Navigation aided driving switch linkage control method and system, storage medium and vehicle

Abstract

The invention discloses a navigation auxiliary driving switch linkage control method and system, a storage medium and a vehicle. The method comprises the steps that when it is detected that a signal value of a navigation auxiliary driving soft switching signal is a rising edge signal; the signal value of the navigation auxiliary driving state signal is set as a standby signal, the signal value of the lane auxiliary mode signal is set as a linkage signal of lane departure early warning, lane departure assistance and lane centering control, and the signal value of the deflector rod lane changing signal is set as the standby signal; setting the signal value of the lane assistance mode signal as a linkage signal of lane departure early warning, lane departure assistance and lane centering control, and setting a driving lever lane changing soft switching signal as a starting signal; when a linkage signal of lane departure early warning, lane departure assistance and lane centering control is received, and a driving lever lane changing soft switching signal is a starting signal, navigation auxiliary driving is controlled to be activated. The problem that a stable state cannot be achieved between the vehicle-mounted terminal and the intelligent driving domain control module in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of assisted driving, and in particular to a navigation assisted driving switch linkage control method, system, storage medium and vehicle. Background Art

[0002] At present, the communication matrix CAN signals of various OEMs basically adopt a platform strategy. For example, the communication matrix of the previous model is generally borrowed for the modified model. Some models have soft switch CAN signals of cycle type, and directly using the switch linkage strategy will fall into an infinite loop. If it is changed to onchange type, although the linkage strategy is simple, changing the communication matrix means that the software needs to be updated, and updating the software involves development costs.

[0003] Among them, the data sent to the bus by the Cycle type signal is sent in a fixed cycle. The vehicle terminal soft switch signal and the intelligent driving lateral assistance function switch feedback signal are both periodic signals. When the cycle is the same, if the software processing time of both parties is the same, there is a possibility of falling into an infinite loop. For example, click to turn on the navigation assisted driving soft switch on the vehicle terminal, and the intelligent driving domain control module will feedback the on value to the vehicle terminal after receiving it. However, there is a situation where the vehicle terminal has not received the on value sent by the intelligent driving domain control module before the old value (off value) is fed back to the vehicle terminal. The vehicle terminal will think that this old value (off value) is a new value, which will cause the vehicle terminal and the intelligent driving domain control module to synchronize with each other continuously and cannot reach a stable state. At the same time, other linked soft switches cannot be turned on or off synchronously. Summary of the invention

[0004] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a navigation assisted driving switch linkage control method, system, storage medium and vehicle, aiming to solve the problem in the prior art that the on-board terminal and the intelligent driving domain control module are constantly synchronized with each other and cannot reach a stable state, and other linked soft switches cannot be turned on or off synchronously.

[0005] A first aspect of the present invention is to provide a navigation assisted driving switch linkage control method, the method comprising:

[0006] When the intelligent driving domain control module detects that the signal value of the navigation driving assistance soft switch signal triggered by the vehicle terminal is a rising edge signal;

[0007] Setting the signal value of the navigation-assisted driving state signal as a standby signal and sending it to the vehicle-mounted terminal, setting the signal value of the lane assist mode signal as a linkage signal of lane departure warning, lane departure assist and lane centering control and sending it to the vehicle-mounted terminal and keeping it for a preset time, and setting the signal value of the lever lane change signal as a standby signal and sending it to the vehicle-mounted terminal and keeping it for the preset time;

[0008] When the vehicle terminal detects the feedback signal sent by the intelligent driving domain control module, the signal value of the lane assist mode signal is set to the linkage signal of lane departure warning, lane departure assist and lane centering control and fed back to the intelligent driving domain control module, and the lever lane change soft switch signal is set to the on signal and fed back to the intelligent driving domain control module;

[0009] When the intelligent driving domain control module receives the linkage signal of lane departure warning, lane departure assistance and lane centering control fed back by the vehicle-mounted terminal, and the soft switch signal of the lever lane change is an on signal, it controls the activation of the navigation-assisted lane centering control function, the navigation-assisted driving function and the lever lane change function.

[0010] According to one aspect of the above technical solution, the rising edge signal of the navigation driving assistance soft switch signal changes from a closed signal to an open signal.

[0011] According to one aspect of the above technical solution, the method further includes:

[0012] When the intelligent driving domain control module detects that the linkage signal of lane departure warning, lane departure assistance and lane centering control fed back by the vehicle terminal changes to a separate signal of the lane departure warning function;

[0013] Setting the signal value of the lane assist mode signal to a separate signal of the lane departure warning function, setting the signal value of the navigation assisted driving state signal to an off signal and maintaining it for a preset time, and setting the signal value of the lever lane change signal to an off signal and maintaining it for a preset time;

[0014] When the vehicle-mounted terminal detects the feedback signal sent by the intelligent driving domain control module, the signal value of the navigation driving assistance soft switch signal is set to an off signal, and the signal value of the lever lane change soft switch signal is set to an off signal.

[0015] According to one aspect of the above technical solution, the preset time is 300ms-700ms.

[0016] According to one aspect of the above technical solution, the preset time is 500ms.

[0017] According to one aspect of the above technical solution, the signals interacting between the vehicle-mounted terminal and the intelligent driving domain control module are all periodic signals.

[0018] According to one aspect of the above technical solution, the periodic signals interacting between the vehicle-mounted terminal and the intelligent driving domain control module are sent through the CAN bus in a fixed periodic cycle.

[0019] A second aspect of the present invention is to provide a navigation-assisted driving switch linkage control system, which is applied to the method described in the above technical solution, and the system comprises:

[0020] A signal recognition module, used for detecting, through the intelligent driving domain control module, that the signal value of the navigation driving assistance soft switch signal triggered by the vehicle terminal is a rising edge signal;

[0021] a first signal feedback module, configured to set the signal value of the navigation-assisted driving state signal as a standby signal and send it to the vehicle-mounted terminal, set the signal value of the lane assist mode signal as a linkage signal of lane departure warning, lane departure assist and lane centering control and send it to the vehicle-mounted terminal and keep it for a preset time, and set the signal value of the lever lane change signal as a standby signal and send it to the vehicle-mounted terminal and keep it for the preset time;

[0022] A second signal feedback module is used to set the signal value of the lane assist mode signal as a linkage signal of lane departure warning, lane departure assist and lane centering control and feed it back to the intelligent driving domain control module when the vehicle terminal detects the feedback signal sent by the intelligent driving domain control module, and set the lever lane change soft switch signal as an on signal and feed it back to the intelligent driving domain control module;

[0023] A function activation module is used to control the activation of the navigation-assisted lane centering control function, the navigation-assisted driving function and the lever lane changing function when the intelligent driving domain control module receives the linkage signal of the lane departure warning, the lane departure assistance and the lane centering control fed back by the vehicle-mounted terminal, and the lever lane changing soft switch signal is an on signal.

[0024] The third aspect of the present invention is to provide a readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the steps of the method described in the above technical solution.

[0025] The fourth aspect of the present invention is to provide a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in the above technical solution when executing the program.

[0026] Compared with the prior art, the navigation-assisted driving switch linkage control method, system, storage medium and vehicle shown in the present invention have the following beneficial effects:

[0027] When performing navigation-assisted driving switch control, the navigation-assisted driving soft switch signal triggered by the vehicle terminal is detected by the intelligent driving domain control module. When the signal value of the navigation-assisted driving soft switch signal is a rising edge signal, the signal value of the navigation-assisted driving status signal is set to a standby signal and sent to the vehicle terminal, the signal value of the lane assist mode signal is set to a linkage signal of lane departure warning, lane departure assist and lane centering control and sent to the vehicle terminal and maintained for a preset time, and the signal value of the lever lane change signal is set to a standby signal and sent to the vehicle terminal and maintained for a preset time; and the vehicle terminal detects the signal sent by the intelligent driving domain control module When the vehicle terminal detects the feedback signal sent by the intelligent driving domain control module, the signal value of the lane assist mode signal is set to the linkage signal of lane departure warning, lane departure assist and lane centering control and fed back to the intelligent driving domain control module, and the lever lane change soft switch signal is set to the on signal and fed back to the intelligent driving domain control module; when the intelligent driving domain control module receives the linkage signal of lane departure warning, lane departure assist and lane centering control fed back by the vehicle terminal, and the lever lane change soft switch signal is the on signal, the navigation-assisted lane centering control function, navigation-assisted driving function and lever lane change function are controlled to be activated. Then, when the method shown in this embodiment is used to start navigation-assisted driving, the intelligent driving domain control module is used to start the linkage within the cycle, so that the navigation-assisted driving can be prevented from falling into an endless loop, thereby solving the problem in the prior art that the vehicle terminal and the intelligent driving domain control module are constantly synchronized with each other and cannot reach a stable state. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0029] Figure 1 Schematic diagram of the flow of a navigation-assisted driving switch linkage control method shown in one embodiment of the present invention;

[0030] Figure 2 It is a structural block diagram of a navigation-assisted driving switch linkage control system shown in one embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings. Several embodiments of the present invention are shown in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0033] Embodiment 1

[0034] See also Figure 1 The first embodiment of the present invention provides a navigation-assisted driving switch linkage control method, the method comprising steps S10 to S40:

[0035] Step S10, when the intelligent driving domain control module detects that the signal value of the navigation driving assistance soft switch signal triggered by the vehicle terminal is a rising edge signal.

[0036] In this embodiment, the intelligent driving domain control module is a data interaction module that judges intelligent driving conditions and outputs intelligent driving strategies. It is connected to the vehicle terminal through the CAN bus. When the user operates the vehicle terminal and triggers the soft switch signal about intelligent driving, the intelligent driving domain control module can receive the signal, and perform condition judgment and strategy generation, etc.

[0037] Among them, in the initial state, the navigation driving assistance soft switch signal is an off signal, that is, the navigation driving assistance function is in the off state, and the rising edge signal refers to the change from the off signal to the on signal, which is specifically triggered by the user operating the vehicle terminal, thereby being able to detect the user's intention to turn on the navigation driving assistance.

[0038] Specifically, the navigation driving assistance soft switch signal (MP5_NGA_on_SwitchSts) triggered by the vehicle terminal has signal values ​​of 0x0:OFF and 0x1:ON, 0x0:OFF represents the off signal, and 0x1:ON represents the on signal. The rising edge signal refers to the change from 0x0:OFF signal to 0x1:ON signal.

[0039] Step S20, setting the signal value of the navigation assisted driving status signal to a standby signal and sending it to the vehicle-mounted terminal, setting the signal value of the lane assist mode signal to a linkage signal of lane departure warning, lane departure assist and lane centering control and sending it to the vehicle-mounted terminal and keeping it for a preset time, and setting the signal value of the lever lane change signal to a standby signal and sending it to the vehicle-mounted terminal and keeping it for a preset time.

[0040] In this embodiment, when the intelligent driving domain control module detects that the navigation driving assistance soft switch signal triggered by the vehicle terminal changes from a 0x0:OFF signal to a 0x1:ON signal, the intelligent driving domain control module sets the signal value of the navigation assisted driving status signal to a standby signal and sends it to the vehicle terminal, sets the signal value of the lane assist mode signal to a linkage signal of lane departure warning, lane departure assist and lane centering control and sends it to the vehicle terminal and maintains it for a preset time, and sets the signal value of the lever lane change signal to a standby signal and sends it to the vehicle terminal and maintains it for a preset time.

[0041] Specifically, the intelligent driving domain control module sets the signal value of the navigation assisted driving status signal NGA_Status to the standby signal 0x1: standby, and then feeds it back to the vehicle terminal, and sets the signal value of the lane assist mode signal ADAS_LaneAssitType to the linkage signal 0x3: LDW+LDP+LCC of lane departure warning, lane departure assist and lane centering control, and then feeds it back to the vehicle terminal and maintains it for 500ms. The holding time is a tested calibration value, which can avoid falling into an infinite loop, and sets the signal value of the lever lane change signal ADAS_DCLCSts to the standby signal 0X1: standby, and also maintains it for 500ms to avoid falling into an infinite loop.

[0042] In some feasible embodiments, the holding time may also be 300ms-700ms, which can be flexibly adjusted according to the data transmission rate.

[0043] Step S30, when the vehicle-mounted terminal detects the feedback signal sent by the intelligent driving domain control module, the signal value of the lane assist mode signal is set to the linkage signal of lane departure warning, lane departure assist and lane centering control and fed back to the intelligent driving domain control module, and the lever lane change soft switch signal is set to the on signal and fed back to the intelligent driving domain control module.

[0044] In this embodiment, when the vehicle-mounted terminal detects the feedback signal sent by the intelligent driving domain control module, the signal value of the lane assist mode signal is set to a linkage signal of lane departure warning, lane departure assist and lane centering control through the vehicle-mounted terminal and fed back to the intelligent driving domain control module, and the lever lane change soft switch signal is set to an on signal and fed back to the intelligent driving domain control module.

[0045] Specifically, when the vehicle terminal detects the feedback signal sent by the intelligent driving domain control module, the signal value of the lane assist mode signal MP5_LaneAssitTypeReq is set to 0x3: LDW+LDP+LCC through the vehicle terminal, and it is fed back to the intelligent driving domain control module, and the signal value of the lever lane change soft switch signal MP5_DCLC_switchSts is set to the turn-on signal 0x1: ON through the vehicle terminal, and fed back to the intelligent driving domain control module.

[0046] Step S40, when the intelligent driving domain control module receives the linkage signal of lane departure warning, lane departure assistance and lane centering control fed back by the vehicle-mounted terminal, and the lever lane change soft switch signal is an on signal, control activation of the navigation-assisted lane centering control function, navigation-assisted driving function and lever lane change function.

[0047] Specifically, when the intelligent driving domain control module receives the signal MP5_LaneAssitTypeReq is 0x3 and MP5_DCLC_switchSts is 0x1 from the vehicle terminal, it allows the activation of the lateral lane centering control (LCC), navigation assisted driving (NGA) and lever lane change (DCLC) functions.

[0048] It should also be noted that the relevant signals and their signal values ​​involved in this embodiment are annotated as follows:

[0049] The navigation driving assistance soft switch signal MP5_NGA_on_SwitchSts sent by the vehicle terminal has signal values ​​of 0x0: OFF and 0x1: ON respectively;

[0050] The navigation assisted driving status signal NGA_Status fed back by the intelligent driving domain control module has signal values ​​of 0x0: off, 0x1: standby, 0x2: available and 0x3: active;

[0051] The lane assist mode signal MP5_LaneAssitTypeReq sent by the vehicle terminal has signal values ​​of 0x1: LDW, 0x2: LDW+LDP, and 0x3: LDW+LDP+LCC;

[0052] The lane assist mode signal ADAS_LaneAssitTypeReq fed back by the intelligent driving domain control module has signal values ​​of 0x1: LDW, 0x2: LDW+LDP, and 0x3: LDW+LDP+LCC.

[0053] The lane change soft switch signal MP5_DCLC_switchSts sent by the vehicle terminal has signal values ​​of 0x0: OFF and 0x1: ON respectively;

[0054] The lane change signal ADAS_DCLCSts fed back by the intelligent driving domain control module has signal values ​​of 0X0: OFF, 0X1: standby and 0X2: active.

[0055] It should also be noted that the signals for interaction between the vehicle-mounted terminal and the intelligent driving domain control module are all periodic signals. Specifically, the periodic signals for interaction between the vehicle-mounted terminal and the intelligent driving domain control module are all sent through the CAN bus in a fixed periodic cycle.

[0056] Compared with the prior art, the navigation-assisted driving switch linkage control method shown in this embodiment has the following beneficial effects:

[0057] When performing navigation-assisted driving switch control, the navigation-assisted driving soft switch signal triggered by the vehicle terminal is detected by the intelligent driving domain control module. When the signal value of the navigation-assisted driving soft switch signal is a rising edge signal, the signal value of the navigation-assisted driving status signal is set to a standby signal and sent to the vehicle terminal, the signal value of the lane assist mode signal is set to a linkage signal of lane departure warning, lane departure assist and lane centering control and sent to the vehicle terminal and maintained for a preset time, and the signal value of the lever lane change signal is set to a standby signal and sent to the vehicle terminal and maintained for a preset time; and the vehicle terminal detects the signal sent by the intelligent driving domain control module When the vehicle terminal detects the feedback signal sent by the intelligent driving domain control module, the signal value of the lane assist mode signal is set to the linkage signal of lane departure warning, lane departure assist and lane centering control and fed back to the intelligent driving domain control module, and the lever lane change soft switch signal is set to the on signal and fed back to the intelligent driving domain control module; when the intelligent driving domain control module receives the linkage signal of lane departure warning, lane departure assist and lane centering control fed back by the vehicle terminal, and the lever lane change soft switch signal is the on signal, the navigation-assisted lane centering control function, navigation-assisted driving function and lever lane change function are controlled to be activated. Then, when the method shown in this embodiment is used to start navigation-assisted driving, the intelligent driving domain control module is used to start the linkage within the cycle, so that the navigation-assisted driving can be prevented from falling into an endless loop, thereby solving the problem in the prior art that the vehicle terminal and the intelligent driving domain control module are constantly synchronized with each other and cannot reach a stable state.

[0058] Embodiment 2

[0059] The second embodiment of the present invention also provides a navigation-assisted driving switch linkage control method. The method shown in this embodiment has a reverse process to the method shown in the first embodiment, but the logic is the same:

[0060] In this embodiment, when the intelligent driving domain control module detects that the linkage signal of lane departure warning, lane departure assistance and lane centering control fed back by the vehicle terminal changes to a separate signal of the lane departure warning function;

[0061] Setting the signal value of the lane assist mode signal to a separate signal of the lane departure warning function, setting the signal value of the navigation assisted driving state signal to an off signal and maintaining it for a preset time, and setting the signal value of the lever lane change signal to an off signal and maintaining it for a preset time;

[0062] When the vehicle-mounted terminal detects the feedback signal sent by the intelligent driving domain control module, the signal value of the navigation driving assistance soft switch signal is set to an off signal, and the signal value of the lever lane change soft switch signal is set to an off signal.

[0063] In this embodiment, when the user clicks to select a non-lane centering control mode, such as lane departure warning LDW, the vehicle terminal will automatically turn off the lever lane change and navigation assisted driving.

[0064] Specifically, when the intelligent driving domain control module detects that the signal lane assist mode signal MP5_LaneAssitTypeReq changes from 0x3 to 0x1, the signal value of the lane assist mode signal ADAS_LaneAssitTypeReq is set to 0x1, the signal value of the navigation assisted driving status signal NGA_Status is set to 0x0 and maintained for 500ms, and the signal value of the lever lane change signal ADAS_DCLCSts is set to 0x0 and maintained for 500ms, and the above signals are fed back to the vehicle terminal.

[0065] When the vehicle terminal detects the feedback signal sent by the intelligent driving domain control module, the signal value of the navigation driving assistance soft switch signal is promptly set to 0x0, and the signal value of the lever lane change soft switch signal is set to 0x0.

[0066] In summary, when navigation assisted driving is turned off, the method shown in this embodiment can avoid navigation assisted driving from falling into an infinite loop by exchanging information between the vehicle-mounted terminal and the intelligent driving domain control module to enable linkage activation within a cycle, thereby solving the problem in the prior art that the vehicle-mounted terminal and the intelligent driving domain control module are constantly synchronizing with each other and cannot reach a stable state.

[0067] Embodiment 3

[0068] See also Figure 2 The third embodiment of the present invention provides a navigation-assisted driving switch linkage control system, which is applied to the method described in the above embodiments. The system includes: a signal recognition module 10, a first signal feedback module 20, a second signal feedback module 30 and a function activation module 40.

[0069] The signal recognition module 10 is used to detect that the signal value of the navigation driving assistance soft switch signal triggered by the vehicle terminal is a rising edge signal through the intelligent driving domain control module;

[0070] a first signal feedback module 20, configured to set the signal value of the navigation-assisted driving state signal as a standby signal and send it to the vehicle-mounted terminal, set the signal value of the lane assist mode signal as a linkage signal of lane departure warning, lane departure assist and lane centering control and send it to the vehicle-mounted terminal and keep it for a preset time, and set the signal value of the lever lane change signal as a standby signal and send it to the vehicle-mounted terminal and keep it for the preset time;

[0071] A second signal feedback module 30 is used to set the signal value of the lane assist mode signal as a linkage signal of lane departure warning, lane departure assist and lane centering control and feed it back to the intelligent driving domain control module when the vehicle terminal detects the feedback signal sent by the intelligent driving domain control module, and set the lever lane change soft switch signal as an on signal and feed it back to the intelligent driving domain control module;

[0072] The function activation module 40 is used to control the activation of the navigation-assisted lane centering control function, the navigation-assisted driving function and the lever lane changing function when the intelligent driving domain control module receives the linkage signal of the lane departure warning, the lane departure assistance and the lane centering control fed back by the vehicle-mounted terminal, and the lever lane changing soft switch signal is an on signal.

[0073] Compared with the prior art, the navigation-assisted driving switch linkage control system shown in this embodiment has the following beneficial effects:

[0074] When performing navigation-assisted driving switch control, the navigation-assisted driving soft switch signal triggered by the vehicle terminal is detected by the intelligent driving domain control module. When the signal value of the navigation-assisted driving soft switch signal is a rising edge signal, the signal value of the navigation-assisted driving status signal is set to a standby signal and sent to the vehicle terminal, the signal value of the lane assist mode signal is set to a linkage signal of lane departure warning, lane departure assist and lane centering control and sent to the vehicle terminal and maintained for a preset time, and the signal value of the lever lane change signal is set to a standby signal and sent to the vehicle terminal and maintained for a preset time; and the vehicle terminal detects the signal sent by the intelligent driving domain control module When the vehicle terminal detects the feedback signal sent by the intelligent driving domain control module, the signal value of the lane assist mode signal is set to the linkage signal of lane departure warning, lane departure assist and lane centering control and fed back to the intelligent driving domain control module, and the lever lane change soft switch signal is set to the on signal and fed back to the intelligent driving domain control module; when the intelligent driving domain control module receives the linkage signal of lane departure warning, lane departure assist and lane centering control fed back by the vehicle terminal, and the lever lane change soft switch signal is the on signal, the navigation-assisted lane centering control function, navigation-assisted driving function and lever lane change function are controlled to be activated. When the system shown in this embodiment turns on navigation-assisted driving, the intelligent driving domain control module is used to perform linkage turning-on within a period, so as to avoid the navigation-assisted driving from falling into an endless loop, thereby solving the problem in the prior art that the vehicle terminal and the intelligent driving domain control module are constantly synchronizing with each other and cannot reach a stable state.

[0075] Embodiment 4

[0076] A fourth embodiment of the present invention provides a readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the steps of the method described in the above embodiment.

[0077] Embodiment 5

[0078] A fifth embodiment of the present invention provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in the above embodiments when executing the program.

[0079] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0080] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A navigation-assisted driving switch linkage control method, characterized in that: The method comprises: When the intelligent driving domain control module detects that the signal value of the navigation driving assistance soft switch signal triggered by the vehicle terminal is a rising edge signal; Setting the signal value of the navigation-assisted driving state signal as a standby signal and sending it to the vehicle-mounted terminal, setting the signal value of the lane assist mode signal as a linkage signal of lane departure warning, lane departure assist and lane centering control and sending it to the vehicle-mounted terminal and keeping it for a preset time, and setting the signal value of the lever lane change signal as a standby signal and sending it to the vehicle-mounted terminal and keeping it for the preset time; When the vehicle terminal detects the feedback signal sent by the intelligent driving domain control module, the signal value of the lane assist mode signal is set to the linkage signal of lane departure warning, lane departure assist and lane centering control and fed back to the intelligent driving domain control module, and the lever lane change soft switch signal is set to the on signal and fed back to the intelligent driving domain control module; When the intelligent driving domain control module receives the linkage signal of lane departure warning, lane departure assistance and lane centering control fed back by the vehicle-mounted terminal, and the soft switch signal of the lever lane change is an on signal, it controls the activation of the navigation-assisted lane centering control function, the navigation-assisted driving function and the lever lane change function.

2. The navigation-assisted driving switch linkage control method according to claim 1, characterized in that: The rising edge signal of the navigation driving assistance soft switch signal changes from a closed signal to an open signal.

3. The navigation-assisted driving switch linkage control method according to claim 1, characterized in that: The method further comprises: When the intelligent driving domain control module detects that the linkage signal of lane departure warning, lane departure assistance and lane centering control fed back by the vehicle terminal changes to a separate signal of the lane departure warning function; Setting the signal value of the lane assist mode signal to a separate signal of the lane departure warning function, setting the signal value of the navigation assisted driving state signal to an off signal and maintaining it for a preset time, and setting the signal value of the lever lane change signal to an off signal and maintaining it for a preset time; When the vehicle-mounted terminal detects the feedback signal sent by the intelligent driving domain control module, the signal value of the navigation driving assistance soft switch signal is set to an off signal, and the signal value of the lever lane change soft switch signal is set to an off signal.

4. The navigation-assisted driving switch linkage control method according to claim 1, characterized in that: The preset time is 300ms-700ms.

5. The navigation-assisted driving switch linkage control method according to claim 4, characterized in that: The preset time is 500ms.

6. The navigation-assisted driving switch linkage control method according to any one of claims 1 to 5, characterized in that: The signals interacting between the vehicle-mounted terminal and the intelligent driving domain control module are all periodic signals.

7. The navigation-assisted driving switch linkage control method according to claim 6, characterized in that: The periodic signals interacting between the vehicle-mounted terminal and the intelligent driving domain control module are all sent through the CAN bus in a fixed periodic cycle.

8. A navigation-assisted driving switch linkage control system, characterized in that: The method applied to any one of claims 1 to 7, wherein the system comprises: A signal recognition module, used for detecting, through the intelligent driving domain control module, that the signal value of the navigation driving assistance soft switch signal triggered by the vehicle terminal is a rising edge signal; a first signal feedback module, configured to set the signal value of the navigation-assisted driving state signal as a standby signal and send it to the vehicle-mounted terminal, set the signal value of the lane assist mode signal as a linkage signal of lane departure warning, lane departure assist and lane centering control and send it to the vehicle-mounted terminal and keep it for a preset time, and set the signal value of the lever lane change signal as a standby signal and send it to the vehicle-mounted terminal and keep it for the preset time; A second signal feedback module is used to set the signal value of the lane assist mode signal as a linkage signal of lane departure warning, lane departure assist and lane centering control and feed it back to the intelligent driving domain control module when the vehicle terminal detects the feedback signal sent by the intelligent driving domain control module, and set the lever lane change soft switch signal as an on signal and feed it back to the intelligent driving domain control module; A function activation module is used to control the activation of the navigation-assisted lane centering control function, the navigation-assisted driving function and the lever lane changing function when the intelligent driving domain control module receives the linkage signal of the lane departure warning, the lane departure assistance and the lane centering control fed back by the vehicle-mounted terminal, and the lever lane changing soft switch signal is an on signal.

9. A readable storage medium having computer instructions stored thereon, characterized in that: When the instruction is executed by the processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the method according to any one of claims 1 to 7 are implemented.

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