Double-driving-mode manned vehicle and double-driving-mode manned vehicle control method

Abstract

The invention relates to a double-driving-mode manned vehicle and a double-driving-mode manned vehicle control method, and is applied to the technical field of double-driving-mode vehicles, the double-driving-mode manned vehicle comprises a vehicle body and an automatic driving system, the automatic driving system is installed on the vehicle body, and the automatic driving system is electrically connected with the vehicle body; the vehicle body comprises a vehicle main body, a driving mechanism, a steering mechanism, a brake mechanism and an anti-collision mechanism, the vehicle body comprises a vehicle chassis, and the driving mechanism, the steering mechanism, the brake mechanism and the anti-collision mechanism are all mounted on the vehicle chassis. The method has the effect of improving the use convenience of the manned vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of dual-driving mode vehicles, and in particular to a dual-driving mode manned vehicle and a dual-driving mode manned vehicle control method. Background Art

[0002] With the development of science and technology, people have higher and higher demands on the functions of means of transportation. Especially in environments such as parks, factories and scenic spots, small means of transportation are usually installed. Current means of transportation are usually driven or manually controlled, that is, the operator is required to manually intervene in the operation of the vehicle by direct driving or remote control, which limits the time and space of its application, and also brings certain constraints to the application environment.

[0003] However, there are still no good self-driving means of transportation on the market. Existing self-driving vehicles are usually improved from existing mid-size sedans. Due to their huge size, heavy weight and high cost, they are difficult to be widely used by all kinds of people. They are also difficult to use conveniently in narrow and closed places such as parks, factory areas, scenic spots and campuses. Summary of the invention

[0004] In order to improve the convenience of using a manned vehicle, the present application provides a dual-driving mode manned vehicle and a dual-driving mode manned vehicle control method.

[0005] In a first aspect, the present application provides a dual-driving mode manned vehicle, which adopts the following technical solution:

[0006] A dual-driving mode manned vehicle, comprising:

[0007] A vehicle body and an automatic driving system, wherein the automatic driving system is mounted on the vehicle body and is electrically connected to the vehicle body;

[0008] The vehicle body comprises a vehicle main body, a driving mechanism, a steering mechanism, a braking mechanism and an anti-collision mechanism, and the vehicle body comprises a vehicle chassis, and the driving mechanism, the steering mechanism, the braking mechanism and the anti-collision mechanism are all installed on the vehicle chassis.

[0009] By adopting the above technical scheme, the dual-driving mode manned vehicle as a whole is mainly composed of two parts: a vehicle body and an automatic driving system. The vehicle body has a vehicle body for people to ride, and a driving mechanism, a steering mechanism, a braking mechanism and an anti-collision mechanism that can drive the vehicle to run normally. Users can drive directly. At the same time, an automatic driving system is also provided, which can control the vehicle to automatically drive normally, thereby combining autonomous driving with automatic driving. The two driving modes can be changed according to actual usage needs, thereby improving the convenience of using manned vehicles.

[0010] Optionally, the vehicle body includes front wheels and rear wheels, the driving mechanism includes a driving motor and a driving wheel, the driving motor is electrically connected to the driving wheel, the driving motor and the driving wheel are both installed on one end of the vehicle chassis close to the rear wheels, the driving wheels include a left driven rear wheel and a right driven rear wheel, and the left driven rear wheel and the right driven rear wheel are respectively connected to the two rear wheels.

[0011] By adopting the above technical solution, the drive motor provides electrical energy for the operation of the drive wheel, so that the drive wheel can drive the two rear wheels to rotate, thereby generating forward or backward power to drive the vehicle forward or backward.

[0012] Optionally, the vehicle body also includes a steering wheel, the steering mechanism is installed under the steering wheel, the steering mechanism includes an electric power steering system, a steering motor and a steering gear, the electric power steering system is connected to the steering motor and the steering gear, the steering motor is connected to the steering gear, one end of the steering gear is connected to one of the two front wheels, and the other end of the steering gear is connected to the other of the two front wheels.

[0013] By adopting the above technical solution, the steering mechanism is connected to the front wheels of the manned vehicle, and the two front wheels are controlled by the steering motor and the steering gear to change the direction, thereby achieving adjustment of the driving direction during driving.

[0014] Optionally, the braking mechanism includes a wire-controlled brake, which is arranged at one end of the vehicle chassis close to the front wheel, and the wire-controlled brake is connected to the front wheel and the rear wheel.

[0015] By adopting the above technical solution, the wire control brake is connected to the front wheel and the rear wheel, and the front wheel and the rear wheel are controlled to stop rotating by the wire control brake to meet the braking requirement.

[0016] Optionally, the anti-collision mechanism includes a front bumper and a rear bumper, the front bumper is mounted on one end of the wheel chassis close to the front wheel, and the rear bumper is mounted on one end of the wheel chassis close to the rear wheel.

[0017] By adopting the above technical solution, a front bumper and a rear bumper are respectively arranged at the front and rear ends of the vehicle. When encountering an obstacle, the front bumper or the rear bumper will contact the obstacle first, which can ensure the safety of the vehicle and the user and improve the safety of vehicle driving.

[0018] Optionally, the autonomous driving system includes a controller, a computing module and a positioning detection module, the controller is electrically connected to the computing unit and the positioning detection module, and the driving mechanism, the steering mechanism and the braking mechanism are all electrically connected to the controller.

[0019] By adopting the above technical solution, a controller, a computing module and a positioning detection module are provided. In the automatic driving mode, the controller can control the computing module to perform automatic calculations according to the information obtained by the positioning detection module, and after obtaining the calculation results, the driving mechanism, steering mechanism and braking mechanism are controlled to work automatically to realize automatic driving of the vehicle.

[0020] Optionally, the autonomous driving system further includes an image acquisition module and a communication module, and both the image acquisition module and the communication module are electrically connected to the controller.

[0021] By adopting the above technical solution, the environment in which the vehicle is located can be collected according to the image acquisition module, and a more accurate position and obstacle situation can be determined based on the collected environmental information, thereby making autonomous driving safer. In addition, the communication module can provide users with a more convenient communication environment, improve the stability of the vehicle's own signal reception, and further improve the convenience of vehicle autonomous driving.

[0022] In a second aspect, the present application provides a dual-driving mode manned vehicle control method, which adopts the following technical solution:

[0023] A dual-driving mode passenger vehicle control method is applied to a dual-driving mode passenger vehicle, the method comprising:

[0024] The positioning detection module obtains vehicle environment information, vehicle position and target position of the target manned vehicle;

[0025] The calculation module constructs an environment map model based on the vehicle environment information;

[0026] The calculation module generates a driving control scheme based on the vehicle position, the target position and the environment map model;

[0027] The controller controls the target passenger vehicle based on the driving control scheme.

[0028] By adopting the above technical solution, an environmental map model is constructed using vehicle environmental information. The obtained environmental map model is closer to the actual environment. When generating a driving control plan, the environmental map model is used as a reference, which can generate a more accurate driving control plan, thereby improving the safety and accuracy of autonomous driving.

[0029] Optionally, the calculation module constructs an environment map model based on the vehicle environment information, including:

[0030] Acquire a current frame and a key frame database of the target manned vehicle in the vehicle environment information;

[0031] Calculate the bag-of-words vector of the current frame to obtain a current bag-of-words vector;

[0032] Determine a candidate key frame based on the current bag-of-words vector and the key frame database;

[0033] Determine a target key frame based on the candidate key frames and the current bag-of-words vector;

[0034] Determining the pose information of the current frame based on the target key frame;

[0035] An environment map model is constructed based on the posture information.

[0036] Optionally, the calculation module generates a driving control scheme based on the vehicle position, the target position and the environment map model, including:

[0037] Determine the positions of the vehicle position and the target position in the environment map based on the environment map model, and generate a model vehicle position and a model target position;

[0038] generating a driving route based on the model vehicle position, the model vehicle position and the environment map model;

[0039] A driving control plan is generated based on the vehicle position, the target position and the driving route.

[0040] In summary, the present application includes at least one of the following beneficial technical effects:

[0041] 1. Dual driving mode The whole manned vehicle is mainly composed of two parts: the vehicle body and the automatic driving system. The vehicle body has a vehicle body for people to ride, and a driving mechanism, a steering mechanism, a braking mechanism and an anti-collision mechanism that can drive the vehicle to run normally. The user can drive directly. At the same time, an automatic driving system is also provided. The automatic driving system can control the vehicle to automatically drive normally, thereby combining autonomous driving with automatic driving. The two driving modes can be changed according to actual use needs, thereby improving the convenience of using manned vehicles;

[0042] 2. Use vehicle environmental information to build an environmental map model. The resulting environmental map model is closer to the actual environment. When generating a driving control plan, the environmental map model is used as a benchmark to generate a more accurate driving control plan, thereby improving the safety and accuracy of autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the overall structure of a dual-driving mode manned vehicle provided in an embodiment of the present application.

[0044] Figure 2 It is a structural schematic diagram of a driving mechanism of a dual-driving mode manned vehicle provided in an embodiment of the present application.

[0045] Figure 3 It is a structural schematic diagram of a steering mechanism of a dual-driving mode manned vehicle provided in an embodiment of the present application.

[0046] Figure 4 It is a structural block diagram of a dual-driving mode manned vehicle provided in an embodiment of the present application.

[0047] Figure 5 It is a flow chart of a dual-driving mode manned vehicle control method provided in an embodiment of the present application.

[0048] Explanation of the accompanying drawings: 1. Vehicle body; 11. Vehicle main body; 111. Vehicle chassis; 112. Front wheel; 113. Rear wheel; 114. Steering wheel; 12. Driving mechanism; 121. Driving motor; 122. Driving wheel 13. Steering mechanism; 131. Electric power steering system; 132. Steering motor; 133. Steering gear; 14. Braking mechanism; 141. Wire control brake; 15. Anti-collision mechanism; 151. Front bumper; 152. Rear bumper; 2. Automatic driving system; 21. Controller; 22. Computing module; 23. Positioning detection module; 24. Image acquisition module; 25. Communication module. DETAILED DESCRIPTION

[0049] The present application is further described in detail below in conjunction with the accompanying drawings.

[0050] The present application embodiment discloses a dual-driving mode passenger vehicle. Figure 1 , Figure 2 and Figure 3The dual-driving mode manned vehicle has a similar structure to an ordinary manned vehicle, but the manned vehicle in this application has a light total weight, a body length of less than or equal to 3 meters, a body width of less than or equal to 1.4 meters, and a vehicle weight of less than or equal to 300 kg. It can enter narrow roads that traditional cars cannot enter, thereby realizing convenient application in various narrow and closed places such as parks, factory areas, scenic spots, and campuses.

[0051] Reference Figure 1 The dual-driving mode manned vehicle includes a vehicle body 1 and an automatic driving system 2. The vehicle body 1 is electrically connected to the automatic driving system 2. The vehicle body 1 includes a vehicle body 11, a driving mechanism 12, a steering mechanism 13, a braking mechanism 14 and an anti-collision mechanism 15. The vehicle body 11 includes a vehicle chassis 111 for supporting and installing all mechanisms, and also includes two front wheels 112, two rear wheels 113, a steering wheel 114, a protective frame, armrests and seats. When driving, the user can drive autonomously through the steering wheel 114, and can also drive autonomously through the automatic driving system 2. The end of the vehicle with a steering wheel 114 is used as the front end of the vehicle, and the end of the vehicle away from the steering wheel 114 is used as the rear end of the vehicle. Two front wheels 112 are set at the front end of the vehicle, and two rear wheels 113 are set at the rear end of the vehicle. The driving mechanism 12, the steering mechanism 13, the braking mechanism 14 and the anti-collision mechanism 15 are all installed on the vehicle chassis 111. The protective frame is a frame structure installed on the base of the vehicle, which is used to install rainproof and sunshade materials. The seat can be fixed to the vehicle chassis 111 by multiple screws at the bottom to enhance its stability. The front and rear of the seat can be adjusted as needed to improve riding comfort and safety.

[0052] Reference Figure 2 , Figure 3 and Figure 4The driving mechanism 12 is mainly composed of a driving motor 121 and a driving wheel 122. The driving motor 121 and the driving wheel 122 are both installed at one end of the vehicle chassis 111 close to the rear wheel 113, that is, the rear end of the vehicle, wherein the driving wheel 122 includes a left driving rear wheel 113 and a right driving rear wheel 113. The left driving rear wheel 113 is connected to the left rear wheel 113 of the two rear wheels 113, and the right driving rear wheel 113 is connected to the right rear wheel 113 of the two rear wheels 113. The driving motor 121 and the driving wheel 122 are electrically connected. The driving motor 121 can drive the driving wheel 122 to rotate, thereby driving the two rear wheels 113 to rotate, so as to achieve the driving demand of driving the vehicle to move forward or backward. The steering mechanism 13 is installed below the steering wheel 114. The steering mechanism 13 mainly includes an electric power steering system 131, a steering motor 132 and a steering gear 133. The electric power steering system 131 is electrically connected to the steering motor 132 and the steering gear 133. One end of the steering gear 133 is connected to one of the two front wheels 112, and the other end of the steering gear 133 is connected to the other of the two front wheels 112. The steering motor 132 is connected to the steering gear 133. The electric power steering system 131 is provided with a control device that can communicate with the automatic driving system 2. After receiving the steering control information sent by the automatic driving system 2, the steering motor 132 can be controlled to drive the steering gear 133 to work, thereby driving the two front wheels 112 to rotate to change the driving direction of the vehicle. In addition to the main steering motor 132 and the steering gear 133, the steering mechanism 13 also includes a front turn signal lamp arranged at the front end of the vehicle and a rear turn signal lamp arranged at the rear end of the vehicle. The rear turn signal lamp arranged at the rear end of the vehicle can be a brake combination lamp, which is used to light up when turning to prompt the vehicle that it is turning. The brake mechanism 14 includes a wire-controlled brake 141, which is arranged at one end of the vehicle chassis 111 close to the front wheel 112. The wire-controlled brake 141 is connected to the front wheel 112 and the rear wheel 113. The brake mechanism 14 is electrically connected to the automatic driving system 2 through the wire-controlled brake 141, and controls the front wheel 112 and the rear wheel 113 to brake by receiving the braking command sent by the automatic driving system 2.

[0053] Reference Figure 4The automatic driving system 2 includes a controller 21, a computing module 22 and a positioning detection module 23, wherein the controller 21 is electrically connected to the computing module 22 and the positioning detection module 23, and the controller 21 is electrically connected to the driving mechanism 12, the steering mechanism 13 and the braking mechanism 14. When the vehicle is in automatic mode, the controller 21 controls the computing module 22 to perform calculations through the information detected by the positioning detection module 23, and controls at least one of the driving mechanism 12, the steering mechanism 13 and the braking mechanism 14 to work according to the calculation results. It should be noted that the content calculated by the information control computing module 22 includes but is not limited to the vehicle's driving route, driving speed, steering direction and steering angle, and the specific calculation content needs to be determined according to the actual environment of the manned vehicle.

[0054] Furthermore, the positioning detection module 23 includes a mechanical radar installed on the top of the protective frame, a visual recognition device installed at the front end of the protective frame, a millimeter radar installed at the front of the vehicle chassis 111, and an ultrasonic radar installed around the vehicle body, etc., wherein the visual recognition device includes a recognition camera and an obstacle avoidance sensor, etc.

[0055] The automatic driving system 2 also includes an image acquisition module 24 and a communication module 25. The image acquisition module 24 can be set as a high-definition camera for collecting the surrounding environment and the travel process. The communication module 25 mainly includes a wireless communication device and a router. In addition to facilitating information transmission between the automatic driving system 2 and the control center, it can also provide communication convenience for users.

[0056] In the present application, the settings of each module in the automatic driving system 2 are used to collect environmental information in multiple directions of the traveling process in the automatic mode, such as the environment in front of the vehicle, the distance between the front and rear of the vehicle and objects, so that the vehicle can obtain the environmental information in front of and behind the vehicle and the information of the distance obstacles. The calculation module 22 makes an analysis and judgment based on the acquired information to adjust the vehicle's route. The positioning detection module 23 is also provided with a posture measurement mechanism to ensure that its plane is parallel to the horizontal plane where the driving wheel 122 is located, its positive direction is parallel to the positive direction of the chassis, and it is required to face upward. The direction and posture information generated during the vehicle's driving process is sent to the calculation unit, so that the vehicle can know the current forward direction and body posture information.

[0057] According to actual use requirements, the vehicle is also provided with an alarm device, such as an alarm, for issuing an alarm prompt after the distance between the obstacle and the vehicle body is less than a preset safety distance. The vehicle is also provided with a display screen for displaying the calculated driving information and the detected environmental information. The embodiment of the present application provides a dual-driving mode manned vehicle control method, which can be executed by an electronic device, which can be a server or a terminal device, wherein the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services. The terminal device can be a smart phone, a tablet computer, a desktop computer, etc., but is not limited to this.

[0058] Figure 5 A flowchart of a dual-driving mode manned vehicle control method provided in an embodiment of the present application.

[0059] like Figure 5 As shown, the main process of the method is described as follows (steps S101 to S104):

[0060] Step S101: The positioning detection module obtains vehicle environment information, vehicle position and target position of the target manned vehicle.

[0061] In this embodiment, the control method of a dual-driving mode manned vehicle is mainly applied to dual-driving mode manned vehicles. The vacant method of a dual-driving mode manned vehicle is set in an automatic driving system and is mainly executed by a computing module. When controlling the manned vehicle, it is necessary to calculate through the computing module according to the information collected by other modules in the automatic driving system. After obtaining the driving control scheme, the controller controls at least one of the driving mechanism, steering mechanism, and braking mechanism to work according to the driving control scheme. When generating a driving control scheme, a positioning detection module is required to collect the current environment of the manned vehicle for the subsequent construction of an environmental map model, and a more accurate driving control scheme is generated based on the constructed environmental map model. The positioning detection module collects the vehicle environment information and vehicle position information of the manned vehicle, and the target position is selected and set by the user according to the actual position requirements, wherein the vehicle environment information is the environment map of the environment where the manned vehicle is located, surrounding obstacles, etc. The vehicle position and target coordinates are both based on the position coordinate points of the current environment map,

[0062] Step S102: The computing module constructs an environment map model based on the vehicle environment information.

[0063] For step S102, obtain the current frame and key frame database of the target manned vehicle in the vehicle environment information; calculate the bag-of-words vector of the current frame to obtain the current bag-of-words vector; determine the candidate key frames based on the current bag-of-words vector and the key frame database; determine the target key frame based on the candidate key frames and the current bag-of-words vector; determine the posture information of the current frame based on the target key frame; and construct an environmental map model based on the posture information.

[0064] In this embodiment, the computing module needs to construct a point cloud map based on the vehicle environment information, that is, to construct an environmental map model. When constructing the environmental map model, it is necessary to create it based on the environmental map. By saving the map points together with the key frames, a more complete washing map model is constructed, so that the constructed environmental map model can have more visual feature information of the environment in which the manned vehicle is located and have more comprehensive data.

[0065] After obtaining the current frame, the bag-of-words vector of the current frame is calculated, and the bag-of-words vector of the current frame is used as the current bag-of-words vector. The current bag-of-words vector and the key frame data database that records a large number of key frames are used to select candidate key frames. By traversing the current word corresponding to the current bag-of-words vector, the key frame containing the current word is selected in the key frame database, and the number of current words in the key frame containing the current word is recorded. The key frames initially selected are screened. First, it is determined whether the key frames initially selected are not less than the preset number. If not less than the preset number, secondary screening is performed according to the preset selection rules, and the key frames obtained by the secondary screening results are used as candidate key frames. If less than the preset number, the key frames initially selected are used as candidate key frames. After obtaining the candidate key frames, the common view key frames of the candidate key frames are calculated, and then the similarity between each common view key frame and the current frame is calculated. The candidate key frame with the highest similarity is selected as the target key frame. The MLPNP solution is performed according to the bag-of-words vector and iterated to obtain the posture information. The restored posture information of the current frame is used as the starting point of the map and output, thereby constructing the final environment map model.

[0066] Among them, the second screening method is to arrange the key frames obtained from the preliminary screening in descending order according to the current number of words, and select the first preset number of selected keys in the sequence as candidate key frames. It should be noted that both the preset number and the preset number of selected keys need to be set according to actual needs, and no specific limitation is made here.

[0067] Step S103: The calculation module generates a driving control plan based on the vehicle position, the target position and the environment map model.

[0068] For step S103, the positions of the vehicle position and the target position in the environment map are determined based on the environment map model, and the model vehicle position and the model target position are generated; a driving route is generated based on the model vehicle position, the model vehicle position and the environment map model; a driving control plan is generated based on the vehicle position, the target position and the driving route.

[0069] In this embodiment, after the environmental map model is constructed, the vehicle position is mapped to the environmental map model to obtain the model vehicle position, and the target position is mapped to the environmental model to obtain the model environmental position. Based on the two positions, a driving route of at least one manned vehicle is constructed, and the vehicle position, target position and driving number are bound to obtain the final driving control plan.

[0070] Step S104: the controller controls the target passenger vehicle based on the driving control scheme.

[0071] In this embodiment, the controller controls the target passenger vehicle according to the driving control scheme calculated by the calculation module, that is, moves the target passenger vehicle from the vehicle position to the target position according to the driving route.

[0072] The terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus.

[0073] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of application involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the aforementioned application concept. For example, the above features are replaced with (but not limited to) technical features with similar functions applied in the present application.

Claims

1. A dual-driving mode passenger vehicle, characterized in that: include: A vehicle body (1) and an automatic driving system (2), wherein the automatic driving system (2) is installed on the vehicle body (1), and the automatic driving system (2) is electrically connected to the vehicle body (1); The vehicle body (1) comprises a vehicle main body (11), a driving mechanism (12), a steering mechanism (13), a braking mechanism (14) and an anti-collision mechanism (15); the vehicle body (1) comprises a vehicle chassis (111); the driving mechanism (12), the steering mechanism (13), the braking mechanism (14) and the anti-collision mechanism (15) are all mounted on the vehicle chassis (111).

2. The dual-driving mode passenger vehicle according to claim 1, characterized in that: The vehicle body (11) comprises a front wheel (112) and a rear wheel (113); the driving mechanism (12) comprises a driving motor (121) and a driving wheel (122); the driving motor (121) is electrically connected to the driving wheel (122); the driving motor (121) and the driving wheel (122) are both mounted on an end of the vehicle chassis (111) close to the rear wheel (113); the driving wheel (122) comprises a left driving rear wheel (113) and a right driving rear wheel (113); the left driving rear wheel (113) and the right driving rear wheel (113) are respectively connected to the two rear wheels (113).

3. The dual-driving mode passenger vehicle according to claim 2, characterized in that: The vehicle body (11) further comprises a steering wheel (114); the steering mechanism (13) is installed below the steering wheel (114); the steering mechanism (13) comprises an electric power steering system (131), a steering motor (132) and a steering gear (133); the electric power steering system is connected to the steering motor (132) and the steering gear (133); the steering motor (132) is connected to the steering gear (133); one end of the steering gear (133) is connected to one of the two front wheels (112); and the other end of the steering gear (133) is connected to the other of the two front wheels (112).

4. The dual-driving mode passenger vehicle according to claim 1, characterized in that: The brake mechanism (14) comprises a wire-controlled brake (141), which is arranged at one end of the vehicle chassis (111) close to the front wheel (112), and the wire-controlled brake (141) is connected to the front wheel (112) and the rear wheel (113).

5. The dual-driving mode passenger vehicle according to claim 2, characterized in that: The anti-collision mechanism (15) comprises a front bumper (151) and a rear bumper (152); the front bumper (151) is mounted on one end of the wheel chassis close to the front wheel (112); and the rear bumper (152) is mounted on one end of the wheel chassis close to the rear wheel (113).

6. The dual-driving mode passenger vehicle according to claim 1, characterized in that: The automatic driving system (2) comprises a controller (21), a computing module (22) and a positioning detection module (23), wherein the controller (21) is electrically connected to the computing unit and the positioning detection module (23), and the driving mechanism (12), the steering mechanism (13) and the braking mechanism (14) are all electrically connected to the controller (21).

7. The dual-driving mode passenger vehicle according to claim 6, characterized in that: The automatic driving system (2) further comprises an image acquisition module (24) and a communication module (25), and both the image acquisition module (24) and the communication module (25) are electrically connected to the controller (21).

8. A dual-driving mode manned vehicle control method, characterized in that: Applied to a dual-driving mode manned vehicle, the method comprises: The positioning detection module obtains vehicle environment information, vehicle position and target position of the target manned vehicle; The calculation module constructs an environment map model based on the vehicle environment information; The calculation module generates a driving control scheme based on the vehicle position, the target position and the environment map model; The controller controls the target passenger vehicle based on the driving control scheme.

9. The method according to claim 8, characterized in that The calculation module constructs an environment map model based on the vehicle environment information, including: Acquire a current frame and a key frame database of the target manned vehicle in the vehicle environment information; Calculate the bag-of-words vector of the current frame to obtain a current bag-of-words vector; Determine a candidate key frame based on the current bag-of-words vector and the key frame database; Determine a target key frame based on the candidate key frames and the current bag-of-words vector; Determining the pose information of the current frame based on the target key frame; An environment map model is constructed based on the posture information.

10. The method according to claim 8, characterized in that The calculation module generates a driving control scheme based on the vehicle position, the target position and the environment map model, including: Determine the positions of the vehicle position and the target position in the environment map based on the environment map model, and generate a model vehicle position and a model target position; generating a driving route based on the model vehicle position, the model vehicle position and the environment map model; A driving control plan is generated based on the vehicle position, the target position and the driving route.

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