, the driverless control unit can, but is not limited to, establish a communication connection with the vehicle control terminal through a driverless network. When the vehicle is in the driverless mode, it can automatically generate a control instruction including a driverless gear signal according to the current vehicle condition and road condition, and send the control instruction to the vehicle control terminal to control the vehicle to perform driverless automatic driving through the vehicle control terminal. It can be understood that the driverless control unit mentioned in the embodiments of the present application can be composed of well-known automatic driving modules in the art. The control instructions generated by it can include, but are not limited to, motor control signals, battery control signals, and brake control signals, etc. The vehicle control terminal can send these multiple signals to their respective corresponding controllers through the power network for control processing, and then jointly ensure the normal driverless automatic driving of the vehicle in combination with the driverless gear signal.

[0056] Among them, the gear panel can, but is not limited to, establish 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 a 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 a gear command representing the forward signal to the vehicle control terminal. It can be understood that the gear panel mentioned in the embodiments of the present application can be set on the driver's side of the vehicle. It can, but is not limited to, be provided with multiple gear physical buttons (such as D gear, R gear, N gear, and P gear), or can also be provided with a physical lever device for selecting the corresponding gear according to different operations of the safety officer (for example, pulling down once along the pulling direction is D gear, pulling down twice is R gear, pulling down three times is N gear, and pulling down four times is P gear).

[0057] It should be noted that whether the vehicle is in the driverless mode or the manned mode, the vehicle control terminal can receive the driverless gear signal sent by the driverless control unit and the gear command sent by the gear panel at a preset time interval. For example, when the vehicle is in the driverless mode, in addition to controlling the vehicle to perform driverless automatic driving according to the control instruction of the driverless gear signal, the vehicle control terminal can also separately receive and store multiple gear commands sent by the gear panel (and will also separately store multiple driverless gear signals sent by the driverless control unit), so as to be quickly retrieved and processed when the driving mode is switched. Compared with the redundant design of storing all gear signals together in the existing solution, it can effectively ensure the authenticity and reliability of different gear signals and avoid causing confusion in the switching of gear signals.

[0058] Among them, the intelligent instrument can, but is not limited to, establish a communication connection with the vehicle control terminal through the instrument network to timely display the gear signal sent by the vehicle control terminal to the safety officer. For example, when the vehicle switches from the driverless mode to the manned driving mode, the vehicle control terminal can send the gear signal corresponding to the switch to the manned driving mode to the intelligent instrument, so as to show 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 can be understood that the intelligent instrument mentioned in the embodiment of the present application can be a display screen arranged in front of the vehicle steering wheel or a central control display screen on the driver's side, so as to facilitate the safety officer to quickly view.

[0059] Reference can also be made here to Figure 2 the structural schematic diagram of a vehicle powertrain device provided by the embodiment of the present application shown, as Figure 2 shown, the vehicle powertrain device may include a driverless control unit 1, a vehicle control terminal 2 (i.e., Figure 2 the VCU in Figure 2 ), a battery management unit 3 (i.e., Figure 2 the BMS in

[0060] ), an integrated power unit 4 (i.e.,

[0061] Figure 2 the IPU in

[0060] ), a braking system 5, a gear panel 6, and an intelligent instrument 7. Among them, the driverless control unit 1 can establish a communication connection with the vehicle control terminal 2 through the driverless network 101, the vehicle control terminal 2 can establish communication connections with the battery management unit 3, the integrated power unit 4, and the braking system 5 respectively through the power network 102, and the vehicle control terminal 2 can establish communication connections with the gear panel 6 and the intelligent instrument 7 respectively through the instrument network 103. Here, the driverless control unit 1, the battery management unit 3, the integrated power unit 4, the braking system 5, the gear panel 6, and the intelligent instrument 7 can all be well-known components of the autonomous driving module in the art, and their corresponding working principles will not be elaborated here.

[0060] It can also be understood that the vehicle control terminal can specifically update the first gear signal sent by the driverless control unit when the vehicle is in the driverless mode to the gear signal corresponding to the manned driving mode, so as to obtain a second gear signal according to the first gear command and the first gear signal corresponding to the gear panel when the vehicle switches from the driverless mode to the manned driving mode, and use the second gear signal as the gear signal corresponding to the manned driving mode, avoiding user misoperation and safety hazards caused by inconsistent gears, not only ensuring the synchronization and consistency of the gear signal, but also improving the smoothness and reliability during the driving mode switch.

[0061] Specifically, when synchronizing the gear signal for vehicle driving mode switching, the vehicle control terminal can, but is not limited to, when the vehicle is currently in the driverless mode, control the vehicle to perform driverless autonomous driving according to the driverless gear signal (i.e., the first gear signal) sent by the driverless control unit through the driverless network, and simultaneously send the driverless gear signal to the intelligent instrument through the instrument network, so as to display the current gear signal of the vehicle to the safety officer in a timely manner through the intelligent instrument. It can be understood that the vehicle can, but is not limited to, be defined as the driverless mode according to a preset automatic control program during the startup phase, or can also be switched from the manned driving mode to the driverless mode. Moreover, when switching from the manned driving mode to the driverless mode, the vehicle control terminal can, but is not limited to, detect whether it has received a switching instruction for the driving mode selected by the safety officer (such as pressing a switching button) to determine whether to switch from the manned driving mode to the driverless mode, and it is not limited to this.

[0062] Here, in addition to sending the driverless gear signal to the vehicle control terminal through the driverless network, the driverless control unit can, but is not limited to, synchronously sending motor control signals, battery control signals, brake control signals, etc. through the driverless 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 performs control processing on the vehicle; and, it can also send the battery control signal to the battery management unit through the power network, and the battery management unit performs control processing on the vehicle; and, it can also send the brake signal to the brake system through the power network, and the brake system performs control processing on the vehicle, thereby jointly realizing the driverless autonomous driving of the vehicle.

[0063] Furthermore, after displaying the current driverless gear signal of the vehicle through the intelligent instrument, the vehicle control terminal can also update the gear signal corresponding to the manned driving mode to the driverless gear signal. Here, the gear signal corresponding to the manned driving mode can be understood as the gear signal included in the gear instruction received by the gear panel most recently. For example, if the gear signal included in the gear instruction selected by the safety officer on the gear panel most recently is the D gear, then the gear signal corresponding to the manned driving mode is the D gear. At this time, if the driverless gear signal is the R gear, the vehicle control terminal can update the D gear to the R gear.

[0064] Since the vehicle control terminal can receive the driverless gear signal sent by the driverless control unit and the gear command sent by the gear panel at a preset time interval regardless of whether the vehicle is in the driverless mode or the manned driving mode, after the intelligent instrument displays the current driverless gear signal of the vehicle, the vehicle control terminal can also, but not limited to, query the gear command database for storing all gear commands to find out the most recently stored gear command, and update the gear signal included in the gear command to the current driverless gear signal of the vehicle, and is not limited thereto.

[0065] Step 104: When it is detected that the vehicle switches from the driverless mode to the manned driving mode, determine a second gear signal according to the first gear command corresponding to the gear panel and the first gear signal.

[0066] Specifically, when the vehicle encounters special circumstances during unmanned automatic driving and needs to switch from the driverless mode to the manned driving mode, the vehicle control terminal can, but not limited to, detect whether it has received the switching command of the driving mode selected by the safety officer. After detecting the switching command of the driving mode, it is determined that the vehicle switches from the driverless mode to the manned driving mode, and the gear signal (i.e., the second gear signal) of the manned driving mode at the current moment can be determined according to the gear command (i.e., the first gear command) of the gear panel at the current moment and the above-mentioned driverless gear signal (i.e., the first gear signal). For example, when the gear command of the gear panel at the current moment is the gear command not switched by the safety officer, the above-mentioned driverless 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 the gear command switched by the safety officer, the gear signal included in the gear command can be used as the gear signal of the manned driving mode at the current moment, thereby avoiding the misoperation of the safety officer caused by the possible inconsistency between the current gear of the manned driving mode and the current gear of the driverless mode, as well as comfort problems such as jerks caused by gear shifting.

[0067] As an option of the embodiment of the present application, determining the second gear signal according to the first gear command corresponding to the gear panel and the first gear signal includes:

[0068] Determine a second gear command in the gear command database according to the acquisition time of the first gear command; wherein, the gear command database includes at least two historical gear commands sent by the gear panel and the historical acquisition time corresponding to each historical gear command;

[0069] When it is detected that the first gear command is inconsistent with the second gear command, identify a third gear signal from the first gear command and use the third gear signal as the second gear signal;

[0070] When the first gear command is detected to be the same as the second gear command, the first gear signal is used as the second gear signal.

[0071] Specifically, in order to more accurately obtain the gear 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 further but not limited to, after determining that the vehicle switches from the unmanned driving mode to the manned driving mode, receive the gear command (i.e., the first gear command) sent by the gear panel at the current moment, and query in the gear command database for the gear command corresponding to the moment closest to the current moment (i.e., the second gear command). Here, the gear command database can be stored in a specified path of the vehicle control terminal, which may include the historical gear commands sent by the gear panel to the vehicle control terminal at at least two historical moments, and the gear command database can also store and process the gear commands sent by the gear panel to the vehicle control terminal in real time, that is, the gear command database can be updated in real time to ensure the accuracy of the gear signal of the manned driving mode.

[0072] 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 switches from the unmanned driving mode to the manned driving mode, the safety officer has intervened and performed a gear shifting action. Furthermore, the first gear command can be identified and processed, and the identified gear signal (i.e., the third gear signal) is used as the gear signal of the manned driving mode at the current moment (i.e., the second gear signal).

[0073] It can be understood that when it is detected that the first gear command is the same as the second gear command queried in the gear command database, it indicates that when the vehicle switches from the unmanned driving mode to the manned driving mode, the safety officer has not intervened. Furthermore, the unmanned gear signal sent by the above-mentioned unmanned control unit to the vehicle control terminal can be used as the gear signal of the manned driving mode at the current moment (i.e., the second gear signal).

[0074] As another alternative of the embodiment of the present application, before detecting the switch from the unmanned driving mode to the manned driving mode, it further includes:

[0075] After receiving the switching command of the driving mode, determine whether the brake operation signal collected within a preset period meets the first condition;

[0076] When it is detected that the brake action signal meets the first condition, determine to switch from the unmanned driving mode to the manned driving mode; or

[0077] After receiving the switching command of the driving mode, determine whether the steering wheel operation signal collected within a preset period meets the second condition;

[0078] When it is detected that the steering wheel operation signal meets the second condition, it is determined that the vehicle switches from the driverless mode to the manned driving mode.

[0079] Specifically, in order to ensure the accuracy of judging that the vehicle switches from the driverless mode to the manned driving mode, the vehicle control terminal can also, after receiving the switching instruction of the driving mode, further judge whether there is an emergency braking or emergency steering operation by the safety officer in combination with the braking action signal or the steering wheel operation signal received within a preset time period. When it is detected that the braking 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 switches from the driverless mode to the manned driving mode; or, when it is detected that the steering wheel operation signal meets the second condition, it indicates that there is an emergency steering operation by the safety officer, and thus it can also be determined that the vehicle switches from the driverless mode to the manned driving mode.

[0080] Here, the braking action signal can be but is not limited to the signals collected by the brake pedal position sensor, wheel speed sensor, or brake booster position sensor built in the vehicle. These sensors such as the brake pedal position sensor, wheel speed sensor, or brake booster position sensor can all establish communication connections with the vehicle control terminal through the power network; the steering wheel operation signal can be but is not limited to the signals collected by the steering wheel angle sensor or steering column position sensor built in the vehicle, and the steering wheel angle sensor or steering column position sensor can also establish communication connections with the vehicle control terminal through the power network.

[0081] As another option of the embodiment of the present application, before it is detected that the braking action signal meets the first condition, it further includes:

[0082] Based on the acquisition time of the braking operation signal, at least two first operation signals are selected from the braking signal database; where the braking signal database includes at least two historical acquisition times and the corresponding braking operation signals for each historical acquisition time;

[0083] All the first operation signals and the braking operation signal are input into a preset deep learning model to obtain a braking prediction value; where the preset deep learning model is trained by at least two sets of sample operation signal sets and the corresponding braking sample values for each set of sample operation signal sets, and each set of sample operation signal sets includes at least two sample operation signals;

[0084] When the braking prediction value is within the preset prediction value range, it is determined that the braking action signal meets the first condition;

[0085] When the braking prediction value is not within the preset prediction value range, it is determined that the braking action signal does not meet the first condition.

[0086] Specifically, when determining whether there is an emergency braking operation by the safety officer, the vehicle control terminal can also screen out at least two historical acquisition times that are relatively close to the acquisition time of the braking operation signal in the braking signal database according to the acquisition time of the braking operation signal, as well as the corresponding braking operation signals (i.e., the first operation signals) for each historical acquisition time, and can input all the braking operation signals into a preset deep learning model together to predict a more accurate braking prediction value using artificial intelligence algorithms.

[0087] Here, the braking signal database can be stored in the specified path of the vehicle control terminal, and it includes the braking operation signals collected by any one of the above-mentioned brake pedal position sensors, wheel speed sensors, or brake booster position sensors at at least two historical acquisition times, as well as the corresponding historical acquisition times; the preset deep learning model can be a well-known neural network structure in the art, and it can be trained by multiple sets of sample operation signal sets and the corresponding braking sample values (which can also be understood as artificially labeled sample values) for each set of sample operation signal sets. Each set of sample operation signal sets includes the braking operation signals collected by any one of the above-mentioned brake pedal position sensors, wheel speed sensors, or brake booster position sensors at at least two historical acquisition times.

[0088] It can be understood that when the braking prediction value is within 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 thus it can be determined that the braking action signal meets the first condition; when the braking prediction value is not within the preset prediction value range, it indicates that the current braking action of the vehicle is small or there is no braking action, and thus it can be determined that the braking action signal has not yet met the first condition.

[0089] As another option of the embodiment of the present application, before detecting that the steering wheel operation signal meets the second condition, it further includes:

[0090] Determine the adjacent previous moment based on the acquisition time of the steering wheel operation signal, and obtain the corresponding second operation signal for the adjacent previous moment;

[0091] Perform conversion processing on the steering wheel operation signal to obtain the first rotation angle, and perform conversion processing on the second operation signal to obtain the second rotation angle;

[0092] When it is detected that the difference between the first rotation angle and the second rotation angle exceeds the preset difference threshold, it is determined that the steering wheel operation signal meets the second condition;

[0093] 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.

[0094] Specifically, when determining whether there is an emergency steering operation by the safety officer, the vehicle control terminal can also determine the adjacent previous moment based on the acquisition moment of the steering wheel operation signal, and can, but is not limited to, screen out the steering wheel operation signal corresponding to the previous moment (i.e., the second operation signal) from the steering wheel operation signals collected by the above-mentioned steering wheel angle sensor or steering column position sensor at at least two historical acquisition moments. Here, the steering wheel operation signals collected by the steering wheel angle sensor or steering column position sensor at at least two historical acquisition moments can also be stored in the path specified by the vehicle control terminal, not limited to this.

[0095] Next, the conversion processing can be performed on the steering wheel operation signal and the second operation signal respectively to obtain the corresponding first rotation angle and second rotation angle. Among them, the conversion processing method can, but is not limited to, taking the pinion pulse signal collected by the steering wheel operation signal as the steering wheel angle sensor as an example, and taking the product result of the number of accumulated pulses of the pinion pulse signal and the preset rotation angle corresponding to each pulse as the corresponding rotation angle.

[0096] Next, 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 an emergency steering operation by the safety officer, and then 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 there is no rotation, that is, there is no emergency steering operation by the safety officer, and then it can be determined that the steering wheel operation signal does not meet the second condition yet.

[0097] Step 106: Display the second gear signal on the intelligent instrument and update the gear signal corresponding to the manned driving mode to the second gear signal.

[0098] 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 intelligent instrument through the instrument network, so that the intelligent instrument can timely display the gear signal of the manned driving mode at the current moment (i.e., the current driving gear signal of the vehicle) to the safety officer.

[0099] Further, after the intelligent 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, which is convenient for the safety officer to control the vehicle driving according to the gear signal at the current moment. Moreover, the vehicle control terminal can also send the motor control signal, battery control signal, brake control signal, etc. generated by the safety officer when controlling the vehicle driving to their respective corresponding controllers or control systems through the power network to ensure the normal driving of the vehicle.

[0100] As another alternative of the embodiment of the present application, after the second gear signal is displayed on the intelligent instrument, it further includes:

[0101] When it is detected that the vehicle switches from the manned driving mode to the driverless driving mode, identify the fourth gear signal from the third gear command corresponding to the gear panel;

[0102] Display the fourth gear signal on the intelligent instrument and send the fourth gear signal to the driverless control unit.

[0103] Specifically, when the safety officer finishes avoiding danger while driving the vehicle and needs to switch back from the manned driving mode to the driverless driving mode, the vehicle control terminal can, but is not limited to, detect whether it receives the switching command of the driving mode selected by the safety officer. After detecting the switching command of the driving mode, it is determined that the vehicle switches back from the manned driving mode to the driverless driving mode, and the gear signal (i.e., the fourth gear signal) at the current moment can be identified from the gear command (i.e., the third gear command) corresponding to the gear panel after the safety officer drives the vehicle. While displaying the gear signal on the intelligent instrument for the safety officer to view, the gear signal can also be timely fed back to the driverless control unit, so that the driverless control unit can determine the gear signal for subsequent driverless driving in combination with the gear signal, thereby further avoiding comfort problems such as jerks caused by gear shifting.

[0104] As another alternative of the embodiment of the present application, after the first gear signal sent by the driverless control unit is displayed on the intelligent instrument, it further includes:

[0105] Obtain at least one fourth gear command corresponding to the gear panel at preset time intervals, and update all the fourth gear commands and the acquisition time corresponding to each fourth gear command to the gear command database.

[0106] To ensure the real-time performance and effectiveness of the gear position command database stored in the vehicle control terminal, after the first gear position signal sent by the driverless control unit is displayed on the intelligent instrument, that is, when the vehicle is in the driverless mode, the vehicle control terminal can also obtain one or more gear position commands (i.e., the fourth gear position command) retained by the gear position panel at a preset time interval. The one or more gear position commands can be understood as the gear position commands selected by the safety officer during the last manned driving mode of the vehicle, or the preset gear position commands when the vehicle has not switched to the manned driving mode after startup. And it can be understood that when the vehicle is in the driverless mode, the gear position commands corresponding to the gear position panel generally remain unchanged.

[0107] Then, the vehicle control terminal can also update the one or more gear position commands received in real time in the gear position command database, so that when the vehicle switches from the driverless mode to the manned driving mode, the gear position signal corresponding to the manned driving mode can be quickly determined, thereby avoiding misoperations by the safety officer caused by possible inconsistencies between the current gear position in the manned driving mode and the current gear position in the driverless mode.

[0108] Please refer to Figure 3 , Figure 3 which shows a schematic structural diagram of a gear position signal synchronization system for driving mode switching provided by an embodiment of the present application.

[0109] In the embodiment of the present application, the gear position signal synchronization system for driving mode switching can be applied to a vehicle powertrain device, and the vehicle powertrain device can at least include a driverless control unit, a gear position panel, and an intelligent instrument. As Figure 3 shown, the gear position signal synchronization system for driving mode switching at least includes a first display module 301, a signal determination module 302, and a second display module 303, where:

[0110] The first display module 301 is configured to, when in the driverless mode, display the first gear position signal sent by the driverless control unit on the intelligent instrument and update the gear position signal corresponding to the manned driving mode to the first gear position signal;

[0111] The signal determination module 302 is configured to, when detecting a switch from the driverless mode to the manned driving mode, determine a second gear position signal according to the first gear position command corresponding to the gear position panel and the first gear position signal;

[0112] The second display module 303 is configured to display the second gear position signal on the intelligent instrument and update the gear position signal corresponding to the manned driving mode to the second gear position signal.

[0113] In some possible embodiments, determining a second gear signal according to a first gear command and a first gear signal corresponding to a gear panel includes:

[0114] Determining a second gear command in a gear command database according to the acquisition time of the first gear command; wherein, the gear command database includes at least two historical gear commands sent by the gear panel and historical acquisition times corresponding to each historical gear command;

[0115] When it is detected that the first gear command is inconsistent with the second gear command, identifying a third gear signal from the first gear command and using the third gear signal as the second gear signal;

[0116] When it is detected that the first gear command is consistent with the second gear command, using the first gear signal as the second gear signal.

[0117] In some possible embodiments, after displaying the second gear signal on an intelligent instrument, it further includes:

[0118] When it is detected that the mode is switched from a manned driving mode to an unmanned driving mode, identifying a fourth gear signal from a third gear command corresponding to the gear panel;

[0119] Displaying the fourth gear signal on the intelligent instrument and sending the fourth gear signal to an unmanned driving control unit.

[0120] In some possible embodiments, after displaying a first gear signal sent by an unmanned driving control unit on an intelligent instrument, it further includes:

[0121] Obtaining at least one fourth gear command corresponding to the gear panel at a preset time interval and updating all the fourth gear commands and acquisition times corresponding to each fourth gear command to the gear command database.

[0122] In some possible embodiments, before detecting that the mode is switched from an unmanned driving mode to a manned driving mode, it further includes:

[0123] After receiving a switching command of the driving mode, determining whether a brake operation signal collected within a preset time period meets a first condition;

[0124] When it is detected that the brake action signal meets the first condition, determining that the mode is switched from an unmanned driving mode to a manned driving mode; or

[0125] After receiving a switching command of the driving mode, determining whether a steering wheel operation signal collected within a preset time period meets a second condition;

[0126] When it is detected that the steering wheel operation signal meets the second condition, it is determined to switch from the driverless mode to the manned mode.

[0127] In some possible embodiments, before it is detected that the brake action signal meets the first condition, it further includes:

[0128] Based on the acquisition 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 acquisition times and the corresponding brake operation signals for each historical acquisition time;

[0129] All the first operation signals and the brake operation signal are input into a preset deep learning model to obtain a brake prediction value; wherein, the preset deep learning model is trained by at least two sets of sample operation signal sets and the corresponding brake sample values for each set of sample operation signal sets, and each set of sample operation signal sets includes at least two sample operation signals;

[0130] When the brake prediction value is within the preset prediction value range, it is determined that the brake action signal meets the first condition;

[0131] When the brake prediction value is not within the preset prediction value range, it is determined that the brake action signal does not meet the first condition.

[0132] In some possible embodiments, before it is detected that the steering wheel operation signal meets the second condition, it further includes:

[0133] Based on the acquisition time of the steering wheel operation signal, the adjacent previous moment is determined, and the second operation signal corresponding to the adjacent previous moment is obtained;

[0134] The steering wheel operation signal is converted to obtain a first rotation angle, and the second operation signal is converted to obtain a second rotation angle;

[0135] When it is detected that the difference between the first rotation angle and the second rotation angle exceeds the preset difference threshold, it is determined that the steering wheel operation signal meets the second condition;

[0136] 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.

[0137] Those skilled in the art can clearly understand that the technical solutions of the embodiments of this application can be implemented by means of software and / or hardware. The "units" and "modules" 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.

[0138] Please refer to Figure 4 , Figure 4 which shows a schematic structural diagram of another gear signal synchronization system for driving mode switching provided by the embodiments of this application.

[0139] The gear signal synchronization system for driving mode switching in the embodiments of this application can be applied to a vehicle powertrain device, which can at least include an unmanned control unit, a gear panel, and an intelligent instrument. As Figure 4 shown, the gear signal synchronization system 400 for driving mode switching can 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.

[0140] Among them, the communication bus 402 can be used to realize the connection and communication of the above-mentioned various components.

[0141] Among them, the user interface 403 can include buttons, and the optional user interface can also include a standard wired interface and a wireless interface.

[0142] Among them, the network interface 404 can include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, etc.

[0143] Among them, the processor 401 can include one or more processing cores. The processor 401 uses various interfaces and lines to connect various parts within the gear signal synchronization system 400 for driving mode switching, and by running or executing instructions, programs, code sets, or instruction sets stored in the memory 405, and by calling data stored in the memory 405, it executes various functions of the gear signal synchronization system 400 for driving mode switching and processes data. Optionally, the processor 401 can be implemented in at least one hardware form of DSP, FPGA, or PLA. The processor 401 can integrate one or several combinations of CPU, GPU, and modem, etc. Among them, the CPU mainly processes the operating system, the user interface, and application programs, etc.; the GPU is responsible for rendering and drawing the content that needs to be displayed on the display screen; the modem is used to process wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 401 and can be implemented separately by a single chip.

[0144] Among them, the memory 405 may include RAM or ROM. Optionally, the memory 405 includes a non-transitory computer-readable medium. The memory 405 can 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. Among them, the program storage area can store instructions for implementing the operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area can store the data involved in the above-mentioned various method embodiments. Optionally, the memory 405 can also be at least one storage device located far from the aforementioned processor 401. As Figure 4 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 program for driving mode switching.

[0145] Specifically, the processor 401 can be used to call the gear signal synchronization application program stored in the memory 405 and specifically perform the following operations:

[0146] When in the driverless mode, display the first gear signal sent by the driverless control unit on the intelligent instrument and update the gear signal corresponding to the manned driving mode to the first gear signal;

[0147] When it is detected that the mode is switched from the driverless mode to the manned driving mode, determine the second gear signal according to the first gear instruction corresponding to the gear panel and the first gear signal;

[0148] Display the second gear signal on the intelligent instrument and update the gear signal corresponding to the manned driving mode to the second gear signal.

[0149] In some possible embodiments, determining the second gear signal according to the first gear instruction corresponding to the gear panel and the first gear signal includes:

[0150] According to the acquisition moment of the first gear instruction, determine the second gear instruction in the gear instruction database; wherein, the gear instruction database includes at least two historical gear instructions sent by the gear panel and the corresponding historical acquisition moments of each historical gear instruction;

[0151] When it is detected that the first gear instruction is inconsistent with the second gear instruction, identify the third gear signal from the first gear instruction and use the third gear signal as the second gear signal;

[0152] When it is detected that the first gear instruction is consistent with the second gear instruction, use the first gear signal as the second gear signal.

[0153] In some possible embodiments, after the second gear signal is displayed on the intelligent instrument, the following is further included:

[0154] When it is detected that the driving mode is switched from the manned mode to the unmanned mode, a fourth gear signal is identified from the third gear command corresponding to the gear panel;

[0155] The fourth gear signal is displayed on the intelligent instrument, and the fourth gear signal is sent to the unmanned driving control unit.

[0156] In some possible embodiments, after the first gear signal sent by the unmanned driving control unit is displayed on the intelligent instrument, the following is further included:

[0157] At least one fourth gear command corresponding to the gear panel is obtained at a preset time interval, and all the fourth gear commands and the acquisition moments corresponding to each fourth gear command are updated to the gear command database.

[0158] In some possible embodiments, before it is detected that the driving mode is switched from the unmanned mode to the manned mode, the following is further included:

[0159] After receiving the switching command of the driving mode, it is determined whether the brake operation signal collected within a preset period meets the first condition;

[0160] When it is detected that the brake action signal meets the first condition, it is determined that the driving mode is switched from the unmanned mode to the manned mode; or

[0161] After receiving the switching command of the driving mode, it is determined whether the steering wheel operation signal collected within a preset time period meets the second condition;

[0162] When it is detected that the steering wheel operation signal meets the second condition, it is determined that the driving mode is switched from the unmanned mode to the manned mode.

[0163] In some possible embodiments, before it is detected that the brake action signal meets the first condition, the following is further included:

[0164] Based on the acquisition moment of the brake operation signal, at least two first operation signals are filtered out from the brake signal database; wherein, the brake signal database includes at least two historical acquisition moments and the brake operation signals corresponding to each historical acquisition moment;

[0165] Input all the first operation signals and the brake operation signal into a preset deep learning model to obtain a brake prediction value; wherein, the preset deep learning model is trained by at least two sets of sample operation signal sets and the brake sample values corresponding to each set of sample operation signal sets, and each set of sample operation signal sets includes at least two sample operation signals.

[0166] When the brake prediction value is within a preset prediction value range, it is determined that the brake action signal meets the first condition.

[0167] When the brake prediction value is not within the preset prediction value range, it is determined that the brake action signal does not meet the first condition.

[0168] In some possible embodiments, before detecting that the steering wheel operation signal meets the second condition, it further includes:

[0169] Determine the adjacent previous moment based on the acquisition moment of the steering wheel operation signal, and obtain the second operation signal corresponding to the adjacent previous moment.

[0170] Perform conversion processing on the steering wheel operation signal to obtain the first rotation angle, and perform conversion processing on the second operation signal to obtain the second rotation angle.

[0171] When it is detected that the difference between the first rotation angle and the second rotation angle exceeds a preset difference threshold, it is determined that the steering wheel operation signal meets the second condition.

[0172] 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.

[0173] This 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. Among them, the computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, microdrives, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0174] It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that this application is not limited by the described action sequence, because according to this application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0175] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0176] In several embodiments provided by the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, 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 displayed or discussed coupling or direct coupling or communication connection to each other can be through some service interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical or other form.

[0177] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0178] In addition, in each embodiment of the present application, the respective functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can 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 signal emitted 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; wherein the gear signal corresponding to the manned driving mode is the gear signal contained in the gear instruction most recently stored in the gear instruction database; 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; Displaying the second gear position signal on the smart meter, and updating the gear position signal corresponding to the manned driving mode to the second gear position signal; The step of 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 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.

2. 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.

3. The method according to claim 1, 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.

4. 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 brake operation 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.

5. The method according to claim 4, characterized in that Before detecting that the brake operation 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 operation signal satisfies a first condition; When the braking prediction value is not within the preset prediction value interval, it is determined that the braking operation signal does not satisfy the first condition.

6. The method according to claim 4, 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.

7. 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 a first gear position signal issued by the unmanned driving control unit on the smart meter when the vehicle is in the unmanned driving mode, and to update the gear position signal corresponding to the manned driving mode to the first gear position signal; wherein the gear position signal corresponding to the manned driving mode is the gear position signal included in the gear position instruction most recently stored in the gear position instruction database; 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; a second display module, configured 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; The step of 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 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.

8. 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 6.

9. 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 6.

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