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

Abstract

The application discloses a kind of navigation auxiliary driving switch linkage control method, system, storage medium and vehicle, comprising: when detecting the signal value of navigation driving assistance soft switch signal is rising signal;Navigation auxiliary driving state signal signal value is set as standby signal, lane auxiliary mode signal signal value is set as lane deviation early warning, lane deviation auxiliary and lane center control linkage signal, dial lever lane change signal signal value is set as standby signal;Lane auxiliary mode signal signal value is set as lane deviation early warning, lane deviation auxiliary and lane center control linkage signal, dial lever lane change soft switch signal is set as opening signal;When receiving lane deviation early warning, lane deviation auxiliary and lane center control linkage signal, and dial lever lane change soft switch signal is opening signal, control activation navigation auxiliary driving.The application solves the problem that vehicle terminal and intelligent driving domain control module cannot reach stable state in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of auxiliary driving, in particular to a navigation auxiliary driving switch linkage control method and system, a storage medium and a vehicle. BACKGROUND

[0002] At present, the communication matrix CAN signals of various host factories basically adopt the platform strategy, for example, the communication matrix of a new car model is generally borrowed from the last car model. Some of the car models have soft switch CAN signals of cycle type, and directly making a switch linkage strategy will fall into a dead loop. If the communication matrix is changed to the on change 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 auxiliary function switch feedback signal are both cycle type signals, and when the cycles are the same, if the software processing time of both sides is the same, it is possible to fall into a dead loop. For example, when the navigation auxiliary driving soft switch on the vehicle terminal is clicked, the intelligent driving domain control module will feed back the opening value to the vehicle terminal, but there is a possibility that the vehicle terminal will feed back the old value (the closing value) to the vehicle terminal before receiving the opening value sent by the intelligent driving domain control module. The vehicle terminal will consider the old value (the closing value) as the new value, which will cause the vehicle terminal and the intelligent driving domain control module to keep synchronizing with each other, and the other soft switches linked will also fail to be synchronized to open or close. SUMMARY

[0004] In view of the defects of the prior art, the purpose of the present application is to provide a navigation auxiliary driving switch linkage control method, system, storage medium and vehicle, which aims to solve the problem that the vehicle terminal and the intelligent driving domain control module keep synchronizing with each other, cannot reach a stable state, and the other soft switches linked cannot be synchronized to open or close.

[0005] The first aspect of the present application is to provide a navigation auxiliary driving switch linkage control method, which comprises:

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

[0007] setting the signal value of the navigation driving assistance state signal to a standby signal and sending to the vehicle terminal, setting the signal value of the lane assistance mode signal to a linkage signal of lane departure warning, lane departure assistance and lane centering control and sending to the vehicle terminal, and keeping for a preset time, and setting the signal value of the dial lever lane changing signal to a standby signal and sending to the vehicle terminal, and keeping for the preset time;

[0008] when the vehicle terminal detects the feedback signal sent by the intelligent driving domain control module, setting the signal value of the lane assistance mode signal to a linkage signal of lane departure warning, lane departure assistance and lane centering control and feeding back to the intelligent driving domain control module, and setting the dial lever lane changing soft switch signal to an open signal and feeding back to the intelligent driving domain control module;

[0009] when the intelligent driving domain control module receives the lane departure warning, lane departure assistance and lane centering control linkage signal fed back by the vehicle terminal, and the dial lever lane changing soft switch signal is an open signal, controlling to activate the lane centering control function, navigation driving assistance function and dial lever lane changing function of navigation assistance.

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

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

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

[0013] setting the signal value of the lane assistance mode signal to a lane departure warning function alone signal, setting the signal value of the navigation driving assistance state signal to a closed signal and keeping for the preset time, and setting the signal value of the dial lever lane changing signal to a closed signal and keeping for the preset time;

[0014] when the vehicle terminal detects the feedback signal sent by the intelligent driving domain control module, setting the signal value of the navigation driving assistance soft switch signal to a closed signal, and setting the signal value of the dial lever lane changing soft switch signal to a closed 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 exchanged between the vehicle 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 exchanged between the vehicle terminal and the intelligent driving domain control module are all sent cyclically through the CAN bus according to a fixed cycle.

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

[0020] The signal recognition module is used to detect when the signal value of the navigation driving assistance soft switch signal triggered by the vehicle terminal is a rising edge signal, as detected by the intelligent driving domain control module.

[0021] The first signal feedback module is used to set the signal value of the navigation-assisted driving status signal to a standby signal and send it to the vehicle terminal, set 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 send it to the vehicle terminal, and maintain it for a preset time, and set the signal value of the lever lane change signal to a standby signal and send it to the vehicle terminal, and maintain it for the preset time.

[0022] The second signal feedback module is used to set the signal value of the lane assist mode signal to the 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 to set the lever lane change soft switch signal to the open signal and feed it back to the intelligent driving domain control module.

[0023] The function activation module is used to control and activate the lane centering control function, navigation-assisted driving function and lever lane changing function of navigation assistance 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 an open signal.

[0024] A 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-described technical solution.

[0025] A fourth aspect of the present invention is to provide a vehicle including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method described in the above technical solutions.

[0026] Compared with the prior art, the navigation auxiliary driving switching linkage control method, system, storage medium and vehicle shown in the application have the beneficial effects that:

[0027] In the navigation auxiliary driving switching control, the navigation driving auxiliary soft switching signal triggered by the vehicle terminal is detected by the intelligent driving domain control module, when the signal value of the navigation driving auxiliary soft switching signal is a rising edge signal, the signal value of the navigation auxiliary driving state signal is set as a standby signal and sent to the vehicle terminal, the signal value of the lane auxiliary mode signal is set as a lane deviation warning, lane deviation auxiliary and lane centering control linkage signal and sent to the vehicle terminal, and a preset time is maintained, and the signal value of the dial lever lane changing signal is set as a standby signal and sent to the vehicle terminal, and a preset time is maintained; and the feedback signal sent by the intelligent driving domain control module is detected by the vehicle terminal, when the vehicle terminal detects the feedback signal sent by the intelligent driving domain control module, the signal value of the lane auxiliary mode signal is set as a lane deviation warning, lane deviation auxiliary and lane centering control linkage signal and fed back to the intelligent driving domain control module, and the dial lever lane changing soft switching signal is set as an open signal and fed back to the intelligent driving domain control module; when the intelligent driving domain control module receives the lane deviation warning, lane deviation auxiliary and lane centering control linkage signal fed back by the vehicle terminal, and the dial lever lane changing soft switching signal is an open signal, the lane centering control function, navigation auxiliary driving function and dial lever lane changing function of the navigation auxiliary are controlled to be activated. The method shown in the embodiment can avoid the navigation auxiliary driving from falling into a dead cycle when the navigation auxiliary driving is turned on, so as to solve the problem that the vehicle terminal and the intelligent driving domain control module cannot reach a stable state because they keep synchronizing with each other. BRIEF DESCRIPTION OF DRAWINGS

[0028] The above and / or additional aspects and advantages of the application will become apparent and more readily appreciated from the following description, taken in conjunction with the following drawings, in which:

[0029] Figure 1 The flowchart of the navigation auxiliary driving switching linkage control method shown in an embodiment of the application;

[0030] Figure 2 The structural block diagram of the navigation auxiliary driving switching linkage control system shown in an embodiment of the application. DETAILED DESCRIPTION

[0031] In order to make the objects, features and advantages of the present application more clear, the detailed description of the specific embodiments of the present application is given below with reference to the accompanying drawings. The drawings show several embodiments of the present application. However, the present application can be realized 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 application more thorough and comprehensive.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0033] Embodiment one

[0034] Please refer to Figure 1 The first embodiment of the present application provides a navigation auxiliary driving switch linkage control method, which comprises steps S10-S40:

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

[0036] In this embodiment, the intelligent driving domain control module is a data interaction module for judging intelligent driving conditions and outputting intelligent driving strategies, which is connected with the vehicle terminal through CAN bus. When the user operates the vehicle terminal to trigger the soft switch signal about intelligent driving, the intelligent driving domain control module can receive the signal and perform condition judgment and strategy generation.

[0037] Among them, in the initial state, the navigation driving assistance soft switch signal is a closed signal, that is, the navigation driving assistance function is in a closed state, and the rising signal refers to the change from the closed signal to the open signal, which is triggered by the user operating the vehicle terminal, so as 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 and sent by the vehicle terminal has signal values of 0x0:OFF and 0x1:ON, respectively. 0x0:OFF represents a closed signal, and 0x1:ON represents an open signal. The rising signal refers to the change from 0x0:OFF signal to 0x1:ON signal.

[0039] Step S20, setting the signal value of the navigation auxiliary driving state signal to a standby signal and sending it to the vehicle terminal, setting the signal value of the lane assistance mode signal to a lane departure warning, lane departure assistance and lane centering control linkage signal and sending it to the vehicle terminal, keeping for a preset time, and setting the signal value of the dial lever lane changing signal to a standby signal and sending it to the vehicle terminal, and keeping for the preset time.

[0040] In this embodiment, when the navigation driving assistance soft switch signal triggered by the vehicle terminal is detected by the intelligent driving domain control module and changes from 0x0:OFF signal to 0x1:ON signal, the intelligent driving domain control module sets the signal value of the navigation auxiliary driving state signal to a standby signal and sends it to the vehicle terminal, sets the signal value of the lane assistance mode signal to a lane departure warning, lane departure assistance and lane centering control linkage signal and sends it to the vehicle terminal, and keeps for a preset time, and sets the signal value of the dial lever lane changing signal to a standby signal and sends it to the vehicle terminal, and keeps for the preset time.

[0041] Specifically, the intelligent driving domain control module sets the signal value of the navigation auxiliary driving state signal NGA_Status to a standby signal 0x1:standby, and then feeds it back to the vehicle terminal, sets the signal value of the lane assistance mode signal ADAS_LaneAssitType to a lane departure warning, lane departure assistance and lane centering control linkage signal 0x3:LDW+LDP+LCC, and then feeds it back to the vehicle terminal, and keeps for 500ms, which is a tested and calibrated value, which can avoid falling into a dead loop, and sets the signal value of the dial lever lane changing signal ADAS_DCLCSts to a standby signal 0X1:standby, and also keeps for 500ms to avoid falling into a dead loop.

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

[0043] Step S30, when the vehicle terminal detects the feedback signal sent by the intelligent driving domain control module, sets the signal value of the lane assistance mode signal to a lane departure warning, lane departure assistance and lane centering control linkage signal and feeds it back to the intelligent driving domain control module, and sets the dial lever lane changing soft switch signal to an on signal and feeds it back to the intelligent driving domain control module.

[0044] In the embodiment, when the vehicle terminal detects the feedback signal sent by the intelligent driving domain control module, the vehicle terminal sets the signal value of the lane assistance mode signal to the linkage signal of the lane departure warning, lane departure assistance and lane centering control, and feeds back to the intelligent driving domain control module, and sets the dial lever lane changing soft switch signal to the opening signal and feeds 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 vehicle terminal sets the signal value of the lane assistance mode signal MP5_LaneAssitTypeReq to 0x3: LDW+LDP+LCC, and feeds back to the intelligent driving domain control module, and sets the signal value of the dial lever lane changing soft switch signal MP5_DCLC_switchSts to the opening signal 0x1: ON, and feeds back to the intelligent driving domain control module.

[0046] Step S40, when the intelligent driving domain control module receives the lane departure warning, lane departure assistance and lane centering control linkage signal fed back by the vehicle terminal, and the dial lever lane changing soft switch signal is the opening signal, the lane centering control function of the navigation assistance, the navigation assistance driving function and the dial lever lane changing function are controlled to be activated.

[0047] Specifically, when the intelligent driving domain control module receives the signal MP5_LaneAssitTypeReq sent by the vehicle terminal is 0x3 and MP5_DCLC_switchSts is 0x1, the transverse lane centering control (LCC) function, the navigation assistance driving (NGA) function and the dial lever lane changing (DCLC) function are allowed to be activated.

[0048] In addition, it should be noted that the related signals and their signal value annotations involved in the embodiment are 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 assistance driving state 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 respectively;

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

[0052] a lane assistance mode signal ADAS_LaneAssitTypeReq fed back by the intelligent driving domain control module, signal values of which are 0x1: LDW, 0x2: LDW+LDP and 0x3: LDW+LDP+LCC respectively;

[0053] a dial lever lane changing soft switch signal MP5_DCLC_switchSts sent by the vehicle terminal, signal values of which are 0x0: OFF and 0x1: ON respectively;

[0054] a dial lever lane changing signal ADAS_DCLCSts fed back by the intelligent driving domain control module, signal values of which are 0X0: OFF, 0X1: standby and 0X2: active respectively.

[0055] In addition, it should be noted that the signals exchanged between the vehicle terminal and the intelligent driving domain control module are periodic signals, and specifically, the periodic signals exchanged between the vehicle terminal and the intelligent driving domain control module are sent in a fixed cycle through the CAN bus.

[0056] Compared with the prior art, the navigation auxiliary driving switch linkage control method shown in the embodiment has the beneficial effects that:

[0057] In the navigation auxiliary driving switch control, the navigation driving assistance soft switch signal triggered by the vehicle terminal is detected by the intelligent driving domain control module, when the signal value of the navigation driving assistance soft switch signal is a rising edge signal, the signal value of the navigation auxiliary driving state signal is set to a standby signal and sent to the vehicle terminal, the signal value of the lane assistance mode signal is set to a lane departure warning, lane departure assistance and lane centering control linkage signal and sent to the vehicle terminal, and a preset time is maintained, and the signal value of the dial lever lane changing signal is set to a standby signal and sent to the vehicle terminal, and a preset time is maintained; and the feedback signal sent by the intelligent driving domain control module is detected by the vehicle terminal, when the vehicle terminal detects the feedback signal sent by the intelligent driving domain control module, the signal value of the lane assistance mode signal is set to a lane departure warning, lane departure assistance and lane centering control linkage signal and fed back to the intelligent driving domain control module, and the dial lever lane changing soft switch signal is set to an open signal and fed back to the intelligent driving domain control module; when the intelligent driving domain control module receives the lane departure warning, lane departure assistance and lane centering control linkage signal fed back by the vehicle terminal, and the dial lever lane changing soft switch signal is an open signal, the lane centering control function, the navigation auxiliary driving function and the dial lever lane changing function of the navigation auxiliary are activated. The method shown in the embodiment can avoid the navigation auxiliary driving from falling into a dead cycle when the navigation auxiliary driving is turned on, so as to solve the problem that the vehicle terminal and the intelligent driving domain control module cannot reach a stable state in the prior art.

[0058] Embodiment Two

[0059] The second embodiment of the present application also provides a navigation assisted driving switching linkage control method. The method shown in this embodiment is opposite to the method shown in the first embodiment in terms of process, but is consistent in logic:

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

[0061] the signal value of the lane assistance mode signal is set to the signal value of the lane deviation warning function signal alone, the signal value of the navigation assisted driving state signal is set to the off signal and maintained for the preset time, and the signal value of the dial lever lane changing signal is set to the off signal and maintained for the preset time;

[0062] 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 set to the off signal, and the signal value of the dial lever lane changing soft switch signal is set to the off signal.

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

[0064] Specifically, when the intelligent driving domain control module detects that the lane assistance mode signal MP5_LaneAssitTypeReq changes from 0x3 to 0x1, the signal value of the lane assistance mode signal ADAS_LaneAssitTypeReq is set to 0x1, the signal value of the navigation assisted driving state signal NGA_Status is set to 0x0 and maintained for 500 ms, and the signal value of the dial lever lane changing signal ADAS_DCLCSts is set to 0x0 and maintained for 500 ms, 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 set to 0x0, and the signal value of the dial lever lane changing soft switch signal is set to 0x0.

[0066] In summary, the method shown in this embodiment can avoid the navigation assisted driving from falling into a dead loop by information interaction between the vehicle terminal and the intelligent driving domain control module to link up within a period when turning off the navigation assisted driving, so as to solve the problem that the vehicle terminal and the intelligent driving domain control module cannot reach a stable state because they keep synchronizing with each other.

[0067] Embodiment Three

[0068] Referring to Figure 2 The third embodiment of the present application provides a navigation auxiliary driving switch linkage control system applied to the method in the above embodiments, the system comprising: a signal identification module 10, a first signal feedback module 20, a second signal feedback module 30 and a function activation module 40.

[0069] The signal identification module 10 is configured to detect, by the intelligent driving domain control module, that the signal value of the navigation driving auxiliary soft switch signal triggered by the vehicle terminal is a rising signal;

[0070] The first signal feedback module 20 is configured to set the signal value of the navigation auxiliary driving state signal to a standby signal and send it to the vehicle terminal, set the signal value of the lane assistance mode signal to the linkage signal of the lane departure warning, lane departure assistance and lane centering control and send it to the vehicle terminal, keep for a preset time, and set the signal value of the dial lever lane changing signal to a standby signal and send it to the vehicle terminal, and keep for the preset time;

[0071] The second signal feedback module 30 is configured to, when the vehicle terminal detects the feedback signal sent by the intelligent driving domain control module, set the signal value of the lane assistance mode signal to the linkage signal of the lane departure warning, lane departure assistance and lane centering control and feedback to the intelligent driving domain control module, and set the dial lever lane changing soft switch signal to an open signal and feedback to the intelligent driving domain control module;

[0072] The function activation module 40 is configured to, when the intelligent driving domain control module receives the linkage signal of the lane departure warning, lane departure assistance and lane centering control and the dial lever lane changing soft switch signal is an open signal feedback by the vehicle terminal, control to activate the lane centering control function of navigation assistance, navigation auxiliary driving function and dial lever lane changing function.

[0073] Compared with the prior art, the navigation auxiliary driving switch linkage control system shown in the embodiment has the beneficial effects that:

[0074] When the navigation auxiliary driving switch control is performed, the navigation driving auxiliary soft switch signal triggered by the vehicle terminal is detected by the intelligent driving domain control module, when the signal value of the navigation driving auxiliary soft switch signal is a rising signal, the signal value of the navigation auxiliary driving state signal is set as a standby signal and sent to the vehicle terminal, the signal value of the lane auxiliary mode signal is set as a lane deviation warning, lane deviation auxiliary and lane centering control linkage signal and sent to the vehicle terminal, and a preset time is maintained, and the signal value of the dial lever lane changing signal is set as a standby signal and sent to the vehicle terminal, and a preset time is maintained; and the feedback signal sent by the intelligent driving domain control module is detected by the vehicle terminal, when the vehicle terminal detects the feedback signal sent by the intelligent driving domain control module, the signal value of the lane auxiliary mode signal is set as a lane deviation warning, lane deviation auxiliary and lane centering control linkage signal and fed back to the intelligent driving domain control module, and the dial lever lane changing soft switch signal is set as an open signal and fed back to the intelligent driving domain control module; when the intelligent driving domain control module receives the lane deviation warning, lane deviation auxiliary and lane centering control linkage signal fed back by the vehicle terminal, and the dial lever lane changing soft switch signal is an open signal, the lane centering control function, the navigation auxiliary driving function and the dial lever lane changing function of the navigation auxiliary are controlled to be activated. The system shown in the embodiment can avoid the navigation auxiliary driving from falling into a dead cycle when the navigation auxiliary driving is turned on through the linkage opening of the intelligent driving domain control module in a period, thereby solving the problem that the vehicle terminal and the intelligent driving domain control module cannot reach a stable state due to continuous synchronization between them.

[0075] Embodiment Four

[0076] The fourth embodiment of the present application provides a readable storage medium, which stores computer instructions, and the instructions are executed by a processor to realize the steps of the method described in the above embodiments.

[0077] Embodiment Five

[0078] The fifth embodiment of the present application provides a vehicle, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor executes the program to realize the steps of the method described in the above embodiments.

[0079] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the description of the present application, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0080] The above embodiments only express several implementation manners of the present application, which are described in a more specific and detailed manner, but cannot be understood as a limitation on the patent scope of the present application. It should be noted that, for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A navigation-assisted pilot-on switch linkage control method, characterized by, The method comprises: When the intelligent driving domain control module detects that the signal value of the navigation auxiliary driving soft switch signal triggered by the vehicle terminal is a rising edge signal; setting the signal value of the navigation auxiliary driving state signal to a standby signal and sending it to the vehicle terminal, setting the signal value of the lane assistance mode signal to a lane departure warning, lane departure assistance and lane centering control linkage signal and sending it to the vehicle terminal, and keeping it for a preset time, and setting the signal value of the dial lever lane changing signal to a standby signal and sending it to the vehicle terminal, and keeping it for the preset time; When the vehicle terminal detects the feedback signal sent by the intelligent driving domain control module, set the signal value of the lane assistance mode signal to a lane departure warning, lane departure assistance and lane centering control linkage signal and feedback to the intelligent driving domain control module, and set the dial lever lane changing soft switch signal to an open signal and feedback to the intelligent driving domain control module; When the intelligent driving domain control module receives the lane departure warning, lane departure assistance and lane centering control linkage signal feedback by the vehicle terminal, and the dial lever lane changing soft switch signal is an open signal, control activates the lane centering control function of navigation assistance, navigation auxiliary driving function and dial lever lane changing function.

2. The navigation-assisted driving switch association control method according to claim 1, characterized by, The rising edge signal of the navigation auxiliary driving soft switch signal is a change from a closed signal to an open signal.

3. The navigation-assisted driving switch association control method according to claim 1, characterized by, The method further comprises: When the intelligent driving domain control module detects that the lane departure warning, lane departure assistance and lane centering control linkage signal feedback by the vehicle terminal changes to a lane departure warning function alone signal; set the signal value of the lane assistance mode signal to a lane departure warning function alone signal, set the signal value of the navigation auxiliary driving state signal to a closed signal and keep it for the preset time, and set the signal value of the dial lever lane changing signal to a closed signal and keep it for the preset time; When the vehicle terminal detects the feedback signal sent by the intelligent driving domain control module, set the signal value of the navigation auxiliary driving soft switch signal to a closed signal, and set the signal value of the dial lever lane changing soft switch signal to a closed signal.

4. The navigation-assisted driving switch association control method according to claim 1, characterized by, The preset time is 300ms-700ms.

5. The navigation-assisted pilot-on-switch linkage control method according to claim 4, characterized by, The preset time is 500ms.

6. The navigation-assisted driving switching linkage control method according to any one of claims 1 to 5, characterized by, The signals exchanged between the vehicle terminal and the intelligent driving domain control module are all periodic signals.

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

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

9. A readable storage medium, having stored thereon computer instructions, characterized in that, The instruction is executed by the processor to implement the steps of the method of any one of claims 1-7.

10. A vehicle comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the steps of the method of any one of claims 1-7.

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