Vehicle control source switching method and vehicle controller

Abstract

The embodiment of the invention provides a vehicle control source switching method and a vehicle controller. In the method, a control source switching request is sent to a vehicle controller through a target control source, and the vehicle controller determines whether a vehicle state identifier and a vehicle speed within a preset duration meet safety conditions or not; and if the vehicle controller determines that the vehicle state identifier and the vehicle speed in the preset duration meet the safety condition, the vehicle control source is switched to the target control source. According to the scheme, control source switching is carried out only when it is determined that the vehicle state identifier and the vehicle speed in the preset duration meet the safety condition, and the vehicle safety is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle control source switching method and a vehicle controller. Background Art

[0002] With the continuous development of science and technology, driverless vehicles have more and more functions and more and more application scenarios, such as logistics, cleaning, security, etc. As the application scenarios of driverless vehicles increase, the control methods of driverless vehicles also increase accordingly, including not only automatic driving, but also wireless fidelity (WiFi) remote control driving, handle remote control driving, remote remote control driving, etc.

[0003] Different control methods have different communication methods and different control sources. For example, the control source of autonomous driving is the vehicle controller, and the control source of WiFi remote control driving is the terminal device. In the prior art, for switching the vehicle control source, the target control source usually sends a switching instruction to the vehicle controller, and the vehicle controller switches the control source according to the switching instruction.

[0004] However, the vehicle's driving conditions are not considered during the switching process, resulting in lower vehicle safety. Summary of the invention

[0005] The vehicle control source switching method and vehicle controller provided in the embodiments of the present application are used to solve the problem of low vehicle safety caused by not considering the driving conditions of the vehicle during the switching process in the vehicle control source switching in the prior art.

[0006] In a first aspect, an embodiment of the present application provides a vehicle control source switching method, which is applied to a target control source, and the method includes:

[0007] sending a stop command to a vehicle controller;

[0008] A control source switching request is sent to the vehicle controller, wherein the control source switching request includes a control source identifier of the target control source.

[0009] In a possible implementation, the method further includes:

[0010] Receiving a switching success message sent by the vehicle controller;

[0011] A wait-to-be-controlled instruction is sent to the vehicle controller.

[0012] In a possible implementation, the method further includes:

[0013] Sending a vehicle control request instruction to the vehicle controller;

[0014] A vehicle control request is sent to the vehicle controller, wherein the vehicle control request includes a vehicle control instruction and a control source identifier of the target control source.

[0015] In a possible implementation, sending a parking instruction to a vehicle controller includes:

[0016] When receiving the control source switching instruction sent by the vehicle controller, the parking instruction is sent to the vehicle controller.

[0017] In a second aspect, an embodiment of the present application provides a vehicle control source switching method, which is applied to a vehicle controller, and the method includes:

[0018] Receiving a control source switching request sent by a target control source, wherein the control source switching request includes a control source identifier of the target control source;

[0019] Determine whether the vehicle state identifier and the vehicle speed within a preset time period meet a safety condition, wherein the safety condition includes: the vehicle speed within the preset time period is less than a preset vehicle speed, and the vehicle state identifier is a first identifier indicating that the vehicle state is a parking state;

[0020] If it is determined that the vehicle state identifier and the vehicle speed within the preset time period meet the safety condition, the vehicle control source is switched to the target control source.

[0021] In a possible implementation manner, before receiving the control source switching request sent by the target control source, the method further includes:

[0022] Receiving a parking instruction sent by the target control source;

[0023] The vehicle is controlled to stop, and the vehicle state identifier is updated to the first identifier.

[0024] In a possible implementation, the method further includes:

[0025] Sending a switching success message to the target control source;

[0026] Receiving a waiting-to-be-controlled instruction sent by the target control source;

[0027] The vehicle state identifier is updated to a second identifier indicating that the vehicle state is a waiting controlled state.

[0028] In a possible implementation, the method further includes:

[0029] Receiving a vehicle control request instruction sent by the target control source;

[0030] If it is determined that the vehicle control request instruction satisfies a preset verification condition, the vehicle state identifier is updated to a third identifier indicating that the vehicle state is a controlled state;

[0031] Receiving a vehicle control request sent by the target control source, wherein the vehicle control request includes a vehicle control instruction and a control source identifier of the target control source;

[0032] If the vehicle control source is the control source corresponding to the control source identifier, and the vehicle state identifier is the third identifier, the vehicle control instruction is executed.

[0033] In a possible implementation manner, the verification condition is: the vehicle control request instruction is a rising edge signal;

[0034] or,

[0035] The vehicle control request instruction is a falling edge signal;

[0036] or,

[0037] The verification value in the vehicle control request instruction is the same as the preset value stored in the vehicle controller.

[0038] In a possible implementation, the method further includes:

[0039] If no control request is received within the preset release time, the vehicle status identifier is updated to the second identifier.

[0040] In a possible implementation manner, before receiving the parking instruction sent by the target control source, the method further includes:

[0041] If the vehicle control source is the vehicle controller, when it is detected that the vehicle is in an emergency scenario, a target control source is determined from the multiple candidate control sources according to the priorities of the multiple candidate control sources;

[0042] A control source switching instruction is sent to the target control source.

[0043] In a possible implementation manner, before receiving the parking instruction sent by the target control source, the method further includes:

[0044] When a failure of the vehicle control source is detected, a backup control source corresponding to the vehicle control source is determined according to a preset control source correspondence relationship;

[0045] Taking the backup control source as the target control source;

[0046] A control source switching instruction is sent to the target control source.

[0047] In a possible implementation manner, after receiving the parking instruction sent by the target control source and before determining whether the vehicle state identifier and the vehicle speed within a preset time period meet the safety condition, the method further includes:

[0048] If a vehicle control request is received, and the control source corresponding to the control source identifier in the vehicle control request is the same as the vehicle control source, the vehicle control request is added to the buffer;

[0049] After determining whether the vehicle status identifier and the vehicle speed within a preset time period meet the safety conditions, the method further includes:

[0050] If it is determined that the vehicle state identifier and the vehicle speed within the preset time period do not meet the safety condition, then when the vehicle state identifier is updated to a third identifier indicating that the vehicle state is a controlled state, the vehicle control instruction in the vehicle control request in the buffer zone is executed.

[0051] In a third aspect, an embodiment of the present application provides a vehicle control source switching device, comprising:

[0052] Sending module, used for:

[0053] sending a stop command to a vehicle controller;

[0054] A control source switching request is sent to the vehicle controller, wherein the control source switching request includes a control source identifier of a target control source.

[0055] In a fourth aspect, an embodiment of the present application provides a vehicle control source switching device, comprising:

[0056] A receiving module, configured to receive a control source switching request sent by a target control source, wherein the control source switching request includes a control source identifier of the target control source;

[0057] The processing module is also used to:

[0058] Determine whether the vehicle state identifier and the vehicle speed within a preset time period meet a safety condition, wherein the safety condition includes: the vehicle speed within the preset time period is less than a preset vehicle speed, and the vehicle state identifier is a first identifier indicating that the vehicle state is a parking state;

[0059] If it is determined that the vehicle state identifier and the vehicle speed within the preset time period meet the safety condition, the vehicle control source is switched to the target control source.

[0060] In a fifth aspect, an embodiment of the present application provides an electronic device, including:

[0061] Processor, memory, communication interface;

[0062] The memory is used to store executable instructions of the processor;

[0063] Wherein, the processor is configured to execute the vehicle control source switching method described in any one of the first aspects by executing the executable instructions.

[0064] In a sixth aspect, an embodiment of the present application provides a vehicle controller, including:

[0065] Processor, memory, communication interface;

[0066] The memory is used to store executable instructions of the processor;

[0067] Wherein, the processor is configured to execute the vehicle control source switching method described in any one of the second aspects by executing the executable instructions.

[0068] In a seventh aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the vehicle control source switching method described in any one of the first aspect or the second aspect is implemented.

[0069] In an eighth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the vehicle control source switching method described in any one of the first aspect or the second aspect.

[0070] The vehicle control source switching method and vehicle controller provided in the embodiment of the present application are such that when the control source needs to be switched, the target control source sends a stop instruction to the vehicle controller. The vehicle controller controls the vehicle to stop and updates the vehicle status flag to a first flag indicating that the vehicle is in a parked state. Then, the target control source sends a control source switching request to the vehicle controller, and the vehicle controller determines whether the vehicle status flag and the vehicle speed within a preset time length meet the safety conditions; if the vehicle controller determines that the vehicle status flag and the vehicle speed within a preset time length meet the safety conditions, the vehicle control source is switched to the target control source. This solution effectively improves vehicle safety by stopping the vehicle before switching the control source, and switching the control source only when it is determined that the vehicle status flag and the vehicle speed within a preset time length meet the safety conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0072] Figure 1 A schematic diagram of an application scenario of the vehicle control source switching method provided in this application;

[0073] Figure 2 A schematic diagram of a flow chart of a first embodiment of a vehicle control source switching method provided by the present application;

[0074] Figure 3 A schematic diagram of a flow chart of a second embodiment of a vehicle control source switching method provided by the present application;

[0075] Figure 4 A schematic diagram of a flow chart of a third embodiment of a vehicle control source switching method provided by the present application;

[0076] Figure 5 A flowchart of a fourth embodiment of a vehicle control source switching method provided by the present application;

[0077] Figure 6 A schematic diagram of the structure of a first embodiment of a vehicle control source switching device provided by the present application;

[0078] Figure 7 A schematic diagram of the structure of a second embodiment of a vehicle control source switching device provided by the present application;

[0079] Figure 8 A schematic diagram of the structure of an electronic device provided in this application;

[0080] Fig. 9 A schematic diagram of the structure of a vehicle controller provided in this application.

[0081] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0082] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0083] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0084] With the continuous development of science and technology, driverless vehicles have more and more functions and more and more application scenarios, such as logistics, cleaning, security, etc. As the application scenarios of driverless vehicles increase, the control methods of driverless vehicles also increase accordingly, including not only automatic driving, but also wireless fidelity (WiFi) remote control driving, handle remote control driving, remote remote control driving, etc.

[0085] Different control methods have different communication methods and different control sources. For example, the communication method of autonomous driving is the internal network of the vehicle, and the control source is the vehicle controller; the communication method of WiFi remote control driving is WiFi communication, and the control source is the terminal device; the communication method of handle remote control driving is 2.4GHz communication, and the control source is the handle; the communication method of remote remote control driving is the fourth generation mobile communication technology (4G) communication, or the fifth generation mobile communication technology (5G) communication, and the control source is the terminal device. In the prior art, for the switching of the vehicle control source, the target control source usually sends a switching instruction to the vehicle controller, and the vehicle controller switches the control source according to the switching instruction.

[0086] Since the driving conditions of the vehicle are not considered during the switching process, the vehicle safety may be low. For example, when the control source is switched during driving, there may be no control source to control the vehicle, resulting in loss of control of the vehicle and affecting vehicle safety.

[0087] In view of the problems existing in the prior art, the inventors discovered during the study of the vehicle control source switching method that in order to improve the safety of the vehicle during the control source switching process, before the control source is switched, the target control source sends a stop command to the vehicle controller. The vehicle controller controls the vehicle to stop and puts the vehicle into a parking state. When the control source is switched, the target control source sends a control source switching request to the vehicle controller. If the vehicle controller determines that the vehicle has entered a parking state and the vehicle speed is close to 0, the vehicle control source is switched to the target control source, so that the vehicle speed is close to 0 when the control source is switched, which can effectively improve the safety of the vehicle. Based on the above-mentioned inventive concept, the vehicle control source switching scheme in this application is designed.

[0088] The control source in the present application may be a vehicle controller, a terminal device, a handle, or other device that can control the driving of the vehicle. The embodiment of the present application does not limit the control source and can be determined based on actual conditions.

[0089] For example, Figure 1 A schematic diagram of an application scenario of the vehicle control source switching method provided in this application, such as Figure 1 As shown, the application scenario may include: a target control source 11 and an unmanned vehicle 12 .

[0090] exist Figure 1 In the application scenario shown, the unmanned vehicle 12 is traveling on the road, the current control mode is automatic driving, and the control source is the vehicle controller. The vehicle controller detects that there are potholes on the road ahead and determines that it is currently in an emergency scenario, then determines the target control source 11, and the vehicle controller sends a control source switching instruction to the target control source 11.

[0091] When the target control source 11 receives the control source switching instruction, it sends a parking instruction to the vehicle controller. The vehicle controller controls the vehicle to stop and updates the vehicle state flag to a first flag indicating that the vehicle state is a parking state.

[0092] Then, the target control source 11 sends a control source switching request to the vehicle controller, and the vehicle controller determines whether the vehicle state identifier and the vehicle speed within a preset time period meet the safety conditions.

[0093] If the vehicle controller determines that the vehicle state identifier and the vehicle speed within the preset time satisfy the safety condition, the vehicle control source is switched to the target control source 11 .

[0094] Subsequent staff can use the target control source 11 to send a vehicle control request to the vehicle controller to control the driving of the unmanned vehicle 12.

[0095] It should be noted that Figure 1 This is only a schematic diagram of an application scenario provided by the embodiment of the present application. Figure 1 The actual form of the various devices included in the Figure 1 The interaction mode between devices is limited, and in the specific application of the solution, it can be set according to actual needs.

[0096] The technical solution of the present application is described in detail below through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0097] Figure 2 This is a flow chart of the first embodiment of the vehicle control source switching method provided by the present application. The present embodiment of the present application describes the situation of controlling the vehicle to stop before the control source is switched, and implementing the control source switching according to the vehicle speed and whether the vehicle is in a parking state when the control source is switched. The method in this embodiment can be implemented by software, hardware, or a combination of software and hardware. Figure 2As shown, the vehicle control source switching method specifically includes the following steps:

[0098] S201: The target control source sends a parking instruction to the vehicle controller.

[0099] In this step, in order to improve the safety of the vehicle during the control source switching process, when the control source needs to be switched, the target control source sends a stop instruction to the vehicle controller.

[0100] The process of triggering the target control source to send a stop command to the vehicle controller may be: the current vehicle control source is the vehicle controller, that is, the vehicle is currently in automatic driving. When the vehicle controller detects that the vehicle is in an emergency scenario, the target control source is determined from the multiple candidate control sources according to the priority of the multiple candidate control sources, and then a control source switching instruction is sent to the target control source. When the target control source receives the control source switching instruction sent by the vehicle controller, it sends a stop command to the vehicle controller, so that the vehicle can be controlled by a manual operator, thereby improving vehicle safety.

[0101] It should be noted that the target control source is a control source other than the vehicle controller. The control source to be selected may be a terminal device, a handle, a computer, etc. The embodiment of the present application does not limit the control source to be selected, and it can be determined according to actual conditions.

[0102] It should be noted that the vehicle controller may detect that the vehicle is in an emergency scene in the following manner: the vehicle controller acquires a road image, and then performs target detection on the road image. When abnormal targets such as potholes, obstacles, and pedestrians are detected on the road surface, the vehicle is determined to be in an emergency scene. It may also be that the vehicle controller acquires braking data, and when the vehicle brakes suddenly according to the braking data, the vehicle is determined to be in an emergency scene. It may also be that the vehicle controller acquires the vehicle speed, and then calculates the vehicle speed change rate. When the vehicle speed change rate does not fall within the preset vehicle speed change rate range, the vehicle is determined to be in an emergency scene. It may also be that the vehicle controller acquires the vehicle tilt angle, and when it is detected that the vehicle tilt angle does not fall within the preset angle range, the vehicle is determined to be in an emergency scene. The preset vehicle speed change range may be [-7,7], [-8,8], [-10,10], etc., in meters per second squared. The preset angle range may be [-15,15], [-20,20], [-30,30], etc., in degrees. The embodiments of the present application do not limit the way in which the vehicle controller detects that the vehicle is in an emergency scenario, the preset vehicle speed change range, and the preset angle range, which can be determined based on actual conditions.

[0103] It should be noted that, according to the priorities of multiple candidate control sources, the method of determining the target control source from multiple candidate control sources can be: taking the candidate control source with the highest priority among the multiple candidate control sources as the target control source. It can also be: first determine a preset number of candidate control sources with the highest priority among the multiple candidate control sources, and then randomly select a control source from the preset number of candidate control sources as the target control source. The preset number can be 2, 3, 5, etc. The embodiment of the present application does not limit the method of determining the target control source from multiple candidate control sources according to the priorities of multiple candidate control sources, and the preset number, which can be determined according to actual conditions.

[0104] The process of triggering the target control source to send a parking instruction to the vehicle controller may also be: the staff performs a control source switching operation on the target control source, and the target control source sends a parking instruction to the vehicle controller. In this case, the target control source is an arbitrary control source.

[0105] The process of triggering the target control source to send a stop command to the vehicle controller may also be: when the vehicle controller detects that the current vehicle control source fails, according to the correspondence between the control sources, that is, the preset control source correspondence, the control source corresponding to the current vehicle control source is used as the target control source, and the target control source is the backup control source of the current vehicle control source. The vehicle controller sends a control source switching instruction to the target control source. When the target control source receives the control source switching instruction sent by the vehicle controller, it sends a stop command to the vehicle controller to ensure that the vehicle does not lose control.

[0106] It should be noted that the vehicle controller may detect the current vehicle control source fault in a manner that: the current vehicle control source sends a heartbeat message to the vehicle controller with a first duration as a cycle, and when the vehicle controller does not receive the heartbeat message sent by the vehicle control source within a second duration, the current vehicle control source fault is determined. It may also be that: the current vehicle control source sends an operation log to the vehicle controller, and the vehicle controller parses the operation log, and when the parsed data does not belong to the corresponding range, the current vehicle control source fault is determined. It may also be that: when the current vehicle control source fails, a fault code is generated, and then the fault code is sent to the vehicle controller, and when the vehicle controller receives the fault code, the current vehicle control source fault is determined. The second duration is greater than the first duration, and the first duration may be 10 seconds, 30 seconds, 1 minute, 5 minutes, etc., and the second duration may be 30 seconds, 1 minute, 5 minutes, 10 minutes, etc. The embodiment of the present application does not limit the manner, the first duration, and the second duration for the vehicle controller to detect the current vehicle control source fault, and may be determined according to actual conditions.

[0107] It should be noted that the embodiment of the present application does not limit the process of triggering the target control source to send a parking command to the vehicle controller, which can be determined according to actual conditions.

[0108] S202: After receiving the parking instruction sent by the target control source, the vehicle controller controls the vehicle to stop and updates the vehicle state identifier to a first identifier indicating that the vehicle state is a parking state.

[0109] In this step, after the target control source sends a stop command to the vehicle controller, the vehicle controller can receive the stop command. In order to improve the safety of the vehicle during the control source switching process, the vehicle controller controls the vehicle to stop and updates the vehicle status identifier to the first identifier indicating that the vehicle status is a parking state.

[0110] S203: The target control source sends a control source switching request to the vehicle controller.

[0111] In this step, after the target control source sends a parking instruction to the vehicle controller, in order to implement control source switching, it is necessary to send a control source switching request to the vehicle controller, and the control source switching request includes the control source identifier of the target control source.

[0112] S204: After receiving the control source switching request sent by the target control source, the vehicle controller determines whether the vehicle state identifier and the vehicle speed within a preset time period meet the safety conditions.

[0113] In this step, after the target control source sends a control source switching request to the vehicle controller, the vehicle controller can receive the control source switching request. In order to ensure that the vehicle stops and is in a parking state to improve the safety of the vehicle during the control source switching process, it is necessary to determine whether the vehicle state identification and the vehicle speed within a preset time meet the safety conditions.

[0114] Among them, the safety conditions include: the vehicle speed within a preset time period is less than a preset speed, and the vehicle status mark is the first mark.

[0115] It should be noted that the preset time length can be 0.5 seconds, 1 second, 2 seconds, etc., and the preset vehicle speed can be 0.1m / s, 0.2m / s, 0.3m / s, etc. The embodiment of the present application does not limit the preset time length and the preset vehicle speed, which can be determined according to actual conditions.

[0116] S205: If the vehicle controller determines that the vehicle state identifier and the vehicle speed within the preset time satisfy the safety condition, the vehicle control source is switched to the target control source.

[0117] In this step, if the vehicle controller determines that the vehicle status identification and the vehicle speed within the preset time meet the safety conditions, it means that the vehicle has stopped and is in a parking state. At this time, switching the control source can ensure the safety of the vehicle, then the vehicle control source is switched to the target control source.

[0118] It should be noted that the vehicle control source may be switched to the target control source in the following manner: a vehicle control source identifier is stored in the vehicle controller, and the vehicle control source identifier is updated to the control source identifier of the target control source.

[0119] It should be noted that after the vehicle controller receives the parking instruction sent by the target control source and before determining whether the vehicle status identifier and the vehicle speed within the preset time meet the safety conditions, if it receives a vehicle control request, and the control source corresponding to the control source identifier in the vehicle control request is the same as the vehicle control source, it means that the vehicle control request is sent by the current control source, and the control source switching process has been entered at this time. In order to ensure the safety of the vehicle, the vehicle will stop at this time and will not process the vehicle control request, and the vehicle control request will be added to the buffer. If it is subsequently determined that the vehicle status identifier and the vehicle speed within the preset time do not meet the safety conditions, it means that switching the control source at this time cannot ensure the safety of the vehicle, and the control source will not be switched. In order to control the vehicle, when the vehicle status identifier is updated to the third identifier indicating that the vehicle state is a controlled state, the vehicle control instruction in the vehicle control request in the buffer is executed. If it is determined that the vehicle status identifier and the vehicle speed within the preset time meet the safety conditions, the vehicle control request in the buffer is recorded and the vehicle control request in the buffer is cleared.

[0120] The vehicle control source switching method provided in this embodiment is that when the control source needs to be switched, the target control source sends a stop instruction to the vehicle controller. The vehicle controller controls the vehicle to stop and updates the vehicle status flag to a first flag indicating that the vehicle is in a parked state. Then the target control source sends a control source switching request to the vehicle controller, and the vehicle controller determines whether the vehicle status flag and the vehicle speed within a preset time length meet the safety conditions; if the vehicle controller determines that the vehicle status flag and the vehicle speed within a preset time length meet the safety conditions, the vehicle control source is switched to the target control source. Compared with the prior art that switches the control source during vehicle driving, this solution stops the vehicle before switching the control source, and switches the control source only when it is determined that the vehicle status flag and the vehicle speed within a preset time length meet the safety conditions, thereby effectively improving vehicle safety.

[0121] Figure 3 This is a flow chart of the second embodiment of the vehicle control source switching method provided by the present application. Based on the above embodiment, the present embodiment of the present application describes the situation where the vehicle controller performs control source switching after receiving a control source switching request. Figure 3 As shown, the vehicle control source switching method specifically includes the following steps:

[0122] S301: Receive a control source switching request sent by a target control source.

[0123] S302: Determine whether the vehicle status indicator and the vehicle speed within a preset time period meet safety conditions.

[0124] S303: If it is determined that the vehicle state identifier and the vehicle speed within the preset time period meet the safety condition, the vehicle control source is switched to the target control source.

[0125] It should be noted that steps S301 to S303 are similar to steps S204 to S205 in the first embodiment, and will not be described in detail here.

[0126] It should be noted that if the vehicle controller determines that the vehicle state identifier and the vehicle speed within the preset time do not meet the safety condition, that is, at least one of the vehicle speeds within the preset time is greater than or equal to the preset speed, or the vehicle state identifier is not the first identifier, indicating that the vehicle is not stopped or the vehicle is not in a stopped state, and it is not safe to switch the control source at this time, the control source will not be switched. A switching failure prompt message can also be sent to the control source to enable the control source to perform the control source switching process again.

[0127] The vehicle control source switching method provided in this embodiment receives a control source switching request through a vehicle controller. If it is determined that the vehicle state identification and the vehicle speed within a preset time meet the safety conditions, the vehicle control source is switched to the target control source, ensuring that the vehicle stops and the control source is switched only when it is in a parking state, thereby improving vehicle safety.

[0128] Figure 4 This is a flow chart of the third embodiment of the vehicle control source switching method provided by the present application. Based on the above embodiments, the present embodiment of the present application describes the situation of controlling the vehicle to enter the waiting controlled state after the control source is switched. Figure 4 As shown, the vehicle control source switching method specifically includes the following steps:

[0129] S401: The vehicle controller sends a switching success message to the target control source.

[0130] In this step, after the vehicle controller switches the vehicle control source to the target control source, the vehicle is in a parked state and cannot be controlled by the control source. The target control source also needs to be notified of the successful control source switch. The vehicle controller sends a successful switch message to the target control source.

[0131] S402: After receiving the switching success message sent by the vehicle controller, the target control source sends a waiting-to-be-controlled instruction to the vehicle controller.

[0132] In this step, the vehicle controller sends a switching success message to the target control source, and the target control source receives the switching success message and then sends a waiting-to-be-controlled instruction to the vehicle controller.

[0133] S403: After receiving the waiting-to-be-controlled instruction sent by the target control source, the vehicle controller updates the vehicle state identifier to a second identifier indicating that the vehicle state is the waiting-to-be-controlled state.

[0134] In this step, after the target control source sends a waiting-to-be-controlled instruction to the vehicle controller, the vehicle controller can receive the waiting-to-be-controlled instruction and then update the vehicle state identifier to a second identifier indicating that the vehicle state is a waiting-to-be-controlled state, so that the vehicle enters a waiting-to-be-controlled state.

[0135] It should be noted that after the vehicle control source is switched to the target control source, the vehicle controller can directly update the vehicle status identifier to the second identifier to improve the vehicle status update efficiency.

[0136] The vehicle control source switching method provided in this embodiment controls the vehicle to enter a waiting state after the vehicle control source is switched to a target control source, thereby ensuring that the subsequent target control source can control the vehicle.

[0137] Figure 5 This is a flow chart of the fourth embodiment of the vehicle control source switching method provided by the present application. Based on the above embodiments, the present embodiment of the present application describes the situation in which the target control source controls the vehicle after the vehicle enters the waiting state. Figure 5 As shown, the vehicle control source switching method specifically includes the following steps:

[0138] S501: The target control source sends a vehicle control request instruction to the vehicle controller.

[0139] In this step, after the vehicle enters the waiting controlled state, in order to ensure the safety of the vehicle, the vehicle will not respond to all control commands. Only when the vehicle is in the controlled state will it respond to the control command, that is, it will run according to the control command. Therefore, when it is necessary to control the vehicle, the target control source sends a request control command to the vehicle controller.

[0140] S502: After receiving the vehicle control request instruction sent by the target control source, if the vehicle controller determines that the vehicle control request instruction satisfies a preset verification condition, the vehicle state identifier is updated to a third identifier indicating that the vehicle state is a controlled state.

[0141] In this step, after the target control source sends the request vehicle control instruction to the vehicle controller, the vehicle controller can receive the request vehicle control instruction. In order to ensure that the request vehicle control instruction is a correct and safe instruction, the request vehicle control instruction needs to be verified.

[0142] It is determined whether the request for vehicle control instruction meets the preset verification conditions. If it is determined that the request for vehicle control instruction meets the preset verification conditions, it means that the vehicle control instruction is correct and safe. The vehicle state identifier is updated to a third identifier indicating that the vehicle state is a controlled state, and the vehicle enters a controlled state.

[0143] It should be noted that the preset verification condition may be: the request for vehicle control instruction is a rising edge signal. It may also be: the request for vehicle control instruction is a falling edge signal. It may also be: the verification value in the request for vehicle control instruction is the same as the preset value stored in the vehicle controller. The embodiment of the present application does not limit the preset verification condition, which can be determined according to actual conditions.

[0144] It should be noted that if it is determined that the vehicle control command requested does not meet the preset verification conditions, indicating that the vehicle control command is incorrect and unsafe, the vehicle status indicator will not be updated.

[0145] S503: The target control source sends a vehicle control request to the vehicle controller.

[0146] In this step, after the target control source sends a vehicle control request instruction to the vehicle controller, it can send a vehicle control request to the vehicle controller, where the vehicle control request includes the vehicle control instruction and the control source identifier of the target control source.

[0147] It should be noted that the vehicle control instructions are instructions for controlling the operation of the vehicle, which may be instructions for controlling the vehicle to move forward, backward, turn, open windows, close windows, etc. The embodiment of the present application does not limit the vehicle control instructions, which may be determined according to actual conditions.

[0148] S504: After the vehicle controller receives the vehicle control request sent by the target control source, if the vehicle control source is the control source corresponding to the control source identifier and the vehicle state identifier is the third identifier, the vehicle control instruction is executed.

[0149] In this step, after the target control source sends a vehicle control request to the vehicle controller, the vehicle controller can receive the vehicle control request. In order to ensure that the vehicle can respond to the vehicle control command and ensure that the vehicle control request is sent by the vehicle control source, it is necessary to determine whether the vehicle control source is the control source corresponding to the control source identifier and whether the vehicle status identifier is the third identifier.

[0150] If the vehicle control source is the control source corresponding to the control source identifier, and the vehicle status identifier is the third identifier, it means that the vehicle can respond to the vehicle control command, and ensures that the vehicle control request is sent by the vehicle control source and the target control source, then the vehicle control command is executed to control the vehicle operation.

[0151] If the vehicle control source is not the control source corresponding to the control source identifier, or the vehicle status identifier is not the third identifier, it means that the vehicle control request is not sent by the vehicle control source, is not sent by the target control source, or the vehicle cannot respond to the vehicle control command, then the vehicle control command will not be executed and the vehicle control request will be discarded.

[0152] It should be noted that if the vehicle controller does not receive a control request within the preset release time, it means that the target control source will no longer control the vehicle in a short time. In order to improve vehicle safety and make the vehicle no longer respond to the vehicle control command, the vehicle controller updates the vehicle status identifier to the second identifier. The preset release time can be 1 minute, 2 minutes, 5 minutes, 10 minutes, 30 minutes, etc. The embodiment of the present application does not limit the preset release time, which can be determined according to actual conditions.

[0153] It should be noted that after the target control source sends the request to control the vehicle command, it can send multiple vehicle control requests as long as the sending interval between two adjacent control requests is less than the preset release time. After the vehicle controller updates the vehicle status flag to the second flag, if the target control source wants to control the vehicle again, it needs to send the request to control the vehicle command again.

[0154] The vehicle control source switching method provided in this embodiment improves vehicle safety by enabling the vehicle controller to execute the vehicle control command only when the vehicle control source is the control source corresponding to the control source identifier and the vehicle state identifier is the third identifier.

[0155] In addition, compared with the prior art in which multiple control sources send vehicle control requests to the vehicle controller, the vehicle controller will execute all vehicle control instructions, which will affect vehicle safety. This solution improves vehicle safety by only executing the control instructions sent by the target control source.

[0156] The following are device embodiments of the present application, which can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0157] Figure 6 This is a schematic diagram of the structure of the first embodiment of the vehicle control source switching device provided by the present application; the device can be integrated into the target control source in the above method embodiment, or can be implemented by the target control source in the above method embodiment. Figure 6 As shown, the vehicle control source switching device 60 includes:

[0158] The sending module 61 is used for:

[0159] sending a stop command to a vehicle controller;

[0160] A control source switching request is sent to the vehicle controller, wherein the control source switching request includes a control source identifier of a target control source.

[0161] A receiving module 62, configured to receive a switching success message sent by the vehicle controller;

[0162] Furthermore, the sending module 61 is also used to send a waiting-to-be-controlled instruction to the vehicle controller.

[0163] Furthermore, the sending module 61 is further used for:

[0164] Sending a vehicle control request instruction to the vehicle controller;

[0165] A vehicle control request is sent to the vehicle controller, wherein the vehicle control request includes a vehicle control instruction and a control source identifier of the target control source.

[0166] Furthermore, the sending module 61 is specifically used for:

[0167] When the control source switching instruction sent by the vehicle controller is received by the receiving module 62, the parking instruction is sent to the vehicle controller.

[0168] The vehicle control source switching device provided in this embodiment is used to execute the technical solution of the target control source in any of the aforementioned method embodiments. Its implementation principle and technical effect are similar and will not be repeated here.

[0169] Figure 7 This is a schematic diagram of the structure of the second embodiment of the vehicle control source switching device provided by the present application; the device can be integrated into the vehicle controller in the above method embodiment, or can be implemented by the vehicle controller in the above method embodiment. Figure 7 As shown, the vehicle control source switching device 70 includes:

[0170] A receiving module 71, configured to receive a control source switching request sent by a target control source, wherein the control source switching request includes a control source identifier of the target control source;

[0171] The processing module 72 is used to:

[0172] Determine whether the vehicle state identifier and the vehicle speed within a preset time period meet a safety condition, wherein the safety condition includes: the vehicle speed within the preset time period is less than a preset vehicle speed, and the vehicle state identifier is a first identifier indicating that the vehicle state is a parking state;

[0173] If it is determined that the vehicle state identifier and the vehicle speed within the preset time period meet the safety condition, the vehicle control source is switched to the target control source.

[0174] Furthermore, before receiving the control source switching request sent by the target control source, the receiving module 71 is also used to receive a parking instruction sent by the target control source;

[0175] The processing module 72 is further configured to control the vehicle to stop and update the vehicle state identifier to the first identifier.

[0176] A sending module 73, configured to send a switching success message to the target control source;

[0177] Furthermore, the receiving module 71 is further used to receive a waiting-to-be-controlled instruction sent by the target control source;

[0178] The processing module 72 is further configured to update the vehicle state identifier to a second identifier indicating that the vehicle state is a waiting controlled state.

[0179] Furthermore, the receiving module 71 is also used to receive a vehicle control request instruction sent by the target control source;

[0180] The processing module 72 is further configured to update the vehicle state identifier to a third identifier indicating that the vehicle state is a controlled state if it is determined that the vehicle control request instruction satisfies a preset verification condition;

[0181] The receiving module 71 is further used to receive a vehicle control request sent by the target control source, wherein the vehicle control request includes a vehicle control instruction and a control source identifier of the target control source;

[0182] The processing module 72 is further configured to execute the vehicle control instruction if the vehicle control source is the control source corresponding to the control source identifier and the vehicle state identifier is the third identifier.

[0183] Further, the verification condition is: the vehicle control request instruction is a rising edge signal;

[0184] or,

[0185] The vehicle control request instruction is a falling edge signal;

[0186] or,

[0187] The verification value in the vehicle control request instruction is the same as the preset value stored in the vehicle controller.

[0188] Furthermore, the processing module 72 is further configured to update the vehicle status identifier to the second identifier if no control request is received within a preset release time period.

[0189] Furthermore, before receiving the parking instruction sent by the target control source, the processing module 72 is further configured to determine the target control source from the multiple candidate control sources according to the priorities of the multiple candidate control sources when detecting that the vehicle is in an emergency scenario if the vehicle control source is the vehicle controller;

[0190] The sending module 73 is further configured to send a control source switching instruction to the target control source.

[0191] Furthermore, before receiving the parking instruction sent by the target control source, the processing module 72 is further used to:

[0192] When a failure of the vehicle control source is detected, a backup control source corresponding to the vehicle control source is determined according to a preset control source correspondence relationship;

[0193] Taking the backup control source as the target control source;

[0194] The sending module 73 is further configured to send a control source switching instruction to the target control source.

[0195] Furthermore, after receiving the parking instruction sent by the target control source and before determining whether the vehicle state identifier and the vehicle speed within a preset time satisfy the safety condition, the processing module 72 is further configured to:

[0196] If a vehicle control request is received, and the control source corresponding to the control source identifier in the vehicle control request is the same as the vehicle control source, the vehicle control request is added to the buffer;

[0197] After determining whether the vehicle status indicator and the vehicle speed within the preset time period meet the safety condition, the processing module 72 is further used to:

[0198] If it is determined that the vehicle state identifier and the vehicle speed within the preset time period do not meet the safety condition, then when the vehicle state identifier is updated to a third identifier indicating that the vehicle state is a controlled state, the vehicle control instruction in the vehicle control request in the buffer zone is executed.

[0199] The vehicle control source switching device provided in this embodiment is used to execute the technical solution of the vehicle controller in any of the aforementioned method embodiments. Its implementation principle and technical effects are similar and will not be repeated here.

[0200] Figure 8 This is a schematic diagram of the structure of an electronic device provided in this application. Figure 8 As shown, the electronic device 80 includes:

[0201] Processor 81, memory 82, and communication interface 83;

[0202] The memory 82 is used to store executable instructions of the processor 81;

[0203] The processor 81 is configured to execute the technical solution of the target control source in any of the aforementioned method embodiments by executing the executable instructions.

[0204] Optionally, the memory 82 can be independent or integrated with the processor 81.

[0205] Optionally, when the memory 82 is a device independent of the processor 81, the electronic device 80 may further include:

[0206] The bus 84 , the memory 82 and the communication interface 83 are connected to the processor 81 via the bus 84 and communicate with each other. The communication interface 83 is used to communicate with other devices.

[0207] Optionally, the communication interface 83 may be implemented by a transceiver. The communication interface is used to implement communication between the database access device and other devices (such as a client, a read-write library, and a read-only library). The memory may include a random access memory (RAM) and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage.

[0208] The bus 84 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0209] The above-mentioned processor can be a general-purpose processor, including a central processing unit CPU, a network processor (NP), etc.; it can also be a digital signal processor DSP, an application-specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0210] The electronic device is used to execute the technical solution of the target control source in any of the aforementioned method embodiments, and its implementation principle and technical effect are similar and will not be repeated here.

[0211] Fig. 9 This is a schematic diagram of the structure of a vehicle controller provided by this application. Fig. 9 As shown, the vehicle controller 90 includes:

[0212] Processor 91, memory 92, and communication interface 93;

[0213] The memory 92 is used to store executable instructions of the processor 91;

[0214] The processor 91 is configured to execute the technical solution of the vehicle controller in any of the aforementioned method embodiments by executing the executable instructions.

[0215] Optionally, the memory 92 can be independent or integrated with the processor 91.

[0216] Optionally, when the memory 92 is a device independent of the processor 91, the vehicle controller 90 may further include:

[0217] The bus 94 , the memory 92 and the communication interface 93 are connected to the processor 91 via the bus 94 and communicate with each other. The communication interface 93 is used to communicate with other devices.

[0218] Optionally, the communication interface 93 may be implemented by a transceiver. The communication interface is used to implement communication between the database access device and other devices (such as a client, a read-write library, and a read-only library). The memory may include a random access memory (RAM) and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage.

[0219] The bus 94 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0220] The above-mentioned processor can be a general-purpose processor, including a central processing unit CPU, a network processor (NP), etc.; it can also be a digital signal processor DSP, an application-specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0221] The vehicle controller is used to execute the technical solution of the vehicle controller in any of the aforementioned method embodiments, and its implementation principle and technical effect are similar and will not be repeated here.

[0222] An embodiment of the present application also provides a computer program product, including a computer program, which is used to implement the technical solution provided by any of the aforementioned method embodiments when executed by a processor.

[0223] An embodiment of the present application also provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the technical solution provided by any of the aforementioned method embodiments is implemented.

[0224] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0225] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0226] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0227] The units described as separate components may or may not be physically separated, and the components shown as units 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 units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0228] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0229] If the function 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 technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0230] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0231] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A vehicle control source switching method, characterized in that: Applied to a vehicle controller, the method comprises: Receiving a control source switching request sent by a target control source, wherein the control source switching request includes a control source identifier of the target control source; Determine whether the vehicle state identifier and the vehicle speed within a preset time period meet a safety condition, wherein the safety condition includes: the vehicle speed within the preset time period is less than a preset vehicle speed, and the vehicle state identifier is a first identifier indicating that the vehicle state is a parking state; If it is determined that the vehicle state identifier and the vehicle speed within the preset time period meet the safety condition, the vehicle control source is switched to the target control source.

2. The method according to claim 1, characterized in that Before receiving the control source switching request sent by the target control source, the method further includes: Receiving a parking instruction sent by the target control source; The vehicle is controlled to stop, and the vehicle state identifier is updated to the first identifier.

3. The method according to claim 1 or 2, characterized in that: The method further comprises: Sending a switching success message to the target control source; Receiving a waiting-to-be-controlled instruction sent by the target control source; The vehicle state identifier is updated to a second identifier indicating that the vehicle state is a waiting controlled state.

4. The method according to claim 3, characterized in that The method further comprises: Receiving a vehicle control request instruction sent by the target control source; If it is determined that the vehicle control request instruction satisfies a preset verification condition, the vehicle state identifier is updated to a third identifier indicating that the vehicle state is a controlled state; Receiving a vehicle control request sent by the target control source, wherein the vehicle control request includes a vehicle control instruction and a control source identifier of the target control source; If the vehicle control source is the control source corresponding to the control source identifier, and the vehicle state identifier is the third identifier, the vehicle control instruction is executed.

5. The method according to claim 4, characterized in that The verification condition is: the vehicle control request instruction is a rising edge signal; or, The vehicle control request instruction is a falling edge signal; or, The verification value in the vehicle control request instruction is the same as the preset value stored in the vehicle controller.

6. The method according to claim 4, characterized in that The method further comprises: If no control request is received within the preset release time, the vehicle status identifier is updated to the second identifier.

7. The method according to claim 2, characterized in that Before receiving the parking instruction sent by the target control source, the method further includes: If the vehicle control source is the vehicle controller, when it is detected that the vehicle is in an emergency scenario, a target control source is determined from the multiple candidate control sources according to the priorities of the multiple candidate control sources; A control source switching instruction is sent to the target control source.

8. The method according to claim 2, characterized in that: Before receiving the parking instruction sent by the target control source, the method further includes: When a failure of the vehicle control source is detected, a backup control source corresponding to the vehicle control source is determined according to a preset control source correspondence relationship; Taking the backup control source as the target control source; A control source switching instruction is sent to the target control source.

9. The method according to claim 2, characterized in that: After receiving the parking instruction sent by the target control source and before determining whether the vehicle state identifier and the vehicle speed within a preset time period meet the safety condition, the method further includes: If a vehicle control request is received, and the control source corresponding to the control source identifier in the vehicle control request is the same as the vehicle control source, the vehicle control request is added to the buffer; After determining whether the vehicle status identifier and the vehicle speed within a preset time period meet the safety conditions, the method further includes: If it is determined that the vehicle state identifier and the vehicle speed within the preset time period do not meet the safety condition, then when the vehicle state identifier is updated to a third identifier indicating that the vehicle state is a controlled state, the vehicle control instruction in the vehicle control request in the buffer zone is executed.

10. A vehicle controller, characterized in that: include: Processor, memory, communication interface; The memory is used to store executable instructions of the processor; Wherein, the processor is configured to execute the vehicle control source switching method according to any one of claims 1 to 9 by executing the executable instructions.

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