Automatic driving transverse motion control takeover method and system, electronic equipment and medium

Abstract

The invention discloses an automatic driving transverse motion control takeover method and system, electronic equipment and a medium, and the method comprises the steps: obtaining the hand torque of a driver of a current vehicle, and judging whether the hand torque of the driver meets a takeover condition or not; when the driver hand torque does not meet the takeover condition, a torque hybrid gain coefficient is determined according to the driver hand torque, a target control torque is calculated according to the driver hand torque, the automatic driving control torque and the torque hybrid gain coefficient, and then transverse motion control is conducted on the current vehicle according to the target control torque; when the hand torque of the driver meets the take-over condition, transverse motion control is conducted on the current vehicle according to the hand torque of the driver. According to the method, the smoothness of automatic driving transverse motion control takeover is improved, the driving experience of a driver is also improved, and the method can be applied to the technical field of vehicle control.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to an automatic driving lateral motion control takeover method, system, electronic equipment and medium. Background Art

[0002] With the development of autonomous driving technology, a large number of vehicles have autonomous driving functions. As the controlled object of autonomous driving, the electric power steering is responsible for executing the lateral instructions of the autonomous driving controller. When the electric power steering receives the autonomous driving torque or angle control request, it will perform corresponding actions according to the autonomous driving instructions. At this time, it belongs to autonomous driving. But sometimes, the driver wants to take over the steering wheel and will generate steering torque by turning the steering wheel. After the self-driving system recognizes the driver's intention, it will exit the autonomous driving control. However, during the driver's takeover process, there will be a torque limit. The autonomous driving will not exit until the torque generated by the driver turning the steering wheel reaches the torque limit. Due to the existence of this torque limit, when the driver takes over, the automatic driving suddenly exits, which will cause a sudden change in the driver's hand torque, giving the driver an unsmooth driving experience and affecting the driver's driving experience. Summary of the invention

[0003] The purpose of the present invention is to solve one of the technical problems existing in the prior art to at least a certain extent.

[0004] To this end, an object of an embodiment of the present invention is to provide a method for taking over lateral motion control of autonomous driving, which improves the smoothness of taking over lateral motion control of autonomous driving and also improves the driving experience of the driver.

[0005] Another object of an embodiment of the present invention is to provide an automatic driving lateral motion control takeover system.

[0006] In order to achieve the above technical objectives, the technical solutions adopted by the embodiments of the present invention include:

[0007] On the one hand, an embodiment of the present invention provides a method for taking over lateral motion control of an autonomous driving, comprising the following steps:

[0008] Obtaining the current driver's hand torque of the vehicle, and determining whether the driver's hand torque meets the takeover condition;

[0009] When the driver's hand torque does not meet the takeover condition, determining a torque mixing gain coefficient according to the driver's hand torque, and calculating a target control torque according to the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient, and then performing lateral motion control on the current vehicle according to the target control torque;

[0010] When the driver's hand torque meets the takeover condition, the lateral movement of the current vehicle is controlled according to the driver's hand torque.

[0011] Further, in one embodiment of the present invention, the obtaining of the driver's hand torque of the current vehicle and determining whether the driver's hand torque meets the takeover condition specifically includes:

[0012] Acquiring the current speed of the current vehicle and the driver's hand torque through the automatic driving controller;

[0013] The corresponding takeover condition is determined according to the current vehicle speed, and it is judged whether the driver's hand torque meets the takeover condition.

[0014] Further, in one embodiment of the present invention, the obtaining of the driver's hand torque of the current vehicle and determining whether the driver's hand torque meets the takeover condition specifically includes:

[0015] Acquiring the current speed of the current vehicle and the driver's hand torque through an electric power steering device;

[0016] The corresponding takeover condition is determined according to the current vehicle speed, and it is judged whether the driver's hand torque meets the takeover condition.

[0017] Further, in one embodiment of the present invention, the corresponding takeover condition is determined according to the current vehicle speed, which specifically includes:

[0018] Get the preset takeover condition map;

[0019] Searching the takeover condition Map table according to the current vehicle speed to obtain the corresponding takeover condition;

[0020] Among them, the takeover condition includes a hand torque threshold and a duration threshold. When the driver's hand torque is greater than or equal to the hand torque threshold, and the duration of the driver's hand torque is greater than or equal to the duration threshold, it is determined that the driver's hand torque meets the takeover condition.

[0021] Further, in one embodiment of the present invention, the step of determining a torque mixing gain coefficient according to the driver's hand torque, calculating a target control torque according to the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient, and then performing lateral motion control on the current vehicle according to the target control torque specifically includes:

[0022] generating the automatic driving control torque by the automatic driving controller, determining the torque mixing gain coefficient according to the current vehicle speed and the driver's hand torque, and then sending the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient to the electric power steering;

[0023] The target control torque is calculated by the electric power steering device according to the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient, and the target control torque is sent to the steering motor;

[0024] The lateral motion of the current vehicle is controlled by the steering motor according to the target control torque.

[0025] Further, in one embodiment of the present invention, the step of determining a torque mixing gain coefficient according to the driver's hand torque, calculating a target control torque according to the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient, and then performing lateral motion control on the current vehicle according to the target control torque specifically includes:

[0026] generating the autonomous driving control torque by an autonomous driving controller, and sending the autonomous driving control torque to the electric power steering device;

[0027] Determining the torque mixing gain coefficient according to the current vehicle speed and the driver's hand torque through the electric power steering device, and calculating the target control torque according to the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient, and then sending the target control torque to the steering motor;

[0028] The lateral motion of the current vehicle is controlled by the steering motor according to the target control torque.

[0029] Further, in one embodiment of the present invention, the determining the torque mixing gain coefficient according to the current vehicle speed and the driver's hand torque specifically includes:

[0030] Get the preset torque mixing gain coefficient Map table;

[0031] According to the current vehicle speed and the driver's hand torque, a query is performed in the torque mixing gain coefficient Map table to obtain the corresponding torque mixing gain coefficient;

[0032] Among them, the torque mixing gain coefficient includes the driver control weight and the automatic driving control weight.

[0033] Furthermore, in one embodiment of the present invention, the automatic driving lateral motion control takeover method further includes the step of pre-constructing the torque mixing gain coefficient Map table, which specifically includes:

[0034] Obtain the test data of the test personnel taking over the test under different vehicle speeds, different hand torques and different torque mixing gain coefficients;

[0035] Calibrate the optimal torque mixing gain coefficient under the target vehicle speed and the target hand torque according to the takeover test data, and use the target vehicle speed and the target hand torque as a binary array to generate a first mapping relationship between the binary array and the optimal torque mixing gain coefficient;

[0036] The torque mixing gain coefficient Map table is constructed according to the first mapping relationship.

[0037] Further, in one embodiment of the present invention, the target control torque is calculated according to the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient, which is specifically:

[0038] The driver hand torque and the automatic driving control torque are weightedly summed according to the driver control weight and the automatic driving control weight to obtain the target control torque.

[0039] Further, in one embodiment of the present invention, the lateral motion control of the current vehicle according to the driver's hand torque specifically includes:

[0040] Controlling the automatic driving controller to exit the automatic driving mode, and sending a first control instruction to the electric power steering device through the automatic driving controller, so that the electric power steering device exits the lateral motion control function;

[0041] The lateral movement of the current vehicle is controlled by the steering motor according to the driver's hand torque.

[0042] Further, in one embodiment of the present invention, the lateral motion control of the current vehicle according to the driver's hand torque specifically includes:

[0043] Controlling the electric power steering device to exit the lateral motion control function, and sending first feedback information to the automatic driving controller through the electric power steering device, so that the automatic driving controller exits the automatic driving mode;

[0044] The lateral movement of the current vehicle is controlled by the steering motor according to the driver's hand torque.

[0045] On the other hand, an embodiment of the present invention provides an automatic driving lateral motion control takeover system, comprising:

[0046] A takeover judgment module, used to obtain the driver's hand torque of the current vehicle and judge whether the driver's hand torque meets the takeover condition;

[0047] a first control module, configured to determine a torque mixing gain coefficient according to the driver's hand torque when the driver's hand torque does not meet the takeover condition, and calculate a target control torque according to the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient, and then perform lateral motion control on the current vehicle according to the target control torque;

[0048] The second control module is used to control the lateral movement of the current vehicle according to the driver's hand torque when the driver's hand torque meets the takeover condition.

[0049] On the other hand, an embodiment of the present invention provides an electronic device, comprising a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for realizing connection and communication between the processor and the memory, wherein the program, when executed by the processor, realizes the autonomous driving lateral motion control takeover method as described above.

[0050] On the other hand, an embodiment of the present invention further provides a storage medium, which is a computer-readable storage medium used for computer-readable storage, and the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the autonomous driving lateral motion control takeover method as described above.

[0051] On the other hand, an embodiment of the present invention further provides a vehicle, comprising the autonomous driving lateral motion control takeover system or electronic device as described above.

[0052] The advantages and beneficial effects of the present invention will be partly given in the following description, partly become apparent from the following description, or be understood through the practice of the present invention:

[0053] The embodiment of the present invention obtains the driver's hand torque of the current vehicle and determines whether the driver's hand torque meets the takeover conditions. When the driver's hand torque does not meet the takeover conditions, the torque mixing gain coefficient is determined according to the driver's hand torque, and the target control torque is calculated according to the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient, and then the lateral motion of the current vehicle is controlled according to the target control torque. When the driver's hand torque meets the takeover conditions, the lateral motion of the current vehicle is controlled according to the driver's hand torque. In the embodiment of the present invention, when the driver's hand torque does not meet the takeover conditions, the proportion of the driver's hand torque and the automatic driving control torque in the target control torque is coordinated through the torque mixing gain coefficient, and the lateral movement of the vehicle is jointly controlled by the driver's hand torque and the automatic driving control torque. In this way, in the process of gradual increase of the driver's hand torque, the influence of the automatic driving control torque on the target control torque can be gradually reduced until the driver's hand torque meets the takeover conditions, and the lateral movement of the vehicle is switched to being controlled solely by the driver's hand torque, thereby completing the automatic driving lateral movement control takeover, so that in the process of switching from automatic driving to manual driving, the driver feels that the reaction force of the steering wheel changes more smoothly, thereby achieving a smooth transition from automatic driving to manual driving, improving the smoothness of the automatic driving lateral movement control takeover, and also improving the driver's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solution in the embodiments of the present invention, the following introduction is made to the drawings required for use in the embodiments of the present invention. It should be understood that the drawings introduced below are only for the convenience of clearly describing some embodiments of the technical solution of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0055] Figure 1 A flowchart of a method for taking over automatic driving lateral motion control provided by an embodiment of the present invention;

[0056] Figure 2 A step flow chart of step S101 provided in an embodiment of the present invention;

[0057] Figure 3 Another step flow chart of step S101 provided in an embodiment of the present invention;

[0058] Figure 4 A step flow chart of step S1013 provided in an embodiment of the present invention;

[0059] Figure 5 A step flow chart of step S102 provided in an embodiment of the present invention;

[0060] Figure 6Another step flow chart of step S102 provided in an embodiment of the present invention;

[0061] Figure 7 A flowchart of steps for determining a torque mixing gain coefficient according to the current vehicle speed and the driver's hand torque provided in an embodiment of the present invention;

[0062] Figure 8 A flowchart of steps for pre-building a torque mixing gain coefficient Map table provided in an embodiment of the present invention;

[0063] Fig. 9 A step flow chart of step S103 provided in an embodiment of the present invention;

[0064] Fig.10 Another step flow chart of step S103 provided in an embodiment of the present invention;

[0065] Fig.11 A schematic diagram of the structure of an automatic driving lateral motion control takeover system provided by an embodiment of the present invention;

[0066] Fig.12 A schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention;

[0067] Fig.13 A schematic diagram of the structure of a storage medium provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0068] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limitations on the present application. It should be noted that, although the functional module division is performed in the system schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in a different order from the module division in the system schematic diagram or the flow chart. For the step numbers in the following embodiments, they are only set for the convenience of explanation, and the order between the steps is not limited in any way. The execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0069] In the description of the present invention, the meaning of "a plurality" is two or more. If there is a description of the first or the second, it is only for the purpose of distinguishing the technical features, and it cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features. In addition, unless otherwise defined, all technical and scientific terms used in this document have the same meaning as those commonly understood by technicians in the technical field of this application. The terms used in this document are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0070] The automatic driving lateral motion control takeover method provided in the embodiment of the present application can be applied to the terminal, can also be applied to the server side, and can also be software running in the terminal or the server side. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a set-top box, etc.; the server side can be configured as an independent physical server, or a server cluster or a distributed system composed of multiple physical servers, and can also be configured as a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application that implements the automatic driving lateral motion control takeover method, but is not limited to the above forms.

[0071] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0072] It should be noted that in each specific implementation of the present application, when it comes to the need to perform relevant processing based on data related to user identity or characteristics such as user information, user behavior data, user historical data, and user location information, the user's permission or consent will be obtained first, and the collection, use, and processing of these data will comply with the relevant laws, regulations, and standards of the relevant countries and regions. In addition, when the embodiment of the present application needs to obtain the user's sensitive personal information, the user's separate permission or consent will be obtained through a pop-up window or by jumping to a confirmation page. After clearly obtaining the user's separate permission or consent, the necessary user-related data for the normal operation of the embodiment of the present application will be obtained.

[0073] like Figure 1 FIG. 1 is a flowchart of a method for taking over the lateral motion control of an automatic driving system according to an embodiment of the present invention. Figure 1 , an embodiment of the present invention provides an automatic driving lateral motion control takeover method, which specifically includes the following steps:

[0074] S101, obtaining the driver's hand torque of the current vehicle, and determining whether the driver's hand torque meets the takeover condition;

[0075] S102, when the driver's hand torque does not meet the takeover condition, determining the torque mixing gain coefficient according to the driver's hand torque, and calculating the target control torque according to the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient, and then performing lateral motion control on the current vehicle according to the target control torque;

[0076] S103: When the driver's hand torque meets the takeover condition, the lateral movement of the current vehicle is controlled according to the driver's hand torque.

[0077] Specifically, in an embodiment of the present invention, when the driver's hand torque does not meet the takeover conditions, the proportion of the driver's hand torque and the automatic driving control torque in the target control torque is coordinated through the torque mixing gain coefficient, and the lateral movement of the vehicle is jointly controlled by the driver's hand torque and the automatic driving control torque. In this way, as the driver's hand torque gradually increases, the influence of the automatic driving control torque on the target control torque can be gradually reduced until the driver's hand torque meets the takeover conditions, and the lateral movement of the vehicle is switched to being controlled solely by the driver's hand torque, thereby completing the automatic driving lateral movement control takeover. In the process of switching from automatic driving to manual driving, the driver feels a smoother change in the reaction force of the steering wheel, thereby achieving a smooth transition from automatic driving to manual driving, improving the smoothness of the automatic driving lateral movement control takeover, and also improving the driver's driving experience.

[0078] It can be appreciated that, during the process of automatic driving lateral operation control, the embodiment of the present invention identifies the driver's intention to take over by judging whether the driver's hand torque meets the takeover conditions, and maintains a smooth transition of the steering wheel's reaction force on the driver during the process of switching from automatic driving to manual driving.

[0079] It should be noted that when the driver's hand torque is not detected, the embodiment of the present invention controls the lateral movement of the vehicle solely by the automatic driving controller. Specifically, the automatic driving controller sends a lateral angle or torque control instruction (including automatic driving control torque) to the electric power steering device. The electric power steering device executes the corresponding angle or torque request according to the lateral angle or torque control instruction, outputs the corresponding steering wheel torque through the steering motor, and the electric power steering device feeds back the steering wheel torque to the automatic driving controller.

[0080] like Figure 2 FIG. 1 is a flowchart of step S101 provided in an embodiment of the present invention, referring to FIG. Figure 2 As an optional implementation, the driver's hand torque of the current vehicle is obtained, and it is determined whether the driver's hand torque meets the takeover condition, which specifically includes:

[0081] S1011. Obtaining the current speed of the current vehicle and the driver's hand torque through the automatic driving controller;

[0082] S1013. Determine the corresponding takeover condition according to the current vehicle speed, and judge whether the driver's hand torque meets the takeover condition.

[0083] Specifically, the embodiment of the present invention can monitor the current vehicle speed and the driver's hand torque of the current vehicle through the automatic driving controller, determine the corresponding takeover conditions according to the current vehicle speed, and thus complete the judgment of whether the driver's hand torque meets the takeover conditions in the automatic driving controller.

[0084] like Figure 3 FIG. 1 is another step flow chart of step S101 provided in an embodiment of the present invention, referring to FIG. Figure 3 As an optional implementation, the driver's hand torque of the current vehicle is obtained, and it is determined whether the driver's hand torque meets the takeover condition, which specifically includes:

[0085] S1012, obtaining the current vehicle speed and the driver's hand torque through the electric power steering device;

[0086] S1013. Determine the corresponding takeover condition according to the current vehicle speed, and judge whether the driver's hand torque meets the takeover condition.

[0087] Specifically, the embodiment of the present invention can monitor the current vehicle speed and the driver's hand torque through the electric power steering device, determine the corresponding takeover conditions according to the current vehicle speed, and thus complete the judgment of whether the driver's hand torque meets the takeover conditions in the electric power steering device.

[0088] like Figure 4 FIG. 1 is a flow chart of step S1013 provided in an embodiment of the present invention, referring to FIG. Figure 4 As an optional implementation, the corresponding takeover condition is determined according to the current vehicle speed, which specifically includes:

[0089] S10131. Obtain a preset takeover condition Map table;

[0090] S10132, querying the takeover condition Map table according to the current vehicle speed to obtain the corresponding takeover condition;

[0091] Among them, the takeover conditions include a hand torque threshold and a duration threshold. When the driver's hand torque is greater than or equal to the hand torque threshold, and the duration of the driver's hand torque is greater than or equal to the duration threshold, it is determined that the driver's hand torque meets the takeover conditions.

[0092] Specifically, the takeover conditions of the embodiment of the present invention can be obtained by querying a preset takeover condition Map table based on the current vehicle speed. The takeover conditions may include a hand torque threshold and a duration threshold for reaching the hand torque threshold. For example, the hand torque threshold is 3Nm, and the duration threshold is 100ms. When the driver's hand torque reaches greater than or equal to 3Nm, and the duration of the driver's hand torque greater than or equal to 3Nm is greater than or equal to 100ms, it is determined that the driver's hand torque meets the takeover conditions.

[0093] like Figure 5 FIG. 1 is a flow chart of step S102 provided in an embodiment of the present invention, referring to FIG. Figure 5 As an optional implementation, a torque mixing gain coefficient is determined according to the driver's hand torque, and a target control torque is calculated according to the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient, and then the lateral motion control of the current vehicle is performed according to the target control torque, which specifically includes:

[0094] S1021. Generate an automatic driving control torque through an automatic driving controller, determine a torque mixing gain coefficient according to the current vehicle speed and the driver's hand torque, and then send the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient to the electric power steering device;

[0095] S1022, calculating a target control torque according to the driver's hand torque, the automatic driving control torque, and a torque mixing gain coefficient through the electric power steering device, and sending the target control torque to the steering motor;

[0096] S1025. Control the lateral motion of the current vehicle according to the target control torque through the steering motor.

[0097] Specifically, the embodiment of the present invention not only monitors the current vehicle speed and the driver's hand torque through the automatic driving controller and determines whether the driver's hand torque meets the takeover conditions, but also determines the torque mixing gain coefficient through the automatic driving controller.

[0098] When the driver's hand torque does not meet the takeover conditions, that is, before the automatic driving exits, the automatic driving controller generates the automatic driving control torque through the automatic driving algorithm, determines the torque blending gain coefficient according to the current vehicle speed and the driver's hand torque, and then sends the driver's hand torque, the automatic driving control torque and the torque blending gain coefficient to the electric power steering; the electric power steering allocates its own capacity according to the specific torque blending gain coefficient, part of which is used to execute the automatic driving control torque and part of which is used to execute the driver's hand torque, so as to obtain the target control torque and control the lateral motion of the current vehicle through the steering motor, so as to prevent the driver's hand torque from rising rapidly within the takeover judgment time of 100ms during the takeover process, and the hand torque from suddenly dropping after the takeover, causing a sudden change in the driver's hand feel.

[0099] like Figure 6 FIG. 1 is another step flow chart of step S102 provided in an embodiment of the present invention, referring to FIG. Figure 6 As an optional implementation, a torque mixing gain coefficient is determined according to the driver's hand torque, and a target control torque is calculated according to the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient, and then the lateral motion control of the current vehicle is performed according to the target control torque, which specifically includes:

[0100] S1023. Generate an automatic driving control torque through an automatic driving controller, and send the automatic driving control torque to an electric power steering device;

[0101] S1024, determining a torque mixing gain coefficient according to the current vehicle speed and the driver's hand torque through the electric power steering device, and calculating a target control torque according to the driver's hand torque, the automatic driving control torque, and the torque mixing gain coefficient, and then sending the target control torque to the steering motor;

[0102] S1025. Control the lateral motion of the current vehicle according to the target control torque through the steering motor.

[0103] Specifically, the embodiment of the present invention not only monitors the current vehicle speed and the driver's hand torque through the electric power steering device and determines whether the driver's hand torque meets the takeover condition, but also determines the torque mixing gain coefficient through the electric power steering device.

[0104] When the driver's hand torque does not meet the takeover conditions, that is, before the automatic driving exits, the automatic driving controller generates the automatic driving control torque through the automatic driving algorithm, and then sends the automatic driving control torque to the electric power steering; the electric power steering determines the torque blending gain coefficient according to the current vehicle speed and the driver's hand torque, and then allocates its own capacity according to the specific torque blending gain coefficient, one part of which is used to execute the automatic driving control torque, and one part is used to execute the driver's hand torque, so as to obtain the target control torque and control the lateral motion of the current vehicle through the steering motor, so as to prevent the driver's hand torque from rising rapidly within the takeover judgment time of 100ms during the takeover process, and the hand torque from suddenly dropping after the takeover, which will cause a sudden change in the driver's hand feel.

[0105] In some optional embodiments, the torque mixing gain coefficient can be set as a variable coefficient according to the specific vehicle model and different driving conditions. For example, different torque mixing gain coefficients can be set according to different hand torque values ​​and different vehicle speeds, thereby forming a torque mixing gain coefficient Map table.

[0106] like Figure 7 FIG. 1 is a flowchart of a step of determining a torque mixing gain coefficient according to the current vehicle speed and the driver's hand torque provided by an embodiment of the present invention, referring to FIG. Figure 7 As an optional implementation, the torque mixing gain coefficient is determined according to the current vehicle speed and the driver's hand torque, which specifically includes:

[0107] S201, obtaining a preset torque mixing gain coefficient Map table;

[0108] S202, querying in a torque mixing gain coefficient Map table according to the current vehicle speed and the driver's hand torque to obtain a corresponding torque mixing gain coefficient;

[0109] Among them, the torque mixing gain coefficient includes the driver control weight and the automatic driving control weight.

[0110] like Figure 8 FIG. 1 is a flowchart of a step of pre-constructing a torque mixing gain coefficient Map table provided by an embodiment of the present invention, referring to FIG. Figure 8 As an optional implementation, the automatic driving lateral motion control takeover method further includes the step of pre-building a torque mixing gain coefficient Map table, which specifically includes:

[0111] S301, obtaining takeover test data of the tester under different vehicle speeds, different hand torques, and different torque mixing gain coefficients;

[0112] S302, calibrating the optimal torque mixing gain coefficient under the target vehicle speed and the target hand torque according to the takeover test data, and taking the target vehicle speed and the target hand torque as a binary array to generate a first mapping relationship between the binary array and the optimal torque mixing gain coefficient;

[0113] S303: construct a torque mixing gain coefficient Map table according to the first mapping relationship.

[0114] Specifically, the test personnel's operational experience feedback on taking over the lateral motion control of autonomous driving under different vehicle speeds, different hand torques and different torque mixing gain coefficients is obtained in advance to form takeover test data; when enough takeover test data is obtained, the optimal torque mixing gain coefficient under the target vehicle speed and target hand torque can be calibrated based on the test personnel's operational experience feedback, and the target vehicle speed and target hand torque are taken as binary arrays to generate a first mapping relationship between the binary array and the optimal torque mixing gain coefficient, so that the torque mixing gain coefficient Map table can be constructed.

[0115] As an optional implementation, the target control torque is calculated according to the driver's hand torque, the automatic driving control torque and the torque mixed gain coefficient, which is specifically:

[0116] The driver's hand torque and the automatic driving control torque are weighted and summed according to the driver's control weight and the automatic driving control weight to obtain the target control torque.

[0117] Specifically, the calculation formula of the target control torque is as follows:

[0118] F=α×F1+(1-α)F2

[0119] Among them, F is the target control torque, F1 is the automatic driving control torque, F2 is the driver's hand torque, α is the automatic driving control weight, and 1-α is the driver control weight.

[0120] In an embodiment of the present invention, the sum of the driver control weight and the automatic driving control weight is set to 1. At the same vehicle speed, when the driver's hand torque continues to increase and approaches the hand torque threshold, the driver control weight gradually increases and the automatic driving control weight gradually decreases. That is, the target control torque changes from mainly relying on the automatic driving control torque to mainly relying on the driver's hand torque.

[0121] It can be understood that when the driver does not turn the steering wheel, the driver's hand torque is 0, and the electric power steering only executes the automatic driving control torque of the automatic driving controller; when the driver's hand torque meets the takeover conditions, the automatic driving controller exits the automatic driving mode and no longer outputs the automatic driving control torque. Before the driver's hand torque meets the takeover conditions, the driver's control weight gradually increases and the automatic driving control weight gradually decreases due to the gradual increase in the driver's hand torque. Therefore, the target control torque has gradually changed to mainly rely on the driver's hand torque. In this way, when the duration of the driver's hand torque greater than or equal to the hand torque threshold reaches the duration threshold, even if the automatic driving controller suddenly exits the automatic driving mode and stops outputting the automatic driving control torque, it will not cause a sudden change in the driver's hand torque.

[0122] like Fig. 9 FIG. 1 is a flow chart of step S103 provided in an embodiment of the present invention, referring to FIG. Fig. 9 As an optional implementation, the lateral motion of the current vehicle is controlled according to the driver's hand torque, which specifically includes:

[0123] S1031, controlling the automatic driving controller to exit the automatic driving mode, and sending a first control instruction to the electric power steering device through the automatic driving controller, so that the electric power steering device exits the lateral motion control function;

[0124] S1033. Control the lateral movement of the current vehicle according to the driver's hand torque through the steering motor.

[0125] Specifically, when the automatic driving controller determines that the driver's hand torque meets the takeover conditions, that is, recognizes the driver's intention to take over, the automatic driving controller exits the automatic driving mode and controls the electric power steering to exit the lateral motion control function through control instructions; at the same time, the steering motor outputs the corresponding steering torque according to the driver's hand torque to control the lateral motion of the current vehicle.

[0126] like Fig.10 FIG. 1 is another step flow chart of step S103 provided in an embodiment of the present invention, referring to FIG. Fig.10 As an optional implementation, the lateral motion of the current vehicle is controlled according to the driver's hand torque, which specifically includes:

[0127] S1032, controlling the electric power steering device to exit the lateral motion control function, and sending first feedback information to the automatic driving controller through the electric power steering device, so that the automatic driving controller exits the automatic driving mode;

[0128] S1033. Control the lateral movement of the current vehicle according to the driver's hand torque through the steering motor.

[0129] Specifically, when the electric power steering determines that the driver's hand torque meets the takeover conditions, that is, recognizes the driver's intention to take over, the electric power steering device exits the lateral motion control function, and uses feedback information to enable the automatic driving controller to exit the automatic driving mode; at the same time, the steering motor outputs the corresponding steering torque according to the driver's hand torque to control the lateral motion of the current vehicle.

[0130] The method steps of the embodiment of the present invention are described above. The overall process of the embodiment of the present invention is further described below in combination with two complete embodiments.

[0131] The automatic driving controller sends lateral control instructions to the electric power steering, and the electric power steering executes the lateral control instructions; when the automatic driving controller monitors that the driver's hand torque exceeds 3Nm and lasts for more than 100ms, it determines that the driver has taken over. During this process, the electric power steering has been receiving the torque mixing gain coefficient issued by the automatic driving controller, and performs weighted summation of the driver's hand torque and the automatic driving control torque according to the torque mixing gain coefficient to obtain the target control torque for lateral motion control until the automatic driving mode is exited and the driver takes over.

[0132] The automatic driving controller sends lateral control instructions to the electric power steering, and the electric power steering executes the lateral control instructions; when the electric power steering detects that the driver's hand torque exceeds 3Nm and lasts for more than 100ms, it determines that the driver has taken over. During this process, the electric power steering always determines the torque mixing gain coefficient according to the torque mixing gain coefficient Map table, and performs weighted summation of the driver's hand torque and the automatic driving control torque according to the torque mixing gain coefficient to obtain the target control torque for lateral motion control until the automatic driving mode is exited and the driver takes over.

[0133] It can be understood that when the driver's hand torque does not meet the takeover conditions, the embodiment of the present invention coordinates the proportion of the driver's hand torque and the automatic driving control torque in the target control torque through the torque mixing gain coefficient, and the lateral movement of the vehicle is jointly controlled by the driver's hand torque and the automatic driving control torque. In this way, in the process of gradual increase of the driver's hand torque, the influence of the automatic driving control torque on the target control torque can be gradually reduced until the driver's hand torque meets the takeover conditions, and the lateral movement of the vehicle is switched to being controlled solely by the driver's hand torque, thereby completing the automatic driving lateral movement control takeover, so that in the process of switching from automatic driving to manual driving, the driver feels that the change of the reaction force of the steering wheel is smoother, thereby achieving a smooth transition from automatic driving to manual driving, improving the smoothness of the automatic driving lateral motion control takeover, and also improving the driver's driving experience.

[0134] like Fig.11FIG. 1 is a schematic diagram of the structure of the automatic driving lateral motion control takeover system provided by an embodiment of the present invention, referring to FIG. Fig.11 , an embodiment of the present invention provides an automatic driving lateral motion control takeover system, comprising:

[0135] A takeover judgment module is used to obtain the driver's hand torque of the current vehicle and judge whether the driver's hand torque meets the takeover conditions;

[0136] The first control module is used to determine the torque mixing gain coefficient according to the driver's hand torque when the driver's hand torque does not meet the takeover condition, and calculate the target control torque according to the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient, and then perform lateral motion control on the current vehicle according to the target control torque;

[0137] The second control module is used to control the lateral movement of the current vehicle according to the driver's hand torque when the driver's hand torque meets the takeover condition.

[0138] The contents of the above method embodiments are all applicable to the present system embodiments. The functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0139] The embodiment of the present invention further provides an electronic device, the electronic device comprising: a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for realizing connection and communication between the processor and the memory, wherein when the program is executed by the processor, the above-mentioned automatic driving lateral motion control takeover method is realized. The electronic device may be any intelligent terminal including a tablet computer, a vehicle-mounted computer, etc.

[0140] like Fig.12 FIG. 1 is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention, referring to FIG. Fig.12 , an embodiment of the present invention provides an electronic device, including:

[0141] The processor 1201 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present invention;

[0142] The memory 1202 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1202 can store an operating system and other applications. When the technical solution provided in the embodiments of this specification is implemented by software or firmware, the relevant program code is stored in the memory 1202, and the processor 1201 calls and executes the automatic driving lateral motion control takeover method of the embodiment of the present invention;

[0143] Input / output interface 1203, used to implement information input and output;

[0144] The communication interface 1204 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0145] A bus 1205 that transmits information between various components of the device (e.g., the processor 1201, the memory 1202, the input / output interface 1203, and the communication interface 1204);

[0146] The processor 1201 , the memory 1202 , the input / output interface 1203 and the communication interface 1204 are connected to each other in communication within the device via the bus 1205 .

[0147] like Fig.13 FIG. 1 is a schematic diagram of a storage medium according to an embodiment of the present invention. Fig.13 An embodiment of the present invention further provides a storage medium, which is a computer-readable storage medium used for computer-readable storage. The storage medium stores one or more programs 1301, and the one or more programs 1301 can be executed by one or more processors to implement the above-mentioned autonomous driving lateral motion control takeover method.

[0148] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0149] An embodiment of the present invention further provides a vehicle, which includes the above-mentioned autonomous driving lateral motion control takeover system or an electric drive assembly of an electronic device.

[0150] Specifically, the vehicle may be a private car, such as a sedan, SUV, MPV or pickup truck. The vehicle may also be an operating vehicle, such as a van, bus, small truck or large trailer. The vehicle may be a gasoline vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it may be a hybrid vehicle or a pure electric vehicle.

[0151] The embodiment of the present invention further provides a computer program product or a computer program, wherein the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes Figure 1 The method shown.

[0152] In some selectable embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the above-mentioned boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Selectable embodiments are expected, wherein the order of various operations is changed and the sub-operation of a part for which is described as a larger operation is performed independently.

[0153] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise specified to the contrary, one or more of the above-mentioned functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present invention. More specifically, in view of the properties, functions and internal relationships of the various functional modules in the device disclosed herein, the actual implementation of the module will be understood within the conventional skills of the engineer. Therefore, those skilled in the art can implement the present invention set forth in the claims without excessive experimentation using ordinary techniques. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0154] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the above methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0155] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0156] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and editable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the above-mentioned program is printed, since the above-mentioned program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or processing in other suitable ways as necessary, and then stored in a computer memory.

[0157] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0158] In the above description of this specification, the description with reference to the terms "one embodiment / example", "another embodiment / example" or "certain embodiments / examples" etc. 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.

[0159] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

[0160] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A method for taking over lateral motion control of an autonomous driving system, characterized in that: The following steps are involved: Obtaining the current driver's hand torque of the vehicle, and determining whether the driver's hand torque meets the takeover condition; When the driver's hand torque does not meet the takeover condition, determining a torque mixing gain coefficient according to the driver's hand torque, and calculating a target control torque according to the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient, and then performing lateral motion control on the current vehicle according to the target control torque; When the driver's hand torque meets the takeover condition, the lateral movement of the current vehicle is controlled according to the driver's hand torque.

2. The method for taking over lateral motion control of an automatic driving according to claim 1, characterized in that: The obtaining of the current driver's hand torque of the vehicle and determining whether the driver's hand torque meets the takeover condition specifically includes: Acquiring the current speed of the current vehicle and the driver's hand torque through the automatic driving controller; The corresponding takeover condition is determined according to the current vehicle speed, and it is judged whether the driver's hand torque meets the takeover condition.

3. The method for taking over lateral motion control of an autonomous driving according to claim 1, characterized in that: The obtaining of the current driver's hand torque of the vehicle and determining whether the driver's hand torque meets the takeover condition specifically includes: Acquiring the current speed of the current vehicle and the driver's hand torque through an electric power steering device; The corresponding takeover condition is determined according to the current vehicle speed, and it is judged whether the driver's hand torque meets the takeover condition.

4. The method for taking over lateral motion control of an automatic driving according to claim 2 or 3, characterized in that: The corresponding takeover condition is determined according to the current vehicle speed, which specifically includes: Get the preset takeover condition map; According to the current vehicle speed, query the takeover condition Map table to obtain the corresponding takeover condition; Among them, the takeover condition includes a hand torque threshold and a duration threshold. When the driver's hand torque is greater than or equal to the hand torque threshold, and the duration of the driver's hand torque is greater than or equal to the duration threshold, it is determined that the driver's hand torque meets the takeover condition.

5. The method for taking over lateral motion control of an automatic driving according to claim 2, characterized in that: The determining of the torque mixing gain coefficient according to the driver's hand torque, calculating the target control torque according to the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient, and then performing lateral motion control on the current vehicle according to the target control torque specifically includes: generating the automatic driving control torque by the automatic driving controller, determining the torque mixing gain coefficient according to the current vehicle speed and the driver's hand torque, and then sending the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient to the electric power steering; The target control torque is calculated by the electric power steering device according to the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient, and the target control torque is sent to the steering motor; The lateral motion of the current vehicle is controlled by the steering motor according to the target control torque.

6. The method for taking over lateral motion control of an autonomous driving according to claim 3, characterized in that: The determining of the torque mixing gain coefficient according to the driver's hand torque, calculating the target control torque according to the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient, and then performing lateral motion control on the current vehicle according to the target control torque specifically includes: generating the autonomous driving control torque by an autonomous driving controller, and sending the autonomous driving control torque to the electric power steering device; Determining the torque mixing gain coefficient according to the current vehicle speed and the driver's hand torque through the electric power steering device, and calculating the target control torque according to the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient, and then sending the target control torque to the steering motor; The lateral motion of the current vehicle is controlled by the steering motor according to the target control torque.

7. The method for taking over lateral motion control of an automatic driving according to claim 5 or 6, characterized in that: The step of determining the torque mixing gain coefficient according to the current vehicle speed and the driver's hand torque specifically includes: Get the preset torque mixing gain coefficient Map table; According to the current vehicle speed and the driver's hand torque, a query is performed in the torque mixing gain coefficient Map table to obtain the corresponding torque mixing gain coefficient; Among them, the torque mixing gain coefficient includes the driver control weight and the automatic driving control weight.

8. The method for taking over lateral motion control of an automatic driving according to claim 7, characterized in that: The automatic driving lateral motion control takeover method further includes the step of pre-building the torque mixing gain coefficient Map table, which specifically includes: Obtain the test data of the test personnel taking over the test under different vehicle speeds, different hand torques and different torque mixing gain coefficients; Calibrate the optimal torque mixing gain coefficient under the target vehicle speed and the target hand torque according to the takeover test data, and use the target vehicle speed and the target hand torque as a binary array to generate a first mapping relationship between the binary array and the optimal torque mixing gain coefficient; The torque mixing gain coefficient Map table is constructed according to the first mapping relationship.

9. The method for taking over lateral motion control of an automatic driving according to claim 7, characterized in that: The target control torque is calculated according to the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient, which is specifically: The driver hand torque and the automatic driving control torque are weightedly summed according to the driver control weight and the automatic driving control weight to obtain the target control torque.

10. The method for taking over lateral motion control of an autonomous driving according to claim 2, characterized in that: The step of controlling the lateral motion of the current vehicle according to the driver's hand torque specifically includes: Controlling the automatic driving controller to exit the automatic driving mode, and sending a first control instruction to the electric power steering device through the automatic driving controller, so that the electric power steering device exits the lateral motion control function; The lateral movement of the current vehicle is controlled by the steering motor according to the driver's hand torque.

11. The method for taking over lateral motion control of an autonomous driving according to claim 3, characterized in that: The step of controlling the lateral motion of the current vehicle according to the driver's hand torque specifically includes: Controlling the electric power steering device to exit the lateral motion control function, and sending first feedback information to the automatic driving controller through the electric power steering device, so that the automatic driving controller exits the automatic driving mode; The lateral movement of the current vehicle is controlled by the steering motor according to the driver's hand torque.

12. An automatic driving lateral motion control takeover system, characterized in that: include: A takeover judgment module, used to obtain the driver's hand torque of the current vehicle and judge whether the driver's hand torque meets the takeover condition; a first control module, configured to determine a torque mixing gain coefficient according to the driver's hand torque when the driver's hand torque does not meet the takeover condition, and calculate a target control torque according to the driver's hand torque, the automatic driving control torque and the torque mixing gain coefficient, and then perform lateral motion control on the current vehicle according to the target control torque; The second control module is used to control the lateral movement of the current vehicle according to the driver's hand torque when the driver's hand torque meets the takeover condition.

13. An electronic device, characterized in that: The electronic device includes a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for realizing connection and communication between the processor and the memory. When the program is executed by the processor, the steps of the automatic driving lateral motion control takeover method as described in any one of claims 1 to 11 are realized.

14. A storage medium, the storage medium being a computer-readable storage medium, used for computer-readable storage, characterized in that: The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the automatic driving lateral motion control takeover method as described in any one of claims 1 to 11.

15. A vehicle, characterized in that: The vehicle includes the autonomous driving lateral motion control takeover system as described in claim 12 or the electronic device as described in claim 13.

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