Vehicle control method, vehicle, equipment and product

Abstract

The invention provides a vehicle control method, a vehicle, equipment and a product, and the method comprises the steps: executing a corresponding target steering torque according to the current auxiliary driving state of the vehicle in the process of starting an intelligent driving system to drive the vehicle; when the auxiliary driving state is switched to the driver take-over state, the attenuation speed of the motor torque input by the intelligent driving system is determined according to the hand torque direction when the driver takes over; according to the attenuation speed of the motor torque, the output target steering torque is gradually adjusted until the target steering torque only contains the hand torque input by the driver, so that steering wheel shaking caused by sudden change of the target motor torque is avoided, and the safety and comfort of vehicle driving are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent driving technology, and in particular to a vehicle control method, a vehicle, a device, and a product. Background Art

[0002] As vehicles develop towards intelligence and automation, the vehicle's intelligent driving system can support automatic driving with the driver's hands off the wheel or partially off the wheel. Accordingly, the vehicle can control the vehicle by adding the driver's hand force to the execution torque of the intelligent driving system, or it can be completely controlled by the intelligent driving system.

[0003] During vehicle driving, when it is necessary to switch from an assisted driving state controlled by at least the intelligent driving system to a driver-taken-over state completely controlled by the driver's hand force, the change in torque after the driver takes over may affect the driver's control of the steering wheel, thereby affecting the safety and comfort of the driver taking over. Summary of the invention

[0004] The embodiments of the present disclosure at least provide a vehicle control method, a vehicle, a device, and a product.

[0005] The present disclosure provides a vehicle control method, the method comprising:

[0006] During the process of driving the vehicle with the intelligent driving system enabled, a corresponding target steering torque is executed according to the current assisted driving state of the vehicle; at least part of the target steering torque comes from the motor torque input by the intelligent driving system;

[0007] When switching from the assisted driving state to the driver taking over state, determining the attenuation speed of the motor torque input by the intelligent driving system according to the hand force torque direction of the driver when taking over;

[0008] According to the attenuation speed of the motor torque, the output target steering torque is gradually adjusted until the target steering torque only includes the hand force torque input by the driver.

[0009] In the disclosed embodiment, a corresponding target steering torque can be executed according to the current assisted driving state of the vehicle, and at least part of the target steering torque comes from the motor torque input by the intelligent driving system. When switching from the assisted driving state to the driver takeover state, the attenuation speed of the motor torque input by the intelligent driving system is controlled according to the hand force torque direction of the driver when taking over, and the target steering torque is gradually adjusted according to the attenuation speed of the motor torque to avoid steering wheel jitter caused by sudden changes in the target steering torque. In this way, considering that the assisted driving state includes the human-machine co-driving state and the machine-driving state, when switching from the machine-driving state to the driver-takeover state, since the hand force torque input by the driver is not superimposed before takeover, the takeover feeling is clear, which helps the driver to clearly perceive the takeover process and effectively improve the safety of vehicle driving; when switching from the human-machine co-driving state to the driver-takeover state, the takeover can be smooth. Since the driver's attention is on the car at this time, there is no need for a strong takeover feeling to remind him, and the comfort of vehicle driving is effectively improved by smooth takeover; and, by controlling the attenuation speed of the motor torque, it helps to improve the heavy feeling of hand force during reverse takeover (the direction of the hand force torque when the driver takes over is opposite to the direction of the motor torque input by the intelligent driving system), reduce the difficulty of driver takeover, and thus improve the safety and comfort of vehicle driving.

[0010] In an optional implementation manner, executing the corresponding target steering torque according to the current assisted driving state of the vehicle includes:

[0011] When the assisted driving state is a human-machine co-driving state, determining the target steering torque to be executed is the motor torque obtained by superimposing the motor torque input by the intelligent driving system and the hand torque of the driver operating the steering wheel;

[0012] When the assisted driving state is the machine driving state, the target steering torque to be executed is determined to be the motor torque input by the intelligent driving system.

[0013] In the disclosed embodiment, in the human-machine co-driving state, the hand force torque generated by the driver operating the steering wheel is superimposed on the motor torque input by the intelligent driving system, thereby realizing the joint control of the vehicle by the intelligent driving system and the driver; in the machine driving state, only the motor torque input by the intelligent driving system is executed, thereby realizing precise control of vehicles in different states.

[0014] In an optional implementation, determining the attenuation speed of the intelligent driving system input according to the hand force torque direction when the driver takes over includes:

[0015] When the direction of the hand force torque of the driver when taking over is the same as the direction of the motor torque input by the intelligent driving system, determining the attenuation speed of the motor torque to be a first attenuation speed;

[0016] When the direction of the hand force torque of the driver when taking over is opposite to the direction of the motor torque input by the intelligent driving system, determining the attenuation speed of the motor torque to be a second attenuation speed;

[0017] Wherein, the first decay rate is smaller than the second decay rate.

[0018] In the disclosed embodiment, when the direction of the hand force torque when the driver takes over is the same as the direction of the motor torque before taking over, the motor torque can be slowly decayed to better smooth the transition to take over; when the directions are opposite, it is difficult for the driver to take over due to the large hand force torque required. At this time, the motor torque can be rapidly decayed to reduce the difficulty of the driver taking over, thereby improving the safety and comfort of vehicle driving.

[0019] In an optional implementation manner, the method further includes:

[0020] When it is determined that the assisted driving state is switched from the human-machine co-driving state to the machine-driving state, determining a decay rate of the input driver hand force torque;

[0021] According to the attenuation rate of the hand force torque, the output target steering torque is gradually adjusted until the target steering torque only includes the motor torque input by the intelligent driving system.

[0022] In the disclosed embodiment, when switching from the human-machine co-driving state to the machine-driving state, the hand force torque input by the driver needs to be attenuated, and the output target steering torque is gradually adjusted according to the attenuation rate of the hand force torque, which helps to achieve a smooth state switching and avoid steering wheel jitter caused by sudden changes in the target steering torque.

[0023] In an optional implementation manner, the method further includes:

[0024] When it is determined that the assisted driving state is switched from the machine-driving state to the human-machine co-driving state, determining a growth rate of the input driver hand force torque;

[0025] According to the growth rate of the hand force torque, the output target steering torque is gradually adjusted until the hand force torque superimposed on the target steering torque grows to the actual hand force torque of the driver operating the steering wheel.

[0026] In the disclosed embodiment, when switching from the machine-driving state to the human-machine co-driving state, the hand force torque input by the driver needs to increase, and the output target steering torque is gradually adjusted according to the growth rate of the hand force torque, which helps to achieve a smooth state switching and avoid steering wheel jitter caused by sudden changes in the target steering torque.

[0027] In an optional implementation manner, the method further includes:

[0028] Displaying the takeover configuration information on the vehicle interface; the takeover configuration information indicates multiple gears of the motor torque attenuation speed corresponding to different hand force torque directions during takeover when switching from the assisted driving state to the driver takeover state;

[0029] For different hand force torque directions, the target gear selected by the user from the multiple gears is determined respectively, and the decay speed corresponding to the target gear is used as the decay speed of the motor torque corresponding to the hand force torque direction.

[0030] In the disclosed embodiment, multiple gears of motor torque attenuation speed corresponding to different hand force torque directions can be pre-calibrated and displayed on the vehicle interface. The user can select the target gear by himself, thereby gradually adjusting the output target steering torque according to the attenuation speed corresponding to the target gear, which helps to improve the personalization and diversification of vehicle control and enhance the user experience.

[0031] In an optional implementation, the current assisted driving state is determined according to the following method:

[0032] Acquire a target image collected for the driver;

[0033] Performing posture recognition on the target image to obtain a posture recognition result of the driver, wherein the posture recognition result indicates the hand operation posture and sight direction of the driver;

[0034] Based on the posture recognition result and the vehicle driving information, the current assisted driving state is determined.

[0035] In the disclosed embodiment, the current assisted driving status of the vehicle can also be comprehensively determined based on the posture recognition results and the vehicle driving information. By combining the driver's hand operation posture and line of sight direction, it helps to improve the accuracy of the assisted driving status judgment.

[0036] The present disclosure also provides a vehicle, including a controller, wherein the controller includes:

[0037] a memory for storing machine-readable instructions; and

[0038] A processor is used to call and execute the machine-readable instructions stored in the memory to implement the steps in any possible implementation of the above-mentioned vehicle control method.

[0039] An embodiment of the present disclosure also provides an electronic device, including: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps in any possible implementation of the above-mentioned vehicle control method are performed.

[0040] The embodiments of the present disclosure also provide a computer program product, on which a computer program is stored. When the computer program is executed by a processor, the steps in any possible implementation of the above-mentioned vehicle control method are executed.

[0041] For a description of the effects of the above-mentioned vehicle, electronic device and computer program product, please refer to the description of the above-mentioned vehicle control method, which will not be repeated here.

[0042] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and are not intended to limit the technical solutions of the present disclosure.

[0043] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following is a brief introduction to the drawings required for use in the embodiments. The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and are used together with the specification to illustrate the technical solutions of the present disclosure. It should be understood that the following drawings only illustrate certain embodiments of the present disclosure and should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can also be obtained based on these drawings without creative work.

[0045] Figure 1 A flow chart of a vehicle control method provided by an embodiment of the present disclosure is shown;

[0046] Figure 2 A schematic diagram of a vehicle-machine interface provided by an embodiment of the present disclosure is shown;

[0047] Figure 3 A schematic diagram of a vehicle control process provided by an embodiment of the present disclosure is shown;

[0048] Figure 4 One of the schematic diagrams of a vehicle control device provided by an embodiment of the present disclosure is shown;

[0049] Figure 5A second schematic diagram of a vehicle control device provided by an embodiment of the present disclosure is shown;

[0050] Figure 6 A schematic structural diagram of an electronic device provided by an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical scheme and advantages of the embodiments of the present disclosure clearer, the technical scheme in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The components of the embodiments of the present disclosure generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure provided in the drawings is not intended to limit the scope of the present disclosure for protection, but merely represents the selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present disclosure.

[0052] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0053] The term "and / or" herein only describes an association relationship, indicating that three relationships may exist. For example, A and / or B may represent the following three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C may represent including any one or more elements selected from the set consisting of A, B, and C.

[0054] Research has found that the vehicle's intelligent driving system can support automatic driving with the driver completely or partially hands-off, that is, assisted driving state. Correspondingly, in the assisted driving state, the vehicle can achieve vehicle control by superimposing the driver's hand force on the execution torque of the intelligent driving system. During this period, the vehicle needs to respond to the driver's instructions and the intelligent driving system's instructions at the same time, or it can be completely controlled by the intelligent driving system. During the vehicle's driving process, if it is necessary to switch from the assisted driving state controlled by at least the intelligent driving system to the driver's takeover state completely controlled by the driver's hand force, the torque after the driver takes over changes significantly compared to before taking over, which may affect the driver's control of the steering wheel. For example, a sudden change in torque will cause the steering wheel to shake, which in turn affects the safety and comfort of the driver taking over.

[0055] Based on the above research, the present disclosure provides a vehicle control method, which can execute the corresponding target steering torque according to the current assisted driving state, at least part of the torque of the target steering torque comes from the motor torque input by the intelligent driving system, and when switching to the driver takeover state, the attenuation speed of the motor torque input by the intelligent driving system is controlled, so that when switching from the machine driving state to the driver takeover state, since there is no superposition of the hand force torque input by the driver before the takeover, the takeover feeling is clear, which helps the driver to clearly perceive the takeover process and effectively improves the safety of vehicle driving; when switching from the human-machine co-driving state to the driver takeover state, the takeover can be smooth, because the driver's attention is on the car at this time, so there is no need for a strong takeover feeling to remind, and the comfort of vehicle driving is effectively improved by smooth takeover; and, by controlling the attenuation speed of the motor torque, the steering wheel jitter caused by the sudden change of the target motor torque is avoided, and it is also helpful to improve the heavy hand force during reverse takeover (the direction of the hand force torque when the driver takes over is opposite to the direction of the motor torque input by the intelligent driving system), reduce the difficulty of driver takeover, and thus improve the safety and comfort of vehicle driving.

[0056] To facilitate understanding of this embodiment, a vehicle control method disclosed in an embodiment of the present disclosure is first described in detail. The executor of the vehicle control method provided in the embodiment of the present disclosure is generally a vehicle, and the vehicle includes but is not limited to cars, buses, trucks, and tractors, etc., which are not limited here. The vehicle may include various controllers. For example, the controller may be a vehicle controller, a body domain controller, a cockpit domain controller, an intelligent driving domain controller, etc., which are not specifically limited. Among them, the controller may include a processor and a memory, the memory is used to store machine-readable instructions, and the processor is used to call and execute the machine-readable instructions stored in the memory, so as to implement the vehicle charging control method described in each embodiment of the present disclosure.

[0057] In other embodiments, the execution subject may also be a vehicle-mounted device, and the vehicle-mounted device may be a device including a processor and a memory. The vehicle detection method may be implemented by the processor calling computer-readable instructions stored in the memory, which is not limited here. In some embodiments, the method may also be applied to an implementation environment consisting of a vehicle and a server, or to an implementation environment consisting of a vehicle-mounted device and a server. Among them, the server may be an independent physical server, or a server cluster or distributed system consisting of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud storage, big data and artificial intelligence platforms.

[0058] A vehicle control method provided by an embodiment of the present disclosure is described below in conjunction with the accompanying drawings.

[0059] See also Figure 1 As shown, it is a flow chart of a vehicle control method provided by an embodiment of the present disclosure, such as Figure 1 As shown in , the vehicle control method provided by the embodiment of the present disclosure includes steps S101 to S104, wherein:

[0060] S101: When the intelligent driving system is enabled for vehicle driving, a corresponding target steering torque is executed according to the current assisted driving state of the vehicle; at least part of the target steering torque comes from the motor torque input by the intelligent driving system; at least part of the target steering torque comes from the motor torque input by the intelligent driving system.

[0061] Here, when the vehicle needs to turn on smart driving related functions, the smart driving system will be enabled. For example, if the vehicle turns on the Lane Keeping Assist (Lane Keeping Assist, LKA) function, the smart driving system can be enabled. This function will automatically detect lane lines during vehicle driving and assist the driver to keep the vehicle in the center of the road. When the vehicle may deviate from the lane, the vehicle will issue a warning or automatically make steering adjustments to remind or correct the driver's behavior to reduce the risk of accidents caused by lane deviation. It can be understood that the smart driving system can automatically make steering adjustments when the vehicle deviates from the lane.

[0062] When the intelligent driving system is enabled for vehicle driving, the assisted driving state that the vehicle should enter in real time can be determined based on the vehicle driving information and for different driving scenarios.

[0063] Specifically, the current assisted driving status can be determined according to the following methods:

[0064] Determine the current assisted driving status based on vehicle driving information.

[0065] Here, the vehicle driving information includes at least one of the intelligent driving level, the vehicle speed, and the driver's hand force value for operating the steering wheel.

[0066] The hand force value is the product of the hand force and the lever arm, and the unit is usually Newton meter. Here, the lever arm is the vertical distance from the rotation center of the steering wheel to the force application point.

[0067] In actual applications, the intelligent driving levels generally include L0-L5. Level L0 can only support driver control (Driver only), level L1 can assist the driver in driving (Driver assistance), level L2 can support partial automatic driving (Partial automation), level L3 can support conditional automatic driving (Conditional automation), level L4 can support highly automatic driving (High automation), level L5 can support fully automatic driving (Full automation).

[0068] In the disclosed embodiment, the assisted driving state includes a human-machine co-driving state and a machine-driving state.

[0069] Specifically, determining the current assisted driving state according to the vehicle driving information includes:

[0070] When the intelligent driving level is higher than the target level, or when the intelligent driving level is equal to the target level, the vehicle speed is greater than or equal to the speed threshold, and the hand force value is less than or equal to the first hand force threshold, it is determined that the current assisted driving state is the automatic driving state; the target level indicates the level at which automatic driving can be turned on;

[0071] When the intelligent driving level is equal to the target level and the vehicle speed is less than the speed threshold or the hand force value satisfies a first condition, the current assisted driving state is determined to be a human-machine co-driving state; the first condition is that the hand force value is greater than the first hand force threshold and less than the second hand force threshold.

[0072] The target level in the embodiment of the present disclosure may be the above-mentioned L2 level. It is understood that when the intelligent driving level is higher than L2 level, the vehicle can directly enter the automatic driving state; when the intelligent driving level is equal to L2 level, if the vehicle driving speed is greater than or equal to the speed threshold, it means that the vehicle is currently driving at high speed. At this time, the vehicle is generally driving on a relatively straight lane, such as on a highway. If the hand force value is less than or equal to the first hand force threshold, it means that the driver is only operating the steering wheel with a small force, such as holding the steering wheel virtually. At this time, the driver generally has no intention of taking over the steering wheel, so the current assisted driving state can be determined to be the automatic driving state.

[0073] When the intelligent driving level is equal to level L2, if the vehicle's driving speed is less than the speed threshold, it means that the vehicle's current driving speed is not fast. At this time, although the vehicle can be controlled by the intelligent driving system, for safety reasons, it still needs to accept the driver's control. Therefore, the current assisted driving state is determined to be the human-machine co-driving state; here, the second hand force threshold is used to determine whether the vehicle enters the driver takeover mode. When the intelligent driving level is equal to level L2, if the hand force value is greater than the first hand force threshold and less than the second hand force threshold, it means that the driver controls the steering wheel with a certain hand force value, but the hand force value is not large enough for the driver to take over completely. Therefore, the current assisted driving state is determined to be the human-machine co-driving state.

[0074] Among them, the specific values ​​of the speed threshold, the first hand force threshold and the second hand force threshold can be set according to actual vehicle control needs and are not specifically limited here.

[0075] In this way, based on the real-time intelligent driving level, vehicle speed and hand force value, it is possible to distinguish whether the vehicle is currently in a machine-driven state or a human-machine co-driving state, thereby ensuring the accuracy of the judgment of the assisted driving state; determining the real-time assisted driving state through scene differentiation will help with the subsequent precise control of vehicles in different states.

[0076] In some other possible implementations, determining the current assisted driving state according to the vehicle driving information includes:

[0077] Acquire a target image collected for the driver;

[0078] Performing posture recognition on the target image to obtain a posture recognition result of the driver, wherein the posture recognition result indicates the hand operation posture and sight direction of the driver;

[0079] Based on the posture recognition result and the vehicle driving information, the current assisted driving state is determined.

[0080] The hand operation posture may indicate the driver's control state of the steering wheel, for example, the driver's hands tightly gripping the steering wheel, the driver's hands not fully gripping the steering wheel (i.e., holding the steering wheel in a virtual manner), etc. The sight direction may indicate the driver's concentration, for example, the driver's attention is on the car, the driver's sight is wandering, etc.

[0081] Here, when determining the current assisted driving state in combination with the vehicle driving information, the specific analysis steps for the vehicle driving information can refer to the above embodiment and will not be repeated here.

[0082] For example, if the driver's hands do not fully grasp the steering wheel and his eyes are wandering, combined with the vehicle driving information, it can be determined that the current assisted driving state is the automatic driving state.

[0083] In this way, the vehicle's current assisted driving status can be comprehensively determined based on the posture recognition results and vehicle driving information. By combining the driver's hand operation posture and line of sight direction, it helps to improve the accuracy of the assisted driving status judgment.

[0084] Optionally, after the assisted driving status is determined, a prompt may be given to the driver so that the driver is aware of the current status of the vehicle.

[0085] For example, the user can be reminded by controlling the instrument indicator light to light up or flash, and different assisted driving states correspond to different light colors, flashing frequencies, etc., so that the driver can distinguish different assisted driving states.

[0086] In this step, the target steering torque is used to perform lateral steering control on the vehicle, for example, to control the vehicle to steer left or right.

[0087] In practical applications, vehicles can achieve power steering through an Electric Power Steering (EPS) system that relies on the motor to provide torque.

[0088] Specifically, executing the corresponding target steering torque according to the current assisted driving state of the vehicle includes:

[0089] When the assisted driving state is a human-machine co-driving state, the target steering torque to be executed is determined to be the motor torque obtained by superimposing the motor torque input by the intelligent driving system and the hand torque of the driver operating the steering wheel; when the assisted driving state is a machine driving state, the target steering torque to be executed is determined to be the motor torque input by the intelligent driving system.

[0090] In this way, in the human-machine co-driving state, the hand force torque generated by the driver operating the steering wheel is superimposed on the motor torque input by the intelligent driving system, thereby realizing the joint control of the vehicle by the intelligent driving system and the driver; in the machine-driving state, only the motor torque input by the intelligent driving system is executed, thereby realizing precise control of vehicles in different states.

[0091] S102: When switching from the assisted driving state to the driver-takeover state, determining a decay rate of the motor torque input to the intelligent driving system according to the hand force torque direction of the driver when taking over.

[0092] The hand force torque direction when the driver takes over is used to indicate the control direction of the vehicle after the driver takes over the control of the vehicle.

[0093] In this step, when the driver takes over from the human-machine co-driving state or the machine-driving state, it involves the attenuation of the motor torque input to the intelligent driving system. The corresponding working condition can be determined according to the hand force torque direction when the driver takes over, and different speeds of attenuation can be performed under different working conditions.

[0094] In some possible implementations, determining to switch from the assisted driving state to the driver taking over state is performed in the following manner:

[0095] When the intelligent driving level is lower than the target level, or the hand force value is greater than or equal to the second hand force threshold, it is determined that the current state is switched from the assisted driving state to the driver takeover state.

[0096] Here, when the intelligent driving level is lower than the target level, for example, when the intelligent driving level is lower than level L2, the vehicle does not support the control of the intelligent driving system, so the vehicle can directly enter the driver takeover state; when the hand force value is greater than or equal to the second hand force threshold, it means that the driver controls the steering wheel with a larger hand force value, so it is determined that the current state is switched from the assisted driving state to the driver takeover state.

[0097] In this way, based on the real-time intelligent driving level and hand force value, it can be determined in time whether the vehicle needs to switch from the assisted driving state to the driver takeover state, which helps to ensure the real-time and effectiveness of the vehicle status determination and improve the vehicle control effect.

[0098] The disclosed embodiment improves the scenario of switching from an assisted driving state to a driver-takeover state, and helps to enhance the driver's experience during the takeover process by controlling the attenuation rate of the motor torque input to the intelligent driving system.

[0099] Specifically, when the direction of the hand force torque when the driver takes over is the same as the direction of the motor torque input by the intelligent driving system, the decay speed of the motor torque is determined to be the first decay speed; when the direction of the hand force torque when the driver takes over is opposite to the direction of the motor torque input by the intelligent driving system, the decay speed of the motor torque is determined to be the second decay speed; wherein the first decay speed is less than the second decay speed.

[0100] Exemplarily, when the direction of the motor torque input by the intelligent driving system is to the left, if the direction of the hand force torque when the driver takes over is also to the left, the first attenuation speed can be determined as the attenuation speed of the motor torque; if the direction of the hand force torque when the driver takes over is to the right, the second attenuation speed can be determined as the attenuation speed of the motor torque.

[0101] The specific values ​​of the first attenuation speed and the second attenuation speed can be set according to actual vehicle control needs and are not specifically limited here.

[0102] In this way, when the direction of the driver's hand force torque when taking over is the same as the direction of the motor torque before taking over, the motor torque can be slowly decayed to better smooth the transition process; when the direction is opposite, it is difficult for the driver to take over due to the large hand force torque required. At this time, the motor torque can be rapidly decayed to reduce the difficulty of the driver taking over, thereby improving the safety and comfort of vehicle driving.

[0103] In some possible implementations, the method further includes:

[0104] Displaying the takeover configuration information on the vehicle interface; the takeover configuration information indicates multiple gears of the motor torque attenuation speed corresponding to different hand force torque directions during takeover when switching from the assisted driving state to the driver takeover state;

[0105] For different hand force torque directions, the target gear selected by the user from the multiple gears is determined respectively, and the decay speed corresponding to the target gear is used as the decay speed of the motor torque corresponding to the hand force torque direction.

[0106] In the above steps, for the case where the direction of the hand force torque when the driver takes over is the same as the direction of the motor torque input by the intelligent driving system, and for the case where the direction of the hand force torque when the driver takes over is opposite to the direction of the motor torque input by the intelligent driving system, the attenuation speeds of multiple motor torques in each case can be pre-calibrated, and the gear corresponding to the calibrated attenuation speed of each motor torque can be determined.

[0107] Furthermore, when switching from the assisted driving state to the driver takeover state, based on whether the hand force torque takeover direction of the driver is the same as or opposite to the motor torque direction input by the intelligent driving system, multiple gears of motor torque attenuation speed pre-calibrated in the corresponding situation are displayed through the vehicle computer interface so that the user can select from multiple gears, and the attenuation speed corresponding to the target gear selected by the user from the multiple gears is determined as the attenuation speed of the motor torque corresponding to the hand force torque direction.

[0108] Here, during pre-calibration, the attenuation speed when the direction of the hand force torque when the driver takes over is opposite to the direction of the motor torque input by the intelligent driving system can be set to be greater than the attenuation speed when the direction of the hand force torque when the driver takes over is the same as the direction of the motor torque input by the intelligent driving system. Therefore, when the direction of the hand force torque when the driver takes over is the same as the direction of the motor torque input by the intelligent driving system, the motor torque can be slowly attenuated to better smooth the transition takeover process. When the directions are opposite, it is difficult for the driver to take over due to the large hand force required. By rapidly attenuating the motor torque, the difficulty of the driver taking over is reduced, thereby improving the safety and comfort of vehicle driving.

[0109] In this way, multiple gears of motor torque attenuation speed corresponding to different hand force torque directions can be pre-calibrated and displayed on the vehicle interface. Users can select the target gear by themselves, thereby gradually adjusting the output target steering torque according to the attenuation speed corresponding to the target gear, which helps to improve the personalization and diversification of vehicle control and enhance user experience.

[0110] For example, please refer to Figure 2 , Figure 2 This is a schematic diagram of a vehicle computer interface provided by an embodiment of the present disclosure. Figure 2 As shown in , the vehicle interface displays takeover configuration information; the takeover configuration information indicates multiple gears of motor torque attenuation speed corresponding to different driver takeover directions when switching from the assisted driving state to the driver takeover state. Specifically, it can be seen that when the hand force torque direction when the driver takes over is the same as the motor torque direction input by the intelligent driving system, it includes gears 1 to 4, and when the hand force torque direction when the driver takes over is opposite to the motor torque direction input by the intelligent driving system, it includes gears 5 to 8.

[0111] This example takes the case where the direction of the hand force torque when the driver takes over is the same as the direction of the motor torque input by the intelligent driving system. At this time, in the vehicle interface, gears 5 to 8 are in a prohibited state, and gears 1 to 4 are in an optional state. In response to the user selecting gear 1, the attenuation speed corresponding to gear 1 is used as the attenuation speed of the motor torque corresponding to the direction in which the driver takes over.

[0112] S103: gradually adjusting the output target steering torque according to the attenuation speed of the motor torque until the target steering torque only includes the hand force torque input by the driver.

[0113] In this step, since the vehicle is switched from the assisted driving state to the driver takeover state, in the assisted driving state, the target steering torque must include the motor torque input by the intelligent driving system. At this time, the motor torque in the target steering torque can be gradually reduced according to the attenuation rate of the motor torque until the target motor torque only includes the hand torque input by the driver.

[0114] Optionally, when switching between the two states of the assisted driving state, it involves adjusting the hand force torque. The embodiment of the present disclosure improves the scenario of switching between the two states of the assisted driving state. By controlling the adjustment speed of the hand force torque, it helps to improve the driver's experience in the process of switching between the two states of the assisted driving state.

[0115] In some possible implementations, the method further includes:

[0116] When it is determined that the assisted driving state is switched from the human-machine co-driving state to the machine-driving state, determining a decay rate of the input driver hand force torque;

[0117] According to the attenuation rate of the hand force torque, the output target steering torque is gradually adjusted until the target steering torque only includes the motor torque input by the intelligent driving system.

[0118] In the above steps, when adjusting according to the attenuation speed of the hand force torque, it is actually achieved by controlling the magnitude of the assist force corresponding to the hand force torque signal.

[0119] Specifically, when the hand torque is applied by turning the steering wheel, the sensor detects the magnitude and direction of the hand torque. Then, the intelligent driving system converts the hand torque signal into corresponding assistance according to a preset algorithm and the driving state of the vehicle.

[0120] In this way, when switching from the human-machine co-driving state to the machine-driving state, the hand force torque input by the driver needs to be attenuated, and the output target steering torque is gradually adjusted according to the attenuation rate of the hand force torque, which helps to achieve a smooth state switching and avoid steering wheel jitter caused by sudden changes in the target steering torque.

[0121] Optionally, takeover configuration information can also be displayed on the vehicle-machine interface; the takeover configuration information indicates multiple gears of the corresponding hand torque attenuation speed when switching from the human-machine co-driving state to the machine-driving state; determine the target gear selected by the user from the multiple gears, and use the attenuation speed corresponding to the target gear as the attenuation speed of the hand torque.

[0122] Specifically, for the case where the assisted driving state is switched from the human-machine co-driving state to the machine-driving state, multiple hand torque attenuation speeds may be pre-calibrated, and the gear corresponding to each calibrated hand torque attenuation speed may be determined. Then, when switching from the human-machine co-driving state to the machine-driving state, multiple gears of the pre-calibrated hand torque attenuation speed may be displayed through the vehicle-machine interface so that the user can select from the multiple gears, and the attenuation speed corresponding to the target gear selected by the user from the multiple gears may be determined as the hand torque attenuation speed.

[0123] In some possible implementations, the method further includes:

[0124] When it is determined that the assisted driving state is switched from the machine-driving state to the human-machine co-driving state, determining a growth rate of the input driver's hand force torque;

[0125] According to the growth rate of the hand force torque, the output target steering torque is gradually adjusted until the hand force torque superimposed on the target steering torque grows to the actual hand force torque of the driver operating the steering wheel.

[0126] In the above steps, when adjusting according to the growth rate of the hand force torque, it is actually achieved by controlling the magnitude of the assist force corresponding to the hand force torque signal.

[0127] In this way, when switching from the machine-driving state to the human-machine co-driving state, the hand force torque input by the driver needs to increase, and the output target steering torque is gradually adjusted according to the growth rate of the hand force torque, which helps to achieve a smooth state switching and avoid steering wheel jitter caused by sudden changes in the target steering torque.

[0128] Optionally, takeover configuration information can also be displayed on the machine interface; the takeover configuration information indicates multiple gears of the corresponding hand force torque growth rate when switching from the machine-driving state to the human-machine co-driving state; determine the target gear selected by the user from the multiple gears, and use the growth rate corresponding to the target gear as the growth rate of the hand force torque.

[0129] Specifically, for the case where the assisted driving state is switched from the machine-driving state to the human-machine co-driving state, multiple hand force torque growth rates may be pre-calibrated, and the gear corresponding to each calibrated hand force torque growth rate may be determined. Then, when switching from the machine-driving state to the human-machine co-driving state, multiple gears of the pre-calibrated hand force torque growth rate may be displayed through the vehicle-machine interface so that the user can select from the multiple gears, and the growth rate corresponding to the target gear selected by the user from the multiple gears is determined as the hand force torque growth rate.

[0130] In order to clearly demonstrate the process of vehicle control, you can also refer to Figure 3 , Figure 3 A schematic diagram of a vehicle control process provided by an embodiment of the present disclosure. Figure 3 As shown in , during vehicle driving, in response to the driver controlling the steering wheel, the driver's hand force value for operating the steering wheel can be obtained, and the basic power assist module can calculate the hand force torque corresponding to the hand force value.

[0131] When the current assisted driving state is the human-machine co-driving state, channel 1 is selected through the channel selection module, and the calculated hand force torque is used as the hand force torque input by the driver; when the current assisted driving state is the machine driving state, channel 2 is selected through the channel selection module, and 0 is used as the hand force torque input by the driver.

[0132] In response to a target request sent by the intelligent driving system, a request angle carried by the target request is determined, and the torque angle corresponding to the request angle can be calculated through a safety limit module, thereby confirming that the motor torque corresponding to the torque angle is used as the motor torque input to the intelligent driving system.

[0133] When the assisted driving state is the human-machine co-driving state, the target steering torque to be executed is determined to be the torque obtained by superimposing the motor torque input by the intelligent driving system and the hand force torque of the driver operating the steering wheel; when the assisted driving state is the machine driving state, since the hand force torque input by the driver is 0, the target steering torque to be executed is determined to be the motor torque input by the intelligent driving system.

[0134] When switching from the assisted driving state to the driver takeover state, the decay rate of the motor torque input by the intelligent driving system is determined according to the direction of the hand torque when the driver takes over; according to the decay rate of the motor torque, the motor torque in the target steering torque is gradually reduced to 0, and at this time, the target steering torque only includes the hand torque input by the driver. The description of the specific steps refers to the aforementioned embodiments and will not be repeated here.

[0135] The vehicle control method provided by the embodiment of the present disclosure can execute a corresponding target steering torque according to the current assisted driving state of the vehicle, at least part of the target steering torque comes from the motor torque input by the intelligent driving system, and when switching from the assisted driving state to the driver takeover state, the attenuation speed of the motor torque input by the intelligent driving system is controlled according to the hand force torque direction of the driver when taking over, and the target steering torque is gradually adjusted according to the attenuation speed of the motor torque to avoid steering wheel jitter caused by sudden changes in the target steering torque. In this way, considering that the assisted driving state includes the human-machine co-driving state and the machine-driving state, when switching from the machine-driving state to the driver-takeover state, since the hand force torque input by the driver is not superimposed before takeover, the takeover feeling is clear, which helps the driver to clearly perceive the takeover process and effectively improve the safety of vehicle driving; when switching from the human-machine co-driving state to the driver-takeover state, the takeover can be smooth. Since the driver's attention is on the car at this time, there is no need for a strong takeover feeling to remind him, and the comfort of vehicle driving is effectively improved by smooth takeover; and, by controlling the attenuation speed of the motor torque, it helps to improve the heavy feeling of hand force during reverse takeover (the direction of the hand force torque when the driver takes over is opposite to the direction of the motor torque input by the intelligent driving system), reduce the difficulty of driver takeover, and thus improve the safety and comfort of vehicle driving.

[0136] Those skilled in the art will appreciate that, in the above method of specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

[0137] Based on the same inventive concept, a vehicle control device corresponding to the vehicle control method is also provided in the embodiment of the present disclosure. Since the principle of solving the problem by the vehicle control device in the embodiment of the present disclosure is similar to the above-mentioned vehicle control method in the embodiment of the present disclosure, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0138] See also Figure 4 and Figure 5 , Figure 4 This is one of the schematic diagrams of a vehicle control device provided in an embodiment of the present disclosure, Figure 5 This is a second schematic diagram of a vehicle control device provided by an embodiment of the present disclosure. Figure 4 As shown in FIG. , the vehicle control device 400 provided in the embodiment of the present disclosure includes:

[0139] The torque execution module 410 is used to execute the corresponding target steering torque according to the current assisted driving state of the vehicle when the intelligent driving system is enabled to drive the vehicle; at least part of the target steering torque comes from the motor torque input by the intelligent driving system;

[0140] A speed determination module 420, for determining a decay speed of the motor torque input by the intelligent driving system according to the hand force torque direction of the driver when the driver takes over when the assisted driving state is switched to the driver takeover state;

[0141] The first torque adjustment module 430 is configured to gradually adjust the output target steering torque according to the attenuation rate of the motor torque until the target steering torque only includes the hand force torque input by the driver.

[0142] In an optional implementation manner, when the torque execution module 410 is used to execute the corresponding target steering torque according to the current assisted driving state of the vehicle, it is specifically used to:

[0143] When the assisted driving state is a human-machine co-driving state, determining the target steering torque to be executed is a torque obtained by superimposing the motor torque input by the intelligent driving system and the hand torque of the driver operating the steering wheel;

[0144] When the assisted driving state is the machine driving state, the target steering torque to be executed is determined to be the motor torque input by the intelligent driving system.

[0145] In an optional implementation manner, the speed determination module 420, when used to determine the attenuation speed of the motor torque input by the intelligent driving system according to the hand force torque direction when the driver takes over, is specifically used to:

[0146] When the direction of the hand force torque of the driver when taking over is the same as the direction of the motor torque input by the intelligent driving system, determining the attenuation speed of the motor torque to be a first attenuation speed;

[0147] When the direction of the hand force torque of the driver when taking over is opposite to the direction of the motor torque input by the intelligent driving system, determining the attenuation speed of the motor torque to be a second attenuation speed;

[0148] Wherein, the first decay rate is smaller than the second decay rate.

[0149] In an optional implementation, if Figure 5 As shown in , the vehicle control device 400 further includes a second torque adjustment module 440, and the second torque adjustment module 440 is used to:

[0150] When determining that the assisted driving state is switched from the human-machine co-driving state to the machine-driving state, determining a decay rate of the input driver hand force torque;

[0151] According to the attenuation rate of the hand force torque, the output target steering torque is gradually adjusted until the target steering torque only includes the motor torque input by the intelligent driving system.

[0152] In an optional implementation, if Figure 5 As shown in , the vehicle control device 400 further includes a third torque adjustment module 450, and the third torque adjustment module 450 is used to:

[0153] When it is determined that the assisted driving state is switched from the machine-driving state to the human-machine co-driving state, determining a growth rate of the input driver hand force torque;

[0154] According to the growth rate of the hand force torque, the output target steering torque is gradually adjusted until the hand force torque superimposed on the target steering torque grows to the actual hand force torque of the driver operating the steering wheel.

[0155] In an optional implementation manner, the speed determination module 420 is further configured to:

[0156] Displaying the takeover configuration information on the vehicle interface; the takeover configuration information indicates multiple gears of the motor torque attenuation speed corresponding to different hand force torque directions during takeover when switching from the assisted driving state to the driver takeover state;

[0157] For different hand force torque directions, the target gear selected by the user from the multiple gears is determined respectively, and the attenuation speed corresponding to the target gear is used as the attenuation speed of the motor torque corresponding to the hand torque direction.

[0158] In an optional implementation, the torque execution module 410 is used to determine the current assisted driving state according to the following method:

[0159] Acquire a target image collected for the driver;

[0160] Performing posture recognition on the target image to obtain a posture recognition result of the driver, wherein the posture recognition result indicates the hand operation posture and sight direction of the driver;

[0161] Based on the posture recognition result and the vehicle driving information, the current assisted driving state is determined.

[0162] For descriptions of the processing flow of each module in the device and the interaction flow between each module, reference may be made to the relevant descriptions in the above method embodiment, which will not be described in detail here.

[0163] The vehicle control device provided in the embodiment of the present disclosure can execute a corresponding target steering torque according to the current assisted driving state of the vehicle, at least part of the target steering torque comes from the motor torque input by the intelligent driving system, and when switching from the assisted driving state to the driver takeover state, the attenuation speed of the motor torque input by the intelligent driving system is controlled according to the hand force torque direction of the driver when taking over, and the target steering torque is gradually adjusted according to the attenuation speed of the motor torque to avoid steering wheel jitter caused by sudden changes in the target steering torque. In this way, considering that the assisted driving state includes the human-machine co-driving state and the machine-driving state, when switching from the machine-driving state to the driver-takeover state, since the hand force torque input by the driver is not superimposed before takeover, the takeover feeling is clear, which helps the driver to clearly perceive the takeover process and effectively improve the safety of vehicle driving; when switching from the human-machine co-driving state to the driver-takeover state, the takeover can be smooth. Since the driver's attention is on the car at this time, there is no need for a strong takeover feeling to remind him, and the comfort of vehicle driving is effectively improved by smooth takeover; and, by controlling the attenuation speed of the motor torque, it helps to improve the heavy feeling of hand force during reverse takeover (the direction of the hand force torque when the driver takes over is opposite to the direction of the motor torque input by the intelligent driving system), reduce the difficulty of driver takeover, and thus improve the safety and comfort of vehicle driving.

[0164] The present disclosure also provides a vehicle, including a controller, the controller including: a memory for storing machine-readable instructions; and a processor for calling and executing the machine-readable instructions stored in the memory to implement the steps of the vehicle control method described in the above method embodiment. The vehicle may be a vehicle provided with an intelligent driving system.

[0165] Corresponds to Figure 1 The vehicle control method in the present disclosure also provides an electronic device 600, such as Figure 6 FIG. 6 is a schematic diagram of the structure of an electronic device 600 provided in an embodiment of the present disclosure, including:

[0166] Processor 610, memory 620, and bus 630. The memory 620 is used to store execution instructions, including internal memory 621 and external memory 622; the internal memory 621 is also called internal memory, which is used to temporarily store the operation data in the processor 610 and the data exchanged with the external memory 622 such as a hard disk. The processor 610 exchanges data with the external memory 622 through the internal memory 621.

[0167] In the embodiment of the present application, the memory 620 is specifically used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 610. That is, when the electronic device 600 is running, the processor 610 communicates with the memory 620 through the bus 630, so that the processor 1010 executes the application code stored in the memory 620, and then executes the steps of the vehicle control method described in any of the above embodiments.

[0168] Among them, the memory 620 can be, but is not limited to, random access memory (Random Access Memory, RAM), read only memory (Read Only Memory, ROM), programmable read-only memory (Programmable Read-Only Memory, PROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable read-only memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.

[0169] The processor 610 may be an integrated circuit chip with signal processing capabilities. The above-mentioned processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The disclosed methods, steps and logic block diagrams in the embodiments of the present invention may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0170] It is to be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the electronic device 600. In other embodiments of the present application, the electronic device 600 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0171] The embodiment of the present disclosure also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the vehicle control method described in the above method embodiment are executed. The storage medium can be a volatile or non-volatile computer-readable storage medium.

[0172] In addition, an embodiment of the present disclosure also provides a computer program product, which stores a computer program. When the computer program is executed by a processor, the steps of the vehicle control method provided in any of the above embodiments of the present disclosure are executed. For details, please refer to the above method embodiments, which will not be repeated here.

[0173] The computer program product may be implemented in hardware, software or a combination thereof. In an optional embodiment, the computer program product is embodied as a computer storage medium, which may be a volatile or non-volatile computer-readable storage medium. In another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (SDK) and the like.

[0174] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the above-described equipment and devices can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in the present disclosure, it should be understood that the disclosed equipment, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. 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 mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0175] 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.

[0176] In addition, each functional unit in each embodiment of the present disclosure 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.

[0177] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0178] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present disclosure, which are used to illustrate the technical solutions of the present disclosure, rather than to limit them. The protection scope of the present disclosure is not limited thereto. Although the present disclosure is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed in the present disclosure, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: During the process of driving the vehicle with the intelligent driving system enabled, a corresponding target steering torque is executed according to the current assisted driving state of the vehicle; at least part of the target steering torque comes from the motor torque input by the intelligent driving system; When switching from the assisted driving state to the driver taking over state, determining the attenuation speed of the motor torque input by the intelligent driving system according to the hand force torque direction of the driver when taking over; According to the attenuation speed of the motor torque, the output target steering torque is gradually adjusted until the target steering torque only includes the hand force torque input by the driver.

2. The method according to claim 1, characterized in that The executing the corresponding target steering torque according to the current assisted driving state of the vehicle includes: When the assisted driving state is a human-machine co-driving state, determining the target steering torque to be executed is a torque obtained by superimposing the motor torque input by the intelligent driving system and the hand torque of the driver operating the steering wheel; When the assisted driving state is the machine driving state, the target steering torque to be executed is determined to be the motor torque input by the intelligent driving system.

3. The method according to claim 1, characterized in that The step of determining the attenuation speed of the motor torque input by the intelligent driving system according to the hand force torque direction when the driver takes over includes: When the direction of the hand force torque of the driver when taking over is the same as the direction of the motor torque input by the intelligent driving system, determining the attenuation speed of the motor torque to be a first attenuation speed; When the direction of the hand force torque of the driver when taking over is opposite to the direction of the motor torque input by the intelligent driving system, determining the attenuation speed of the motor torque to be a second attenuation speed; Wherein, the first decay rate is smaller than the second decay rate.

4. The method according to claim 1, characterized in that The method further comprises: When it is determined that the assisted driving state is switched from the human-machine co-driving state to the machine-driving state, determining a decay rate of the input driver hand force torque; According to the attenuation rate of the hand force torque, the output target steering torque is gradually adjusted until the target steering torque only includes the motor torque input by the intelligent driving system.

5. The method according to claim 1, characterized in that The method further comprises: When it is determined that the assisted driving state is switched from the machine-driving state to the human-machine co-driving state, determining a growth rate of the input driver hand force torque; According to the growth rate of the hand force torque, the output target steering torque is gradually adjusted until the hand force torque superimposed on the target steering torque grows to the actual hand force torque of the driver operating the steering wheel.

6. The method according to claim 1, characterized in that The method further comprises: Displaying the takeover configuration information on the vehicle interface; the takeover configuration information indicates multiple gears of the motor torque attenuation speed corresponding to different hand force torque directions during takeover when switching from the assisted driving state to the driver takeover state; For different hand force torque directions, the target gear selected by the user from the multiple gears is determined respectively, and the decay speed corresponding to the target gear is used as the decay speed of the motor torque corresponding to the hand force torque direction.

7. The method according to claim 1, characterized in that The current assisted driving status is determined as follows: Acquire a target image collected for the driver; Performing posture recognition on the target image to obtain a posture recognition result of the driver, wherein the posture recognition result indicates the hand operation posture and sight direction of the driver; Based on the posture recognition result and vehicle driving information, the current assisted driving state is determined.

8. A vehicle, characterized in that: A controller is included, the controller comprising: a memory for storing machine-readable instructions; and A processor, configured to call and execute the machine-readable instructions stored in the memory to implement the steps of the vehicle control method as claimed in any one of claims 1 to 7.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps of the vehicle control method as described in any one of claims 1 to 7 are performed.

10. A computer program product, characterized in that The computer program product stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 7 are executed.

Images