Driving mode switching method and device, equipment and storage medium

Abstract

The invention discloses a driving mode switching method, and the method comprises the steps: obtaining vehicle speed information and vehicle acceleration information at a current moment in response to an automatic driving activation instruction of a driver; performing speed prediction based on the vehicle speed information and the vehicle acceleration information to obtain target speed information; obtaining vehicle system error information, wherein the vehicle system error information is determined based on historical vehicle speed information and historical instrument speed information corresponding to the historical vehicle speed information; performing speed correction on the vehicle speed information based on the target speed information and the vehicle system error information to obtain a vehicle correction speed; and controlling the vehicle to be switched to an automatic driving mode according to the vehicle correction speed. The vehicle speed control logic at the moment of activation of the automatic driving system is optimized, smooth transition from manual driving to automatic driving is achieved, and the problem of vehicle longitudinal control jittering in the take-over process of the automatic driving system is solved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a method, device, equipment and storage medium for switching driving modes. Background Art

[0002] In the field of autonomous driving, the driver can activate the autonomous driving system in the ODD (Operational Design Domain) area, and the system controls the lateral and longitudinal actuators of the vehicle to assist the driver in achieving safe driving, which has gradually become a hot topic in industry research. However, the vehicle is prone to jitters during the takeover process of the autonomous driving system, resulting in a poor actual driving experience.

[0003] In the prior art, during the takeover process of the automatic driving system, the vehicle is usually subjected to dynamic compensation processing based on a smoothing model. Due to the weak predictability of the takeover process, there is a problem of longitudinal control jitter of the vehicle. Therefore, how to solve the longitudinal control jitter of the vehicle during the takeover process of the automatic driving system has become an urgent problem to be solved. Summary of the invention

[0004] In order to solve the problems of the prior art, the present application provides a driving mode switching method, device, equipment and storage medium. By optimizing the vehicle speed control logic at the moment the automatic driving system is activated, a smooth transition from manual driving to automatic driving is achieved, solving the problem of vehicle longitudinal control jitter during the process of the automatic driving system taking over.

[0005] According to one aspect of the present application, a method for switching a driving mode is provided, the method comprising:

[0006] In response to the driver's automatic driving activation instruction, obtaining vehicle speed information and vehicle acceleration information at the current moment;

[0007] Performing speed prediction based on the vehicle speed information and the vehicle acceleration information to obtain target speed information;

[0008] Acquiring vehicle system error information, wherein the vehicle system error information is determined based on historical vehicle speed information and historical instrument speed information corresponding to the historical vehicle speed information;

[0009] Performing speed correction on the vehicle speed information based on the target speed information and the vehicle system error information to obtain a vehicle correction speed;

[0010] The vehicle is controlled to switch to the automatic driving mode according to the vehicle correction speed.

[0011] In a possible implementation, the performing speed prediction based on the vehicle speed information and the vehicle acceleration information to obtain the target speed information includes:

[0012] Get the preset target time;

[0013] Performing integration processing based on the vehicle acceleration information and the preset target time to obtain a predicted speed increment;

[0014] The sum of the vehicle speed information and the predicted speed increment is calculated to obtain the target speed information.

[0015] In a possible implementation, the historical vehicle speed information is the vehicle speed of the vehicle at a historical moment, and the historical instrument speed information is the instrument speed value of the vehicle at a historical moment.

[0016] The method for determining vehicle system error information comprises:

[0017] Obtaining the vehicle speed and the instrument speed value of the vehicle at a historical moment;

[0018] The difference between the vehicle speed and the instrument speed value is calculated to obtain the vehicle system error information.

[0019] In one possible implementation, the vehicle's autonomous driving controller includes a speed control loop,

[0020] The performing speed correction on the vehicle speed information based on the target speed information and the vehicle system error information to obtain a vehicle corrected speed includes:

[0021] Inputting the target speed information and the vehicle system error information into the speed control loop to calculate the control amount to obtain the current predicted control amount;

[0022] The vehicle speed information is corrected based on the current predicted control amount to obtain the vehicle corrected speed.

[0023] In a possible implementation, after obtaining the vehicle corrected speed, the method further includes:

[0024] Perform matching analysis based on the vehicle correction speed and the target speed information to obtain a matching analysis result;

[0025] When the matching analysis result indicates that the vehicle correction speed matches the target speed information, determining that the vehicle correction speed satisfies a preset takeover condition; the preset takeover condition indicates that the automatic driving controller takes over the vehicle;

[0026] In a case where the matching analysis result indicates that the vehicle correction speed does not match the target speed information, feedback control is performed based on the vehicle correction speed.

[0027] In a possible implementation, the autonomous driving controller further includes a feedback control loop,

[0028] The feedback control based on the vehicle correction speed includes:

[0029] Calculate the speed deviation based on the vehicle correction speed and the target speed information to obtain a speed deviation value;

[0030] The speed deviation value is input into the feedback control loop for compensation calculation to obtain an acceleration compensation value; the feedback control loop is constructed based on a proportional-integral-differential controller;

[0031] After performing feedback control on the vehicle for a preset control time based on the acceleration compensation value, obtaining vehicle speed information after feedback control;

[0032] Reusing the vehicle speed information after feedback control as the intermediate speed information;

[0033] Accordingly, the matching analysis is performed based on the vehicle correction speed and the target speed information to obtain a matching analysis result, including:

[0034] A matching analysis is performed based on the retrieved intermediate speed information and the target speed information to obtain the matching analysis result.

[0035] In a possible implementation, controlling the vehicle to switch to the automatic driving mode according to the vehicle correction speed includes:

[0036] When it is determined that the vehicle correction speed meets the preset takeover condition, the vehicle is controlled to switch to the automatic driving mode according to the vehicle correction speed.

[0037] On the other hand, a driving mode switching device is provided, the device comprising:

[0038] A command response module, used to respond to the driver's automatic driving activation command and obtain the vehicle speed information and vehicle acceleration information at the current moment;

[0039] A target speed prediction module, used to perform speed prediction based on the vehicle speed information and the vehicle acceleration information to obtain target speed information;

[0040] An error information acquisition module, used to acquire vehicle system error information, wherein the vehicle system error information is determined based on historical vehicle speed information and historical instrument speed information corresponding to the historical vehicle speed information;

[0041] A speed correction module, used for performing speed correction on the vehicle speed information based on the target speed information and the vehicle system error information to obtain a vehicle corrected speed;

[0042] The vehicle control module is used to control the vehicle to switch to the automatic driving mode according to the vehicle correction speed.

[0043] In a possible implementation, the target speed prediction module is used to:

[0044] Get the preset target time;

[0045] Performing integration processing based on the vehicle acceleration information and the preset target time to obtain a predicted speed increment;

[0046] The sum of the vehicle speed information and the predicted speed increment is calculated to obtain the target speed information.

[0047] In a possible implementation, the historical vehicle speed information is the vehicle speed of the vehicle at a historical moment, the historical instrument speed information is the instrument speed value of the vehicle at a historical moment, and the device further includes a system error determination module, the system error determination module is used to:

[0048] Obtaining the vehicle speed and the instrument speed value of the vehicle at a historical moment;

[0049] The difference between the vehicle speed and the instrument speed value is calculated to obtain the vehicle system error information.

[0050] In a possible implementation, the automatic driving controller of the vehicle includes a speed control loop, and the speed correction module is used to:

[0051] Inputting the target speed information and the vehicle system error information into the speed control loop to calculate the control amount to obtain the current predicted control amount;

[0052] The vehicle speed information is corrected based on the current predicted control amount to obtain the vehicle corrected speed.

[0053] In a possible implementation, the device further includes a matching analysis module, and after obtaining the vehicle corrected speed, the matching analysis module is used to:

[0054] Perform matching analysis based on the vehicle correction speed and the target speed information to obtain a matching analysis result;

[0055] When the matching analysis result indicates that the vehicle correction speed matches the target speed information, determining that the vehicle correction speed satisfies a preset takeover condition; the preset takeover condition indicates that the automatic driving controller takes over the vehicle;

[0056] In a case where the matching analysis result indicates that the vehicle correction speed does not match the target speed information, feedback control is performed based on the vehicle correction speed.

[0057] In a possible implementation, the autonomous driving controller further includes a feedback control loop, and the matching analysis module includes a feedback control unit, and the feedback control unit is used to:

[0058] Calculate the speed deviation based on the vehicle correction speed and the target speed information to obtain a speed deviation value;

[0059] The speed deviation value is input into the feedback control loop for compensation calculation to obtain an acceleration compensation value; the feedback control loop is constructed based on a proportional-integral-differential controller;

[0060] After performing feedback control on the vehicle for a preset control time based on the acceleration compensation value, obtaining vehicle speed information after feedback control;

[0061] Reusing the vehicle speed information after feedback control as the intermediate speed information;

[0062] Accordingly, the matching analysis module is also used for:

[0063] A matching analysis is performed based on the retrieved intermediate speed information and the target speed information to obtain the matching analysis result.

[0064] In a possible implementation, the vehicle control module is used to:

[0065] When it is determined that the vehicle correction speed meets the preset takeover condition, the vehicle is controlled to switch to the automatic driving mode according to the vehicle correction speed.

[0066] On the other hand, an electronic device is provided, comprising a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the driving mode switching method of any of the above aspects.

[0067] On the other hand, a computer-readable storage medium is provided, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded and executed by a processor to implement a method for switching driving modes as described in any of the above aspects.

[0068] On the other hand, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device performs the driving mode switching method of any of the above aspects.

[0069] The embodiment of the present application obtains the vehicle speed information and vehicle acceleration information at the current moment by responding to the driver's automatic driving activation command; performs speed prediction based on the vehicle speed information and the vehicle acceleration information to obtain the target speed information; obtains the vehicle system error information, which is determined based on the historical vehicle speed information and the historical instrument speed information corresponding to the historical vehicle speed information; performs speed correction on the vehicle speed information based on the target speed information and the vehicle system error information to obtain the vehicle correction speed; and controls the vehicle to switch to the automatic driving mode according to the vehicle correction speed. By optimizing the vehicle speed control logic at the moment of activation of the automatic driving system, a smooth transition from manual driving to automatic driving is achieved, solving the problem of vehicle longitudinal control jitter during the process of the automatic driving system taking over. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0071] Figure 1 is a flow chart of a method for switching a driving mode provided in an embodiment of the present application;

[0072] Figure 2 It is a flowchart of a method for determining target speed information provided by an embodiment of the present application;

[0073] Figure 3 is a flowchart of a vehicle control method provided by an embodiment of the present application;

[0074] Figure 4 It is a flow chart of a feedback control method provided in an embodiment of the present application;

[0075] Figure 5 is another flow chart of controlling a vehicle provided in an embodiment of the present application;

[0076] Figure 6It is a structural block diagram of a driving mode switching device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0077] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0078] In the function settings of autonomous vehicles, drivers can activate the autonomous driving system within the ODD area. The system controls the vehicle's lateral and longitudinal actuators to assist the driver in achieving safe driving and reduce driving fatigue, which has gradually become a hot topic in industry research.

[0079] The autonomous driving controller acts as the brain to realize the fusion processing of environmental perception information and vehicle driving data, and makes decisions to control the vehicle's driving behavior to enhance the autonomous driving experience with a comfortable control strategy. At the current stage, autonomous driving can be overtaken by the driver after activation, and the driver's manual driving mode can also be changed to autonomous driving mode. Due to the poor predictability of the autonomous driving system's takeover process, the vehicle may jerk and shake, resulting in a poor actual driving experience. This solution can effectively solve the problem of longitudinal control shaking of the vehicle after the driver activates autonomous driving.

[0080] The present application provides a method for switching driving modes, which optimizes the vehicle speed control logic at the moment when the automatic driving system is activated, so as to achieve a smooth transition from manual driving to automatic driving. Figure 1 The driving mode switching method includes steps S101 to S109.

[0081] In step S101, in response to the driver's automatic driving activation instruction, the vehicle speed information and vehicle acceleration information at the current moment are obtained.

[0082] In one possible implementation, when the vehicle is operating in the ODD area, the driver sends the autonomous driving activation command to the vehicle, so that the vehicle's autonomous driving system is activated. ODD (Operational Design Domain) is the operating conditions specifically designed for a specific driving automation system or its functions, including but not limited to environmental, geographical and time constraints, and / or the presence or absence of certain traffic or road features.

[0083] In one possible implementation, the vehicle includes an automatic driving controller, which is used to realize the fusion processing of environmental perception information and vehicle driving data to control the driving behavior of the vehicle.

[0084] In a possible implementation, after receiving the automatic driving activation instruction, the automatic driving controller turns on the switch of the automatic driving mode, and obtains the vehicle speed information and the vehicle acceleration information at the moment of turning on the switch.

[0085] In a possible implementation, the vehicle further includes a vehicle speed measurement unit and an inertial measurement unit, and performs speed detection based on the vehicle speed measurement unit to obtain the vehicle speed information; and performs acceleration detection based on the inertial measurement unit to obtain the vehicle acceleration information.

[0086] In a possible implementation, the vehicle speed measurement unit is an ABS (Antilock Brake System) speed sensor of the vehicle chassis, and the vehicle speed information is a real-time vehicle speed measured by the ABS speed sensor.

[0087] In a possible implementation, the inertial measurement unit is an IMU (Inertial Measurement Unit) module of the vehicle, and the vehicle acceleration information is a vehicle acceleration and deceleration signal detected and emitted by the IMU module.

[0088] In step S103, speed prediction is performed based on the vehicle speed information and the vehicle acceleration information to obtain target speed information.

[0089] In a possible implementation, the performing speed prediction based on the vehicle speed information and the vehicle acceleration information to obtain the target speed information includes:

[0090] Get the preset target time;

[0091] Performing integration processing based on the vehicle acceleration information and the preset target time to obtain a predicted speed increment;

[0092] The sum of the vehicle speed information and the predicted speed increment is calculated to obtain the target speed information.

[0093] In one possible implementation, Figure 2 As shown, the method for determining the target speed information includes steps S201 to S205.

[0094] In step S201, a preset target time is obtained.

[0095] In step S203, integration processing is performed based on the vehicle acceleration information and the preset target time to obtain a predicted speed increment.

[0096] In step S205, the sum of the vehicle speed information and the predicted speed increment is calculated to obtain the target speed information.

[0097] In a possible implementation, the preset target time is set based on laboratory data, so that the vehicle switches to the automatic driving mode after the preset target time. Specifically, the preset target time may be 3 seconds.

[0098] In a possible implementation, prediction processing is performed based on the vehicle speed information and the vehicle acceleration information at the moment when the driver switches from the manual driving mode to the automatic driving mode, and the target speed information after the preset target time is predicted:

[0099] v T =v i +∫adt

[0100] v T The target speed information set when the autonomous driving system is activated (i.e. the predicted target vehicle speed after the preset target time).

[0101] v i is the vehicle speed at the moment when the manual driving mode is switched to the automatic driving mode, that is, the vehicle speed information,

[0102] a is the acceleration of the vehicle at the moment the driver requests the automatic driving system to be activated, that is, the vehicle acceleration information.

[0103] In this implementation, speed prediction is performed based on the vehicle speed information and the vehicle acceleration information at the moment the automatic driving system is activated to obtain target speed information. The target speed for takeover is predicted according to the current driving state of the vehicle. This can adapt to taking over vehicles in different driving states, thereby improving the smoothness of the process of taking over vehicles in different driving states.

[0104] In step S105, vehicle system error information is obtained, where the vehicle system error information is determined based on historical vehicle speed information and historical instrument speed information corresponding to the historical vehicle speed information.

[0105] In a possible implementation, the historical vehicle speed information is the vehicle speed of the vehicle at a historical moment, and the historical instrument speed information is the instrument speed value of the vehicle at a historical moment.

[0106] The method for determining vehicle system error information comprises:

[0107] Obtaining the vehicle speed and the instrument speed value of the vehicle at a historical moment;

[0108] The difference between the vehicle speed and the instrument speed value is calculated to obtain the vehicle system error information.

[0109] In one possible implementation, before switching from the manual driving mode to the automatic driving mode, the automatic driving controller obtains the vehicle performance error ΔV (the error between the absolute vehicle speed of the Ground Truth Speed ​​and the instrument speed when the vehicle reaches a steady state) based on historical data.

[0110] In a possible implementation, the vehicle system error information is a vehicle performance error ΔV.

[0111] In a possible implementation, the vehicle speed of the vehicle at a historical moment is measured by a truth value system installed on the vehicle during a historical data collection process.

[0112] In one possible implementation, the truth system is a device for collecting absolute vehicle speed.

[0113] In a possible implementation, the difference between the instrument vehicle speed at a historical moment and the vehicle speed collected by the true value system is the vehicle system error information.

[0114] In a possible implementation, the vehicle system error information may be determined based on multiple sets of true value speeds and instrument speeds by collecting the vehicle speed and the instrument speed values ​​of the vehicle at historical moments for multiple times.

[0115] In this implementation, the vehicle system error information is determined based on historical vehicle speed information and historical instrument speed information corresponding to the historical vehicle speed information, thereby improving the accuracy of the vehicle system error information and facilitating subsequent correction processing of the current vehicle speed information based on the vehicle system error information, thereby further improving the smoothness of switching from manual driving to automatic driving.

[0116] In step S107, the vehicle speed information is corrected based on the target speed information and the vehicle system error information to obtain a corrected vehicle speed.

[0117] In one possible implementation, the vehicle's autonomous driving controller includes a speed control loop,

[0118] The performing speed correction on the vehicle speed information based on the target speed information and the vehicle system error information to obtain a vehicle corrected speed includes:

[0119] Inputting the target speed information and the vehicle system error information into the speed control loop to calculate the control amount to obtain the current predicted control amount;

[0120] The vehicle speed information is corrected based on the current predicted control amount to obtain the vehicle corrected speed.

[0121] In one possible implementation, Figure 3 As shown, the target speed information and the vehicle system error information are input into the speed control loop, the current predicted control amount is output, the vehicle speed information is corrected based on the current predicted control amount to obtain the vehicle corrected speed, and the vehicle is controlled based on the vehicle corrected speed.

[0122] In a possible implementation, when switching from a manual driving mode to an automatic driving mode, v T =v i +∫adt is used as the target speed information, and ΔV is used as the vehicle system error information of feedforward control for compensation.

[0123] In this implementation, the target speed information is used as the target vehicle speed control, and the vehicle system error information is used as the steady-state error of the feedforward control for compensation. The vehicle speed information is corrected to obtain the vehicle correction speed, thereby improving the smoothness of the speed change during the takeover process and reducing the longitudinal shake of the vehicle caused by uneven speed changes.

[0124] In a possible implementation, after obtaining the vehicle corrected speed, the method further includes:

[0125] Perform matching analysis based on the vehicle correction speed and the target speed information to obtain a matching analysis result;

[0126] When the matching analysis result indicates that the vehicle correction speed matches the target speed information, determining that the vehicle correction speed satisfies a preset takeover condition; the preset takeover condition indicates that the automatic driving controller takes over the vehicle;

[0127] In a case where the matching analysis result indicates that the vehicle correction speed does not match the target speed information, feedback control is performed based on the vehicle correction speed.

[0128] In a possible implementation, the autonomous driving controller further includes a feedback control loop,

[0129] The feedback control based on the vehicle correction speed includes:

[0130] Calculate the speed deviation based on the vehicle correction speed and the target speed information to obtain a speed deviation value;

[0131] The speed deviation value is input into the feedback control loop for compensation calculation to obtain an acceleration compensation value; the feedback control loop is constructed based on a proportional-integral-differential controller;

[0132] After performing feedback control on the vehicle for a preset control time based on the acceleration compensation value, obtaining vehicle speed information after feedback control;

[0133] Reusing the vehicle speed information after feedback control as the intermediate speed information;

[0134] Accordingly, the matching analysis is performed based on the vehicle correction speed and the target speed information to obtain a matching analysis result, including:

[0135] A matching analysis is performed based on the retrieved intermediate speed information and the target speed information to obtain the matching analysis result.

[0136] In one possible implementation, in one possible implementation, as Figure 4 As shown, the feedback control method includes steps S401 to S409.

[0137] In step S401, a speed deviation is calculated based on the vehicle correction speed and the target speed information to obtain a speed deviation value.

[0138] In step S403, the speed deviation value is input into the feedback control loop for compensation calculation to obtain an acceleration compensation value; the feedback control loop is constructed based on a proportional-integral-differential controller.

[0139] In step S405, feedback control is performed on the vehicle for a preset control time based on the acceleration compensation value to obtain vehicle speed information after feedback control.

[0140] In step S407, the vehicle speed information after feedback control is used again as the intermediate speed information.

[0141] In step S409, a matching analysis is performed based on the retrieved intermediate speed information and the target speed information to obtain the matching analysis result.

[0142] In one possible implementation, Figure 5As shown, when the matching analysis result indicates that the vehicle correction speed does not match the target speed information, feedback control is performed based on the vehicle correction speed. The difference between the vehicle correction speed and the target speed information is calculated to obtain a speed deviation value; the speed deviation value is input into the feedback control loop for compensation calculation to obtain an acceleration compensation value; the vehicle is controlled based on the acceleration compensation value to obtain the vehicle speed information after control, which is the re-obtained vehicle correction speed.

[0143] In a possible implementation, the vehicle is feedback-controlled for a preset control time based on the acceleration compensation value to obtain vehicle speed information after feedback control. Specifically, the preset control time of feedback control is preset based on experimental data to improve the efficiency of feedback control.

[0144] In a possible implementation, the feedback control loop is a PID (proportional-integral-derivative control) control loop.

[0145] In one possible implementation, a matching analysis is performed based on the retrieved vehicle correction speed and the target speed information to obtain a matching analysis result, and control of the vehicle is continuously corrected based on the matching analysis result until the matching analysis result indicates that the vehicle correction speed matches the target speed information, and it is determined that the vehicle correction speed meets the preset takeover condition.

[0146] In this implementation, the target speed information is used as the target vehicle speed control, the vehicle system error information is used as the steady-state error of the feedforward control for compensation, the vehicle speed information is corrected to obtain the vehicle correction speed, feedback control is performed based on the current vehicle speed information, and the recovered vehicle correction speed is continuously made close to the target speed information, so that the vehicle correction speed meets the preset takeover condition, and the smooth driving of the vehicle within the preset handover time is achieved through the feedforward and PID feedback control method, so as to achieve smooth control of the vehicle speed.

[0147] In step S109, the vehicle is controlled to switch to the automatic driving mode according to the vehicle correction speed.

[0148] In a possible implementation, controlling the vehicle to switch to the automatic driving mode according to the vehicle correction speed includes:

[0149] When it is determined that the vehicle correction speed meets the preset takeover condition, the vehicle is controlled to switch to the automatic driving mode according to the vehicle correction speed.

[0150] In one possible implementation, when it is determined that the corrected speed of the vehicle meets a preset takeover condition, the vehicle's automatic driving controller takes over the vehicle so that the vehicle operates according to the strategy of the automatic driving controller.

[0151] In this implementation, after determining that the vehicle's corrected speed meets the preset takeover conditions, the vehicle is handed over to the automatic driving controller to ensure that smooth control of the vehicle speed can be achieved by evaluating and predicting the driver's behavior at the moment of activation under different driving styles of the driver.

[0152] The beneficial effects of a driving mode switching method provided by this solution are as follows: by optimizing the vehicle speed control logic at the moment of activation of the automatic driving system, a smooth transition from manual driving to automatic driving is achieved, and the longitudinal vibration of the vehicle caused by uneven speed changes is reduced. When the automatic driving system is activated under different driving styles of the driver, the system can evaluate and predict the driver's behavior at the moment of activation to achieve smooth control of the vehicle speed, widen the smooth control range of automatic driving in different driving styles, solve the problem of longitudinal control vibration of the vehicle during the process of taking over the automatic driving system, and improve the experience of the automatic driving function. After the automatic driving function is turned on, it forms a good longitudinal control complement with the driver, which provides a human-machine co-driving idea for the subsequent system function logic.

[0153] Figure 6 The schematic diagram of the structure of a driving mode switching device 600 provided in an embodiment of the present application is shown. The device has the function of implementing the driving mode switching method in the above method embodiment. The function can be implemented by hardware or by hardware executing corresponding software. Figure 6 As shown, the device may include:

[0154] The command response module 601 is used to respond to the driver's automatic driving activation command and obtain the vehicle speed information and vehicle acceleration information at the current moment;

[0155] A target speed prediction module 602 is used to perform speed prediction based on the vehicle speed information and the vehicle acceleration information to obtain target speed information;

[0156] The error information acquisition module 603 is used to acquire vehicle system error information, where the vehicle system error information is determined based on historical vehicle speed information and historical instrument speed information corresponding to the historical vehicle speed information;

[0157] A speed correction module 604 is used to perform speed correction on the vehicle speed information based on the target speed information and the vehicle system error information to obtain a vehicle corrected speed;

[0158] The vehicle control module 605 is used to control the vehicle to switch to the automatic driving mode according to the vehicle correction speed.

[0159] In a possible implementation, the target speed prediction module 602 is used to:

[0160] Get the preset target time;

[0161] Performing integration processing based on the vehicle acceleration information and the preset target time to obtain a predicted speed increment;

[0162] The sum of the vehicle speed information and the predicted speed increment is calculated to obtain the target speed information.

[0163] In a possible implementation, the historical vehicle speed information is the vehicle speed of the vehicle at a historical moment, the historical instrument speed information is the instrument speed value of the vehicle at a historical moment, and the device further includes a system error determination module 606, and the system error determination module 606 is used to:

[0164] Obtaining the vehicle speed and the instrument speed value of the vehicle at a historical moment;

[0165] The difference between the vehicle speed and the instrument speed value is calculated to obtain the vehicle system error information.

[0166] In a possible implementation, the automatic driving controller of the vehicle includes a speed control loop, and the speed correction module 604 is used to:

[0167] Inputting the target speed information and the vehicle system error information into the speed control loop to calculate the control amount to obtain the current predicted control amount;

[0168] The vehicle speed information is corrected based on the current predicted control amount to obtain the vehicle corrected speed.

[0169] In a possible implementation, the device further includes a matching analysis module 607. After obtaining the vehicle corrected speed, the matching analysis module 607 is configured to:

[0170] Perform matching analysis based on the vehicle correction speed and the target speed information to obtain a matching analysis result;

[0171] When the matching analysis result indicates that the vehicle correction speed matches the target speed information, determining that the vehicle correction speed satisfies a preset takeover condition; the preset takeover condition indicates that the automatic driving controller takes over the vehicle;

[0172] In a case where the matching analysis result indicates that the vehicle correction speed does not match the target speed information, feedback control is performed based on the vehicle correction speed.

[0173] In a possible implementation, the autonomous driving controller further includes a feedback control loop, and the matching analysis module 607 includes a feedback control unit, and the feedback control unit is used to:

[0174] Calculate the speed deviation based on the vehicle correction speed and the target speed information to obtain a speed deviation value;

[0175] The speed deviation value is input into the feedback control loop for compensation calculation to obtain an acceleration compensation value; the feedback control loop is constructed based on a proportional-integral-differential controller;

[0176] After performing feedback control on the vehicle for a preset control time based on the acceleration compensation value, obtaining vehicle speed information after feedback control;

[0177] Reusing the vehicle speed information after feedback control as the intermediate speed information;

[0178] Accordingly, the matching analysis module 607 is further used for:

[0179] A matching analysis is performed based on the retrieved intermediate speed information and the target speed information to obtain the matching analysis result.

[0180] In a possible implementation, the vehicle control module 605 is used to:

[0181] When it is determined that the vehicle correction speed meets the preset takeover condition, the vehicle is controlled to switch to the automatic driving mode according to the vehicle correction speed.

[0182] It should be noted that the device provided in the above embodiment, when implementing its functions, is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0183] An embodiment of the present application provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement any one of the driving mode switching methods provided in the above method embodiments.

[0184] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required for functions, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0185] An embodiment of the present application also provides a computer-readable storage medium, which can be set in an electronic device to store at least one instruction or at least one program related to a method for switching a driving mode. The at least one instruction or the at least one program is loaded and executed by the processor to implement any one of the driving mode switching methods provided in the above method embodiments.

[0186] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0187] It should be noted that the above-mentioned sequence of the embodiments of the present application is for description only and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of this specification are described. Other embodiments are within the scope of the attached claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0188] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0189] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0190] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A method for switching a driving mode, characterized in that: The method comprises: In response to the driver's automatic driving activation instruction, obtaining vehicle speed information and vehicle acceleration information at the current moment; Performing speed prediction based on the vehicle speed information and the vehicle acceleration information to obtain target speed information; Acquiring vehicle system error information, wherein the vehicle system error information is determined based on historical vehicle speed information and historical instrument speed information corresponding to the historical vehicle speed information; Performing speed correction on the vehicle speed information based on the target speed information and the vehicle system error information to obtain a vehicle correction speed; The vehicle is controlled to switch to the automatic driving mode according to the vehicle correction speed.

2. The driving mode switching method according to claim 1, characterized in that: The performing speed prediction based on the vehicle speed information and the vehicle acceleration information to obtain target speed information includes: Get the preset target time; Performing integration processing based on the vehicle acceleration information and the preset target time to obtain a predicted speed increment; The sum of the vehicle speed information and the predicted speed increment is calculated to obtain the target speed information.

3. The method for switching the driving mode according to claim 1, characterized in that: The historical vehicle speed information is the vehicle speed of the vehicle at a historical moment, and the historical instrument speed information is the instrument speed value of the vehicle at a historical moment. The method for determining vehicle system error information comprises: Obtaining the vehicle speed and the instrument speed value of the vehicle at a historical moment; The difference between the vehicle speed and the instrument speed value is calculated to obtain the vehicle system error information.

4. The method for switching the driving mode according to claim 1, characterized in that: The vehicle's autopilot controller includes a speed control loop, The performing speed correction on the vehicle speed information based on the target speed information and the vehicle system error information to obtain a vehicle corrected speed includes: Inputting the target speed information and the vehicle system error information into the speed control loop to calculate the control amount to obtain the current predicted control amount; The vehicle speed information is corrected based on the current predicted control amount to obtain the vehicle corrected speed.

5. The method for switching the driving mode according to claim 4, characterized in that: After obtaining the vehicle corrected speed, the method further includes: Perform matching analysis based on the vehicle correction speed and the target speed information to obtain a matching analysis result; When the matching analysis result indicates that the vehicle correction speed matches the target speed information, determining that the vehicle correction speed satisfies a preset takeover condition; the preset takeover condition indicates that the automatic driving controller takes over the vehicle; In a case where the matching analysis result indicates that the vehicle correction speed does not match the target speed information, feedback control is performed based on the vehicle correction speed.

6. The method for switching the driving mode according to claim 5, characterized in that: The autopilot controller also includes a feedback control loop, The feedback control based on the vehicle correction speed includes: Calculate the speed deviation based on the vehicle correction speed and the target speed information to obtain a speed deviation value; The speed deviation value is input into the feedback control loop for compensation calculation to obtain an acceleration compensation value; the feedback control loop is constructed based on a proportional-integral-differential controller; After performing feedback control on the vehicle for a preset control time based on the acceleration compensation value, obtaining vehicle speed information after feedback control; Reusing the vehicle speed information after feedback control as the intermediate speed information; Accordingly, the matching analysis is performed based on the vehicle correction speed and the target speed information to obtain a matching analysis result, including: A matching analysis is performed based on the retrieved intermediate speed information and the target speed information to obtain the matching analysis result.

7. The method for switching the driving mode according to claim 5, characterized in that: The controlling the vehicle to switch to the automatic driving mode according to the vehicle correction speed includes: When it is determined that the vehicle correction speed meets the preset takeover condition, the vehicle is controlled to switch to the automatic driving mode according to the vehicle correction speed.

8. A driving mode switching device, characterized in that: The device comprises: A command response module, used to respond to the driver's automatic driving activation command and obtain the vehicle speed information and vehicle acceleration information at the current moment; A target speed prediction module, used to perform speed prediction based on the vehicle speed information and the vehicle acceleration information to obtain target speed information; An error information acquisition module, used to acquire vehicle system error information, wherein the vehicle system error information is determined based on historical vehicle speed information and historical instrument speed information corresponding to the historical vehicle speed information; A speed correction module, used for performing speed correction on the vehicle speed information based on the target speed information and the vehicle system error information to obtain a vehicle corrected speed; The vehicle control module is used to control the vehicle to switch to the automatic driving mode according to the vehicle correction speed.

9. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the driving mode switching method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, wherein at least one instruction or at least one program is stored in the computer-readable storage medium, wherein the at least one instruction or the at least one program is loaded and executed by a processor to implement the driving mode switching method as described in any one of claims 1 to 7.

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