Man-machine co-driving control method and device, electronic equipment and vehicle

Abstract

The invention provides a man-machine co-driving control method and device, electronic equipment and a vehicle, and the man-machine co-driving control method comprises the steps: obtaining the state information of the vehicle and the state information of a driver if the vehicle starts an auxiliary driving function; determining an intelligent driving mode suitable for the driver according to the state information of the vehicle and the state information of the driver; determining steering control parameters of the vehicle according to the adjusting parameters corresponding to the intelligent driving mode and the state information of the vehicle, and adjusting the output torque of a steering motor of the vehicle based on the steering control parameters. According to the invention, driving safety is guaranteed, and man-machine co-driving experience is optimized at the same time.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and specifically to a human-machine co-driving control method, device, electronic equipment and vehicle. Background Art

[0002] With the development of autonomous driving technology, assisted driving systems have become a common configuration of modern cars. In the field of autonomous driving technology, assisted driving systems are designed to enhance road safety and driving experience by providing partial or full driving support. Assisted driving systems usually include functions such as adaptive cruise control, lane keeping assist, and automatic lane change. Although these assisted driving functions can significantly reduce the burden on drivers under ideal conditions, they also face a series of technical and user experience challenges in actual applications.

[0003] At present, the design of assisted driving systems emphasizes the driver's takeover priority, resulting in the assisted driving system misjudging the driver's slight steering operation as an intention to take over, causing the assisted driving system to frequently exit, thereby interfering with the smoothness of the driving process and causing the driver's trust in the assisted driving system to decrease. In addition, when the driver consciously makes steering inputs, the assisted driving system may produce a clear sense of confrontation, resulting in an uncomfortable driving experience. Even more seriously, when the driver unconsciously makes steering operations due to fatigue or distraction, the assisted driving system may not be able to respond in time, causing the vehicle to deviate from the lane, increasing the risk of traffic accidents and endangering the safety of the driver and other road users. Summary of the invention

[0004] In view of the above, it is necessary to propose a human-machine co-driving control method, device, electronic equipment and vehicle to solve the technical problem that the driver's behavioral intention and the vehicle's assisted driving cannot be effectively integrated during the autonomous driving process.

[0005] In a first aspect, the present application provides a human-machine co-driving control method, the method comprising: if the vehicle has an assisted driving function enabled, obtaining the vehicle status information and the driver status information; determining an intelligent driving mode suitable for the driver based on the vehicle status information and the driver status information; determining the steering control parameters of the vehicle based on the adjustment parameters corresponding to the intelligent driving mode and the vehicle status information, and adjusting the output torque of the steering motor of the vehicle based on the steering control parameters.

[0006] In the human-machine co-driving control method of the above-mentioned embodiment, the intelligent driving mode suitable for the driver is determined according to the vehicle's state information and the driver's state information, and then the vehicle's steering control parameters are determined according to the adjustment parameters corresponding to the intelligent driving mode and the vehicle's state information, and the output torque of the vehicle's steering motor is adjusted based on the steering control parameters. Based on this, the present application can dynamically adjust the steering control parameters according to the driver's state information and the vehicle's state information, and can optimize the human-machine co-driving experience while ensuring driving safety, thereby reducing the sense of confrontation between the driver and the assisted driving system, providing a smoother driving experience, and enhancing the driver's trust in the assisted driving function. The present application adjusts the intensity of steering assistance in combination with the driver's state information, improves the vehicle's response speed and accuracy to the driver's input, can identify and respond to the driver's unconscious steering operations, avoids lane departures and traffic accidents caused by driver distraction or fatigue, and improves driving safety.

[0007] In some embodiments of the present application, the status information of the vehicle includes the torque value applied by the driver to the steering wheel and the capacitive sensing information on the steering wheel of the vehicle, and determining the intelligent driving mode applicable to the driver based on the status information of the vehicle and the status information of the driver includes: determining whether the driver is applying force to the steering wheel based on the torque value applied by the driver to the steering wheel; if the driver is applying force to the steering wheel, determining whether the driver is holding the steering wheel with both hands based on the capacitive sensing information, and determining whether the driver does not have a preset dangerous driving behavior based on the driver's status information; if the driver holds the steering wheel with both hands and does not have the dangerous driving behavior, determining whether the torque value applied by the driver to the steering wheel is greater than a preset first torque threshold; if the torque value applied by the driver to the steering wheel is greater than the first torque threshold, determining that the intelligent driving mode applicable to the driver is the preset first human-machine co-driving mode.

[0008] In some embodiments of the present application, determining the intelligent driving mode applicable to the driver based on the status information of the vehicle and the status information of the driver also includes: if the driver is not applying force to the steering wheel, determining that the intelligent driving mode applicable to the driver is a preset non-human-machine co-driving mode.

[0009] In some embodiments of the present application, determining the intelligent driving mode applicable to the driver based on the status information of the vehicle and the status information of the driver also includes: if the torque value applied by the driver to the steering wheel is less than or equal to the first torque threshold, determining that the intelligent driving mode applicable to the driver is a preset non-human-machine co-driving mode.

[0010] In some embodiments of the present application, if the driver does not hold the steering wheel with both hands or the driver engages in the dangerous driving behavior, determining the intelligent driving mode applicable to the driver based on the vehicle status information and the driver's status information also includes: determining whether the torque value applied by the driver to the steering wheel is greater than a preset second torque threshold; if the torque value applied by the driver to the steering wheel is greater than the preset second torque threshold, determining that the intelligent driving mode applicable to the driver is the preset second human-machine co-driving mode, wherein the second torque threshold is greater than the first torque threshold.

[0011] In some embodiments of the present application, if the driver does not hold the steering wheel with both hands or the driver engages in the dangerous driving behavior, determining the intelligent driving mode applicable to the driver based on the vehicle status information and the driver's status information also includes: if the torque value applied by the driver to the steering wheel is less than or equal to the second torque threshold, determining that the intelligent driving mode applicable to the driver is a preset non-human-machine co-driving mode. In some embodiments of the present application, the status information of the vehicle also includes the driving speed of the vehicle, and determining the steering control parameters of the vehicle based on the adjustment parameters corresponding to the intelligent driving mode and the status information of the vehicle includes: adjusting the adjustment parameters corresponding to the first human-machine co-driving mode or the second human-machine co-driving mode according to the driving speed of the vehicle and / or the torque value applied by the driver to the steering wheel to obtain corresponding steering control parameters.

[0012] In some embodiments of the present application, the vehicle status information also includes lane change information. If the driver holds the steering wheel with both hands and does not engage in the dangerous driving behavior, determining the intelligent driving mode applicable to the driver based on the vehicle status information and the driver's status information also includes: determining whether the vehicle is in a lane change state based on the lane change information; if the vehicle is in the lane change state, determining that the intelligent driving mode applicable to the driver is a preset third-party human-machine co-driving mode.

[0013] In some embodiments of the present application, if the driver holds the steering wheel with both hands and there is no dangerous driving behavior, determining the intelligent driving mode applicable to the driver based on the vehicle status information and the driver's status information also includes: if the vehicle is not in the lane change state, determining that the intelligent driving mode applicable to the driver is a preset non-human-machine co-driving mode.

[0014] In some embodiments of the present application, the adjustment parameters include a steering torque coefficient, a steering torque coefficient change rate, and a steering torque coefficient recovery slope.

[0015] In a second aspect, the present application also provides a human-machine co-driving control device, which includes: an acquisition module, which is used to acquire the status information of the vehicle and the status information of the driver if the vehicle has an assisted driving function enabled; a determination module, which is used to determine the intelligent driving mode suitable for the driver based on the status information of the vehicle and the status information of the driver; a control module, which is used to determine the steering control parameters of the vehicle based on the adjustment parameters corresponding to the intelligent driving mode and the status information of the vehicle, and adjust the output torque of the steering motor of the vehicle based on the steering control parameters.

[0016] In a third aspect, the present application also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the human-machine co-driving control method described in the above embodiment.

[0017] In a fourth aspect, the present application also provides a vehicle, which includes the electronic device described in the above embodiment.

[0018] It can be understood that the human-machine co-driving control device of the second aspect, the electronic device of the third aspect and the vehicle of the fourth aspect provided above all correspond to the human-machine co-driving control method of the first aspect. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding human-machine co-driving control method provided above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of an application scenario of a human-machine co-driving control method provided in one embodiment of the present application.

[0020] Figure 2 It is a flow chart of a human-machine co-driving control method provided in one embodiment of the present application.

[0021] Figure 3 It is a flow chart of a human-machine co-driving control method provided by another embodiment of the present application.

[0022] Figure 4 It is a line graph of the torque value applied by the driver to the steering wheel and the steering control parameters provided by another embodiment of the present application.

[0023] Figure 5 It is a schematic diagram of the functional modules of a human-machine co-driving control device provided in one embodiment of the present application.

[0024] Component Symbols Vehicle 1 Electronic devices 10 Memory 11 Processor 12 Capacitive Sensor 20 Torque sensor 30 Vehicle speed sensor 40 Monitoring camera 50 Steering motor 60 Front view camera 70 Human-machine co-driving control device 100 Acquisition module 110 Determination module 120 Control module 130 The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0025] The embodiments of the present application 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 limiting the present application.

[0026] In the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, words such as "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "for example" is intended to present related concepts in a specific way.

[0027] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0028] In the description of the present application, it should be noted that, unless otherwise expressly specified and limited, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In addition, in the description of the present application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically limited.

[0029] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0030] See also Figure 1 , which is a schematic diagram of an application scenario of the human-machine co-driving control method provided in one embodiment of the present application.

[0031] An embodiment of the present application provides a human-machine co-driving control method, which can be applied to one or more electronic devices. The electronic device is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to a microprocessor, an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a programmable gate array (Field-Programmable Gate Array, FPGA), a digital processor (Digital Signal Processor, DSP), an embedded device, etc.

[0032] Specifically, the electronic device 10 is used to determine the personality type of the user according to the comprehensive data of the user; based on the personality type, determine the content to be recommended from a preset content database; and recommend the content to be recommended to the user in the form of voice.

[0033] In some embodiments of the present application, the electronic device 10 can be communicatively connected to a desktop computer, a notebook, a PDA, a cloud server, or other devices.

[0034] In some embodiments of the present application, the electronic device 10 can perform human-computer interaction with the user through a keyboard, a mouse, a remote control, a touch pad, or a voice control device.

[0035] In some embodiments of the present application, the electronic device may also include a network device and / or a client device, wherein the network device includes but is not limited to a single network server, a server group consisting of multiple network servers, and a cloud server consisting of a large number of hosts or network servers based on cloud computing.

[0036] In some embodiments of the present application, the network where the electronic device is located includes but is not limited to the Internet, a wide area network, a metropolitan area network, a local area network, a virtual private network (VPN), etc.

[0037] In some embodiments of the present application, the present application further provides a vehicle 1, which includes an electronic device 10. The electronic device 10 may be an onboard device of the vehicle 1, such as a body control module (BCM), a vehicle control unit (VCU), etc.

[0038] In some embodiments of the present application, the vehicle 1 further includes a capacitive sensor 20, a torque sensor 30, a vehicle speed sensor 40, a monitoring camera 50, a steering motor 60, and a front view camera 70. The electronic device 10 is communicatively connected to the capacitive sensor 20, the torque sensor 30, the vehicle speed sensor 40, the monitoring camera 50, the steering motor 60, and the front view camera 70, respectively.

[0039] The capacitive sensor 20 is mounted on the steering wheel of the vehicle 1 to obtain information about the contact between the driver's hands and the steering wheel. When the driver's hands touch the steering wheel, the electric field of the human body interacts with the electric field of the capacitive sensor 20, causing the capacitance of the capacitive sensor 20 to change. The torque sensor 30 is integrated in the steering shaft of the steering wheel to measure the torque applied by the driver on the steering wheel. The vehicle speed sensor 40 is mounted on the wheel or the drive shaft to measure the rotation speed of the wheel and then calculate the driving speed of the vehicle 1. The monitoring camera 50 is installed in the cab of the vehicle 1, facing the driver, and is used to capture a status image of the driver's face and head in real time. The steering motor 60 is mounted on the steering column of the vehicle 1 to adjust the torque of the vehicle 1. The front-view camera 70 is installed in front of the vehicle 1 to obtain lane information (such as lane lines and lane markings).

[0040] See also Figure 2 , is a schematic diagram of the steps of a human-machine co-driving control method provided in one embodiment of the present application.

[0041] Specifically, the human-machine co-driving control method includes the following steps. According to different requirements, the order of some steps in the flowchart can be changed, and some steps can be omitted.

[0042] Step S10: If the vehicle enables the assisted driving function, obtain the vehicle status information and the driver status information.

[0043] In some embodiments of the present application, the status information of the vehicle 1 includes but is not limited to the torque value applied by the driver to the steering wheel, the capacitive sensing information on the steering wheel of the vehicle 1, the driving speed of the vehicle 1, and the lane change information of the vehicle 1 during the assisted driving process. Specifically, the electronic device 10 can obtain the torque value applied by the driver to the steering wheel through the torque sensor 30, obtain the capacitive sensing information on the steering wheel through the capacitive sensor 20, obtain the driving speed of the vehicle 1 through the vehicle speed sensor 40, and obtain the lane change information of the vehicle 1 through the assisted driving system.

[0044] In some embodiments of the present application, the driver's status information includes but is not limited to the driver's facial status and head status. Specifically, the electronic device 10 can obtain a status image including the driver's facial status and head status through the monitoring camera 50, and then identify the driver's eye status, sight direction, and head status based on the image recognition technology, and then judge whether the driver's input is a conscious behavior, and whether the driver has dangerous driving behaviors such as fatigue driving and inattention based on the driver's eye status, sight direction, and head status.

[0045] Step S11, determining an intelligent driving mode suitable for the driver according to the vehicle status information and the driver status information.

[0046] Specifically, step S11, the step of determining the intelligent driving mode suitable for the driver according to the status information of the vehicle 1 and the status information of the driver specifically includes: determining whether the driver is applying force to the steering wheel according to the torque value applied by the driver to the steering wheel; if the driver is applying force to the steering wheel, determining whether the driver is holding the steering wheel with both hands according to the capacitive sensing information, and determining whether the driver does not have a preset dangerous driving behavior according to the driver's status information; if the driver holds the steering wheel with both hands and does not have a dangerous driving behavior, determining whether the torque value applied by the driver to the steering wheel is greater than a preset first torque threshold; if the torque value applied by the driver to the steering wheel is greater than the first torque threshold, determining that the intelligent driving mode suitable for the driver is the preset first human-machine co-driving mode.

[0047] In some embodiments of the present application, the step of determining the intelligent driving mode applicable to the driver based on the status information of the vehicle 1 and the status information of the driver specifically also includes: if the driver is not applying force to the steering wheel, determining that the intelligent driving mode applicable to the driver is a preset non-human-machine co-driving mode.

[0048] In some embodiments of the present application, the step of determining an intelligent driving mode suitable for the driver based on the status information of the vehicle 1 and the status information of the driver specifically includes: if the torque value applied to the steering wheel by the driver is less than or equal to a first torque threshold, determining that the intelligent driving mode suitable for the driver is a preset non-human-machine co-driving mode.

[0049] In some embodiments of the present application, if the driver does not hold the steering wheel with both hands or the driver engages in dangerous driving behavior, the step of determining the intelligent driving mode applicable to the driver based on the status information of the vehicle 1 and the status information of the driver specifically also includes: determining whether the torque value applied to the steering wheel by the driver is greater than a preset second torque threshold; if the torque value applied to the steering wheel by the driver is greater than the preset second torque threshold, determining that the intelligent driving mode applicable to the driver is the preset second human-machine co-driving mode, wherein the second torque threshold is greater than the first torque threshold.

[0050] In some embodiments of the present application, if the driver does not hold the steering wheel with both hands or the driver engages in dangerous driving behavior, the step of determining the intelligent driving mode suitable for the driver based on the status information of the vehicle 1 and the status information of the driver specifically includes: if the torque value applied to the steering wheel by the driver is less than or equal to the second torque threshold, determining that the intelligent driving mode suitable for the driver is a preset non-human-machine co-driving mode.

[0051] In some embodiments of the present application, if the driver does not hold the steering wheel with both hands or the driver engages in dangerous driving behavior, the step of determining the intelligent driving mode applicable to the driver based on the status information of the vehicle 1 and the status information of the driver specifically also includes: determining whether the vehicle 1 is in a lane changing state based on the lane changing information; if the vehicle 1 is in a lane changing state, determining that the intelligent driving mode applicable to the driver is a preset third-party human-machine co-driving mode.

[0052] In some embodiments of the present application, if the driver does not hold the steering wheel with both hands or the driver engages in dangerous driving behavior, the step of determining the intelligent driving mode applicable to the driver based on the status information of the vehicle 1 and the status information of the driver specifically includes: if the vehicle 1 is not in a lane changing state, determining that the intelligent driving mode applicable to the driver is a preset non-human-machine co-driving mode.

[0053] It should be noted that how to determine the intelligent driving mode suitable for the driver based on the status information of the vehicle 1 and the status information of the driver will be described in the following. Figure 3 The steps shown are described in detail and will not be repeated here to avoid repetition.

[0054] Step S12, determining a steering control parameter of the vehicle according to the adjustment parameter corresponding to the intelligent driving mode and the state information of the vehicle, and adjusting the output torque of the steering motor of the vehicle based on the steering control parameter.

[0055] In some embodiments of the present application, the adjustment parameters include the steering torque coefficient Lim, the steering torque coefficient change rate Rate enter , and the steering torque coefficient recovery slope Rate recover .

[0056] Specifically, determining the steering control parameters of vehicle 1 according to the adjustment parameters corresponding to the intelligent driving mode and the status information of vehicle 1 includes: adjusting the adjustment parameters corresponding to the first human-machine co-driving mode or the second human-machine co-driving mode according to the driving speed of vehicle 1 and / or the torque value applied by the driver to the steering wheel to obtain the corresponding steering control parameters.

[0057] It should be noted that how to adjust the adjustment parameters corresponding to the first human-machine co-driving mode and the second human-machine co-driving mode according to the driving speed of the vehicle 1 and / or the torque value applied by the driver to the steering wheel, and obtain the steering control parameters in the subsequent Figure 3 The steps shown are described in detail and will not be repeated here to avoid repetition.

[0058] In the human-machine co-driving control method of the above embodiment, the intelligent driving mode suitable for the driver is determined according to the state information of the vehicle 1 and the state information of the driver, and then the steering control parameters of the vehicle 1 are determined according to the adjustment parameters corresponding to the intelligent driving mode and the state information of the vehicle 1, and the output torque of the steering motor 60 of the vehicle 1 is adjusted based on the steering control parameters. Based on this, the present application can dynamically adjust the steering control parameters according to the state information of the driver and the state information of the vehicle 1, and can optimize the human-machine co-driving experience while ensuring driving safety, thereby reducing the sense of confrontation between the driver and the auxiliary driving system, providing a smoother driving experience, and enhancing the driver's trust in the auxiliary driving function. The present application adjusts the intensity of steering assistance in combination with the driver's state information, improves the response speed and accuracy of the vehicle 1 to the driver's input, can identify and respond to the driver's unconscious steering operation, avoids lane departure and traffic accidents caused by driver distraction or fatigue, and improves driving safety.

[0059] See also Figure 3 , is a schematic diagram of the steps of a human-machine co-driving control method provided in another embodiment of the present application.

[0060] Step S20: If the vehicle has enabled the assisted driving function, the vehicle status information and the driver status information are obtained.

[0061] It should be noted that how to obtain the status information of the vehicle 1 and the status information of the driver is described in detail in step S10 of the above embodiment, and will not be described again here to avoid repetition.

[0062] Step S21, determining whether the driver is applying force to the steering wheel according to the torque value applied by the driver to the steering wheel.

[0063] Specifically, the torque sensor 30 collects the torque value applied by the driver on the steering wheel, and transmits the collected torque value in real time to the electronic device 10. The torque value reflects whether the driver is applying force to the steering wheel. When the torque value is greater than 0, it is determined that the driver is applying force to the steering wheel.

[0064] In some embodiments of the present application, if the driver is applying force to the steering wheel, step S22 is continued.

[0065] In some embodiments of the present application, if the driver is not applying force to the steering wheel, the human-machine co-driving mode should not be entered, and step S26 is executed.

[0066] Step S22, determining whether the driver holds the steering wheel with both hands according to the capacitive sensing information, and determining whether the driver does not have a preset dangerous driving behavior according to the driver's state information.

[0067] Specifically, the capacitive sensor 20 can be a multi-zone capacitive sensor. When the driver's hands touch the steering wheel, since the human body is conductive, they will change the electric field around the capacitive sensor 20, thereby changing the capacitance value of the capacitive sensor 20. When the driver's hands hold the steering wheel, the capacitive sensor 20 will detect a higher capacitance value; when the hands leave, the capacitance value will decrease. The capacitive sensor 20 collects capacitance sensing information in real time and transmits the collected capacitance sensing information to the electronic device 10. The electronic device 10 determines that the driver's hands are holding the steering wheel by analyzing the change in capacitance value in the capacitance sensing information. When the capacitance value is higher than or equal to a preset capacitance threshold, it is determined that the driver's hands are holding the steering wheel. When the capacitance value is less than the preset capacitance threshold, it is determined that the driver's hands are not holding the steering wheel.

[0068] In other embodiments, the interaction between the driver's hands and the steering wheel may be detected using Hands on Detection (HOD) technology.

[0069] Specifically, the monitoring camera 50 captures a status image including the driver's face and head in real time, and transmits the captured status image to the electronic device 10 in real time. The electronic device 10 obtains images of the driver's sight direction, facial expression and head posture by analyzing the status image to determine whether the driver has dangerous behaviors such as inattention and fatigue driving. For example, the driver's eyelid movement and head movement are analyzed to evaluate whether the driver's sight frequently deviates from the road, or whether the driver closes his eyes for a long time, to determine whether the driver has dangerous behaviors such as inattention and fatigue driving. For example, if the driver's sight frequently deviates from the road, or if the driver closes his eyes for a long time, this may be a sign of inattention or fatigue driving, and it is determined that the driver has dangerous driving behavior.

[0070] In some embodiments of the present application, if the driver holds the steering wheel with both hands and does not engage in dangerous driving behavior, step S23 and step S31 are continued to be executed, wherein step S23 and step S31 can be performed simultaneously.

[0071] In some embodiments of the present application, if the driver does not hold the steering wheel with both hands or the driver engages in dangerous driving behavior, step S28 is executed.

[0072] Step S23, determining whether the torque value applied by the driver to the steering wheel is greater than a preset first torque threshold.

[0073] In some embodiments of the present application, if the torque value Tq applied by the driver to the steering wheel is greater than the first torque threshold Tq value1 , continue to step S24.

[0074] In some embodiments of the present application, if the torque value Tq applied by the driver to the steering wheel is less than or equal to the first torque threshold value T qvalue1 , execute step S26.

[0075] Step S24, determining that the intelligent driving mode suitable for the driver is a preset first human-machine co-driving mode.

[0076] In some embodiments of the present application, the first human-machine co-driving mode focuses on a comfortable driving experience.

[0077] Step S25, determining the steering control parameters of the vehicle according to the adjustment parameters corresponding to the first human-machine co-driving mode and the state information of the vehicle, and adjusting the output torque of the steering motor of the vehicle based on the steering control parameters.

[0078] Specifically, combined Figure 4 As shown, the adjustment parameters corresponding to the first human-machine co-driving mode include at least the steering torque coefficient Lim1 and the steering torque coefficient change rate Rate enter1 , and the steering torque coefficient recovery slope Raterecover1 .

[0079] Specifically, the specific steps of determining the steering control parameters of vehicle 1 according to the adjustment parameters corresponding to the first human-machine co-driving mode and the state information of vehicle 1 include: adjusting the adjustment parameters corresponding to the first human-machine co-driving mode according to the driving speed of vehicle 1 and / or the torque value applied by the driver to the steering wheel to obtain the corresponding steering control parameters. For example, if the driving speed of vehicle 1 is lower than the preset first speed threshold, the steering torque coefficient Lim1 and the steering torque coefficient change rate Rate are reduced respectively. enter1 , and the steering torque coefficient recovery slope Rate recover1 , so that the driver enters the first human-machine co-driving mode and feels more comfortable; if the driving speed of vehicle 1 is higher than the preset second speed threshold, the steering torque coefficient Lim1 and the steering torque coefficient change rate Rate are increased respectively enter1 , and the steering torque coefficient recovery slope Rate recover1 , ensuring driving safety, wherein the second speed threshold is greater than the first speed threshold. If the change rate of the torque value Tq applied by the driver to the steering wheel is greater than the preset first change rate threshold, the steering torque coefficient Lim1 and the steering torque coefficient change rate Rate are reduced respectively. enter1 , and the steering torque coefficient recovery slope Rate recover1 , making it easier for the driver to take over the steering wheel and making it easier for the driver to intervene in order to deal with emergencies; if the change rate of the torque value Tq applied by the driver to the steering wheel is less than the preset second change rate threshold, the steering torque coefficient Lim1 and the steering torque coefficient change rate Rate are increased respectively. enter1 , and the steering torque coefficient recovery slope Rate recover1 , to avoid the vehicle 1 being pulled sideways unconsciously, and to enhance driving safety, wherein the preset second change rate threshold is less than the preset first change rate threshold. In addition, the greater the torque value Tq applied by the driver to the steering wheel, the greater the steering torque coefficient change rate Rate enter1 Should be smaller.

[0080] In the above embodiment, the steering torque of the vehicle 1 is adjusted by adjusting the adjustment parameters corresponding to the first human-machine co-driving mode, thereby reducing the sense of confrontation that may be generated by the auxiliary driving system when the driver consciously makes a steering input.

[0081] Step S26, determining that the intelligent driving mode suitable for the driver is a preset non-human-machine co-driving mode.

[0082] In some embodiments of the present application, the non-human-machine co-driving mode indicates that the vehicle 1 does not enter the human-machine co-driving mode.

[0083] Step S27, determining the steering control parameters of the vehicle according to the adjustment parameters corresponding to the non-human-machine co-driving mode and the state information of the vehicle, and adjusting the output torque of the steering motor of the vehicle based on the steering control parameters.

[0084] Specifically, combined Figure 4 As shown in FIG. 1 , the adjustment parameter corresponding to the non-human-machine co-driving mode is the steering torque coefficient Lim0=1.

[0085] In the above embodiment, the steering control parameters of vehicle 1 are determined based on the adjustment parameters corresponding to the non-human-machine co-driving mode and the status information of vehicle 1. This can prevent the assisted driving system from weakening the control over vehicle 1 when the driver does not apply force to the steering wheel or the torque value Tq applied by the driver to the steering wheel is small, thereby avoiding lane departure and traffic accidents caused by driver distraction or fatigue, and improving driving safety.

[0086] Step S28, determining whether the torque value applied by the driver to the steering wheel is greater than a preset second torque threshold.

[0087] Among them, the second torque threshold Tq value2 Greater than the first torque threshold Tq value1 .

[0088] In some embodiments of the present application, if the torque value Tq applied by the driver to the steering wheel is greater than the second torque threshold Tq value2 , continue to step S29.

[0089] In some embodiments of the present application, if the torque value Tq applied by the driver to the steering wheel is less than or equal to the second torque threshold value Tq value2 , execute step S26.

[0090] Step S29, determining that the intelligent driving mode suitable for the driver is a preset second human-machine co-driving mode.

[0091] In some embodiments of the present application, the second human-machine co-driving mode focuses on safety while taking into account comfort.

[0092] Step S30, determining the steering control parameters of the vehicle according to the adjustment parameters corresponding to the second human-machine co-driving mode and the state information of the vehicle, and adjusting the output torque of the steering motor of the vehicle based on the steering control parameters.

[0093] Specifically, the adjustment parameters corresponding to the second human-machine co-driving mode are the steering torque coefficient Lim2, the steering torque coefficient change rate Rate enter2 , and the steering torque coefficient recovery slope Rate recover2 , where Lim2 is greater than Lim1, Rate enter2 Greater than Rate enter1, Rate recover2 Greater than Rate recover1 .

[0094] In the above implementation, if the driver is in a state of lightly holding the steering wheel with one hand, or holding the steering wheel in a virtual manner, or is distracted, sleepy, and inattentive, the second torque threshold Tq is increased accordingly. value2 To determine whether the driver has consciously input the steering input, and then when it is determined that the driver has consciously input the steering input, the steering torque of vehicle 1 is adjusted by the adjustment parameters corresponding to the second human-machine co-driving mode. This can reduce the sense of confrontation of the assisted driving system while avoiding the driver's unconscious deviation from the direction, thereby improving driving safety. Step S31, determining whether the vehicle is in a lane change state according to the lane change information.

[0095] Specifically, the electronic device 10 determines whether the vehicle 1 is in a lane change state by judging the lane change information provided by the auxiliary driving system.

[0096] In some embodiments of the present application, if the vehicle 1 is in a lane change state, step S32 is continued.

[0097] In some embodiments of the present application, if the vehicle 1 is not in a lane change state, step S26 is executed.

[0098] Step S32, determining that the intelligent driving mode suitable for the driver is a preset third-person-machine co-driving mode.

[0099] Step S33, determining the steering control parameters of the vehicle according to the adjustment parameters corresponding to the third human-machine co-driving mode and the state information of the vehicle, and adjusting the output torque of the steering motor of the vehicle based on the steering control parameters.

[0100] Specifically, the adjustment parameters corresponding to the third human-machine co-driving mode are the steering torque coefficient Lim3, the steering torque coefficient change rate Rate enter3 , and the steering torque coefficient recovery slope Rate recover3 , where Lim3 is greater than Lim1, Rate enter3 Greater than Rate enter1 , Rate recover3 Greater than Rate recover1 .

[0101] In the above embodiment, when the driver consciously makes a steering input, the steering torque of the vehicle 1 is adjusted by adjusting the adjustment parameters corresponding to the third human-machine co-driving mode, thereby reducing the sense of confrontation that may be generated by the auxiliary driving system when the driver consciously makes a steering input.

[0102] See also Figure 5, is a schematic diagram of the functional modules of a human-machine co-driving control device 100 provided in one embodiment of the present application.

[0103] In this embodiment, based on the above Figure 2 The present application also provides a human-machine co-driving control device 100 with the same concept as the human-machine co-driving control method in the illustrated embodiment, which can be used to execute the above-mentioned human-machine co-driving control method. For ease of explanation, the composition diagram of the embodiment of the human-machine co-driving control device 100 only shows the parts related to the embodiment of the present application. Those skilled in the art can understand that the illustrated structure does not constitute a limitation on the human-machine co-driving control device 100, which can include more or fewer components than shown in the diagram, or combine certain components, or arrange the components differently.

[0104] Specifically, the human-machine co-driving control device 100 provided in the embodiment of the present application includes an acquisition module 110 , a determination module 120 , and a control module 130 .

[0105] The acquisition module 110 is used to acquire the status information of the vehicle 1 and the status information of the driver if the vehicle 1 enables the assisted driving function.

[0106] In some embodiments of the present application, the status information of the vehicle 1 includes but is not limited to the torque value applied by the driver to the steering wheel, the capacitive sensing information on the steering wheel of the vehicle 1, the driving speed of the vehicle 1, and the lane change information of the vehicle 1 during the assisted driving process. Specifically, the electronic device 10 can obtain the torque value applied by the driver to the steering wheel through the torque sensor 30, obtain the capacitive sensing information on the steering wheel through the capacitive sensor 20, obtain the driving speed of the vehicle 1 through the vehicle speed sensor 40, and obtain the lane change information of the vehicle 1 through the assisted driving system.

[0107] In some embodiments of the present application, the driver's status information includes but is not limited to the driver's facial status and head status. Specifically, the electronic device 10 can obtain a status image including the driver's facial status and head status through the monitoring camera 50, and then identify the driver's eye status, sight direction, and head status based on the image recognition technology, and then judge whether the driver's input is a conscious behavior, and whether the driver has dangerous driving behaviors such as fatigue driving and inattention based on the driver's eye status, sight direction, and head status.

[0108] The determination module 120 is used to determine an intelligent driving mode suitable for the driver according to the status information of the vehicle 1 and the status information of the driver.

[0109] Specifically, the step of determining the intelligent driving mode suitable for the driver based on the status information of the vehicle 1 and the status information of the driver specifically includes: determining whether the driver is applying force to the steering wheel based on the torque value applied by the driver to the steering wheel; if the driver is applying force to the steering wheel, determining whether the driver is holding the steering wheel with both hands based on the capacitive sensing information, and determining whether the driver does not have a preset dangerous driving behavior based on the driver's status information; if the driver holds the steering wheel with both hands and does not have a dangerous driving behavior, determining whether the torque value applied by the driver to the steering wheel is greater than a preset first torque threshold; if the torque value applied by the driver to the steering wheel is greater than the first torque threshold, determining that the intelligent driving mode suitable for the driver is the preset first human-machine co-driving mode.

[0110] In some embodiments of the present application, the step of determining the intelligent driving mode applicable to the driver based on the status information of the vehicle 1 and the status information of the driver specifically also includes: if the driver is not applying force to the steering wheel, determining that the intelligent driving mode applicable to the driver is a preset non-human-machine co-driving mode.

[0111] In some embodiments of the present application, the step of determining an intelligent driving mode suitable for the driver based on the status information of the vehicle 1 and the status information of the driver specifically includes: if the torque value applied to the steering wheel by the driver is less than or equal to a first torque threshold, determining that the intelligent driving mode suitable for the driver is a preset non-human-machine co-driving mode.

[0112] In some embodiments of the present application, if the driver does not hold the steering wheel with both hands or the driver engages in dangerous driving behavior, the step of determining the intelligent driving mode applicable to the driver based on the status information of the vehicle 1 and the status information of the driver specifically also includes: determining whether the torque value applied to the steering wheel by the driver is greater than a preset second torque threshold; if the torque value applied to the steering wheel by the driver is greater than the preset second torque threshold, determining that the intelligent driving mode applicable to the driver is the preset second human-machine co-driving mode, wherein the second torque threshold is greater than the first torque threshold.

[0113] In some embodiments of the present application, if the driver does not hold the steering wheel with both hands or the driver engages in dangerous driving behavior, the step of determining the intelligent driving mode suitable for the driver based on the status information of the vehicle 1 and the status information of the driver specifically includes: if the torque value applied to the steering wheel by the driver is less than or equal to the second torque threshold, determining that the intelligent driving mode suitable for the driver is a preset non-human-machine co-driving mode.

[0114] In some embodiments of the present application, if the driver does not hold the steering wheel with both hands or the driver engages in dangerous driving behavior, the step of determining the intelligent driving mode applicable to the driver based on the status information of the vehicle 1 and the status information of the driver specifically also includes: determining whether the vehicle 1 is in a lane changing state based on the lane changing information; if the vehicle 1 is in a lane changing state, determining that the intelligent driving mode applicable to the driver is a preset third-party human-machine co-driving mode.

[0115] In some embodiments of the present application, if the driver does not hold the steering wheel with both hands or the driver engages in dangerous driving behavior, the step of determining the intelligent driving mode applicable to the driver based on the status information of the vehicle 1 and the status information of the driver specifically includes: if the vehicle 1 is not in a lane changing state, determining that the intelligent driving mode applicable to the driver is a preset non-human-machine co-driving mode.

[0116] The control module 130 is used to determine the steering control parameters of the vehicle 1 according to the adjustment parameters corresponding to the intelligent driving mode and the state information of the vehicle 1, and adjust the output torque of the steering motor 60 of the vehicle 1 based on the steering control parameters.

[0117] In some embodiments of the present application, the adjustment parameters include the steering torque coefficient Lim, the steering torque coefficient change rate Rate enter , and the steering torque coefficient recovery slope Rate recover .

[0118] Specifically, determining the steering control parameters of vehicle 1 according to the adjustment parameters corresponding to the intelligent driving mode and the status information of vehicle 1 includes: adjusting the adjustment parameters corresponding to the first human-machine co-driving mode or the second human-machine co-driving mode according to the driving speed of vehicle 1 and / or the torque value applied by the driver to the steering wheel to obtain the corresponding steering control parameters.

[0119] In the human-machine co-driving control device 100 of the above-mentioned embodiment, the intelligent driving mode suitable for the driver is determined according to the state information of the vehicle 1 and the state information of the driver, and then the steering control parameters of the vehicle 1 are determined according to the adjustment parameters corresponding to the intelligent driving mode and the state information of the vehicle 1, and the output torque of the steering motor 60 of the vehicle 1 is adjusted based on the steering control parameters. Based on this, the present application can dynamically adjust the steering control parameters according to the state information of the driver and the state information of the vehicle 1, and can optimize the human-machine co-driving experience while ensuring driving safety, thereby reducing the sense of confrontation between the driver and the auxiliary driving system, providing a smoother driving experience, and enhancing the driver's trust in the auxiliary driving function. The present application adjusts the intensity of steering assistance in combination with the driver's state information, improves the response speed and accuracy of the vehicle 1 to the driver's input, can identify and respond to the driver's unconscious steering operation, avoids lane departure and traffic accidents caused by driver distraction or fatigue, and improves driving safety.

[0120] Combination Figure 1 As shown, in some embodiments of the present application, the electronic device 10 includes, but is not limited to, a memory 11, a processor 12, and a computer program stored in the memory 11 and executable on the processor 12, such as a human-machine co-driving control program. When the computer program is executed by the processor, a human-machine co-driving control method as in the above-mentioned embodiment is implemented.

[0121] Figure 1 Only the electronic device 10 having the memory 11 and the processor 12 is shown, and those skilled in the art can understand that Figure 1 The structure shown does not constitute a limitation on the electronic device 10 , and the electronic device 10 may include fewer or more components than shown in the figure, or combine some components, or arrange the components differently.

[0122] The memory 11 in the electronic device 10 stores multiple computer-readable instructions to implement a human-machine co-driving control method, and the processor 12 can execute multiple instructions to achieve: determining the user's personality type based on the user's comprehensive data; determining the content to be recommended from a preset content database based on the personality type; and recommending the content to be recommended to the user in the form of voice.

[0123] Specifically, the specific implementation method of the processor 12 for the above instructions can refer to Figure 2 The description of the relevant steps in the corresponding embodiments will not be repeated here.

[0124] Those skilled in the art will appreciate that the schematic diagram is merely an example of the electronic device 10 and does not constitute a limitation on the electronic device 10. The electronic device 10 may be a bus-type structure or a star-type structure. The electronic device 10 may also include more or less other hardware or software than shown in the figure, or a different arrangement of components. For example, the electronic device 10 may also include input and output devices, network access devices, etc.

[0125] It should be noted that the electronic device 10 is only an example, and other existing or future electronic products that are suitable for the present application should also be included in the protection scope of the present application and included here by reference.

[0126] Among them, the memory 11 includes at least one type of computer-readable storage medium, and the computer-readable storage medium can be non-volatile or volatile. Computer-readable storage media include flash memory, mobile hard disk, multimedia card, card-type memory (such as SD memory, DX memory, etc.), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 11 can be an internal storage unit of the electronic device 10, such as a mobile hard disk of the electronic device 10. In other embodiments, the memory 11 can also be an external storage device of the electronic device 10, such as a plug-in mobile hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 10. The memory 11 can not only be used to store application software and various types of data installed in the electronic device 10, such as a code of a human-machine co-driving control program, but also can be used to temporarily store data that has been output or is to be output.

[0127] In some embodiments, the processor 12 may be composed of an integrated circuit, for example, a single packaged integrated circuit, or a plurality of packaged integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and a combination of various control chips. The processor 12 is the control core (Control Unit) of the electronic device 10, and uses various interfaces and lines to connect the various components of the entire electronic device 10, and executes or executes programs or modules stored in the memory 11 (for example, executes a human-machine co-driving control program, etc.), and calls the data stored in the memory 11 to execute various functions of the electronic device 10 and process data.

[0128] The processor 12 executes the operating system of the electronic device 10 and various installed applications. The processor 12 executes the application to implement the steps in each of the above-mentioned human-machine co-driving control method embodiments, for example Figure 2 , Figure 3 Steps shown.

[0129] Exemplarily, the computer program may be divided into one or more modules / units, one or more modules / units are stored in the memory 11, and are executed by the processor 12 to complete the present application. One or more modules / units may be a series of computer-readable instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program in the electronic device 10. For example, the computer program may be divided into an acquisition module 110, a determination module 120, and a control module 130.

[0130] The above-mentioned integrated unit implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a computer device or a network device, etc.) or a processor to execute a part of a human-machine co-driving control method of each embodiment of the present application.

[0131] If the module / unit integrated in the electronic device 10 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also instruct the relevant hardware devices to complete through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, the steps of each of the above-mentioned method embodiments can be implemented.

[0132] The computer program includes computer program code, which may be in source code form, object code form, executable file or some intermediate form, etc. Computer readable media may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory and other memory, etc.

[0133] Furthermore, the computer-readable storage medium may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created according to the use of the blockchain node, etc.

[0134] The bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. Figure 1 Only one arrow is used in the figure, but it does not mean that there is only one bus or one type of bus. The bus is configured to realize the connection and communication between the memory 11 and at least one processor 12, etc.

[0135] An embodiment of the present application also provides a computer-readable storage medium (not shown), in which computer-readable storage medium is stored computer-readable instructions, and the computer-readable instructions are executed by a processor in an electronic device to implement a human-machine co-driving control method of any of the above embodiments.

[0136] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules is only a logical function division, and there may be other division methods in actual implementation.

[0137] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0138] In addition, each functional module in each embodiment of the present application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0139] In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the specification can also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any specific order.

[0140] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person of ordinary skill in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A human-machine co-driving control method, characterized in that: The method comprises: If the vehicle has an assisted driving function enabled, obtain the vehicle status information and the driver status information; Determining an intelligent driving mode suitable for the driver according to the state information of the vehicle and the state information of the driver; The steering control parameters of the vehicle are determined according to the adjustment parameters corresponding to the intelligent driving mode and the state information of the vehicle, and the output torque of the steering motor of the vehicle is adjusted based on the steering control parameters.

2. The human-machine co-driving control method according to claim 1, characterized in that: The state information of the vehicle includes a torque value applied by the driver to the steering wheel and capacitive sensing information on the steering wheel of the vehicle, and determining the intelligent driving mode suitable for the driver according to the state information of the vehicle and the state information of the driver includes: determining whether the driver is applying force to the steering wheel according to the torque value applied by the driver to the steering wheel; If the driver is applying force to the steering wheel, determining whether the driver is holding the steering wheel with both hands according to the capacitive sensing information, and determining whether the driver does not have a preset dangerous driving behavior according to the driver's state information; If the driver holds the steering wheel with both hands and does not engage in the dangerous driving behavior, determining whether the torque value applied by the driver to the steering wheel is greater than a preset first torque threshold; If the torque value applied by the driver to the steering wheel is greater than the first torque threshold, it is determined that the intelligent driving mode applicable to the driver is a preset first human-machine co-driving mode.

3. The human-machine co-driving control method according to claim 2, characterized in that: The step of determining the intelligent driving mode suitable for the driver according to the state information of the vehicle and the state information of the driver further includes: If the driver is not applying force to the steering wheel, it is determined that the intelligent driving mode applicable to the driver is a preset non-human-machine co-driving mode.

4. The human-machine co-driving control method according to claim 2, characterized in that: The determining of the intelligent driving mode suitable for the driver according to the state information of the vehicle and the state information of the driver further includes: If the torque value applied by the driver to the steering wheel is less than or equal to the first torque threshold, it is determined that the intelligent driving mode applicable to the driver is a preset non-human-machine co-driving mode.

5. The human-machine co-driving control method according to claim 2, characterized in that: If the driver does not hold the steering wheel with both hands or the driver has the dangerous driving behavior, the determining of the intelligent driving mode suitable for the driver according to the vehicle status information and the driver status information further includes: Determining whether the torque value applied by the driver to the steering wheel is greater than a preset second torque threshold; If the torque value applied by the driver to the steering wheel is greater than a preset second torque threshold, it is determined that the intelligent driving mode applicable to the driver is a preset second human-machine co-driving mode, wherein the second torque threshold is greater than the first torque threshold.

6. The human-machine co-driving control method according to claim 5, characterized in that: If the driver does not hold the steering wheel with both hands or the driver has the dangerous driving behavior, the determining of the intelligent driving mode suitable for the driver according to the vehicle status information and the driver status information further includes: If the torque value applied by the driver to the steering wheel is less than or equal to the second torque threshold, it is determined that the intelligent driving mode applicable to the driver is a preset non-human-machine co-driving mode.

7. The human-machine co-driving control method according to claim 5, characterized in that: The state information of the vehicle also includes the driving speed of the vehicle, and determining the steering control parameter of the vehicle according to the adjustment parameter corresponding to the intelligent driving mode and the state information of the vehicle includes: Adjust the adjustment parameters corresponding to the first human-machine co-driving mode or the second human-machine co-driving mode according to the driving speed of the vehicle and / or the torque value applied by the driver to the steering wheel to obtain corresponding steering control parameters.

8. The human-machine co-driving control method according to claim 2, characterized in that: The vehicle status information also includes lane change information. If the driver holds the steering wheel with both hands and does not engage in the dangerous driving behavior, determining the intelligent driving mode applicable to the driver based on the vehicle status information and the driver status information also includes: determining whether the vehicle is in a lane changing state according to the lane changing information; If the vehicle is in the lane change state, it is determined that the intelligent driving mode suitable for the driver is a preset third-person-machine co-driving mode.

9. The human-machine co-driving control method according to claim 8, characterized in that: If the driver holds the steering wheel with both hands and does not engage in the dangerous driving behavior, determining the intelligent driving mode suitable for the driver according to the vehicle status information and the driver status information further includes: If the vehicle is not in the lane change state, determine that the intelligent driving mode applicable to the driver is a preset non-human-machine co-driving mode.

10. The human-machine co-driving control method according to claim 1, characterized in that: The adjustment parameters include a steering torque coefficient, a steering torque coefficient change rate, and a steering torque coefficient recovery slope.

11. A human-machine co-driving control device, characterized in that: The device comprises: An acquisition module, used to acquire the vehicle status information and the driver status information if the vehicle enables the assisted driving function; A determination module, configured to determine an intelligent driving mode suitable for the driver according to the state information of the vehicle and the state information of the driver; A control module is used to determine a steering control parameter of the vehicle according to the adjustment parameter corresponding to the intelligent driving mode and the state information of the vehicle, and adjust the output torque of the steering motor of the vehicle based on the steering control parameter.

12. An electronic device, characterized in that: The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the human-machine co-driving control method as described in any one of claims 1 to 10 is implemented.

13. A vehicle, characterized in that: The vehicle includes the electronic device as claimed in claim 12.

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