Switching control method and system for auxiliary driving transverse function

Abstract

The invention discloses an auxiliary driving transverse function switching control method and system, and the method comprises the steps: monitoring the takeover intention of a driver during the operation of an automobile transverse auxiliary driving function, and starting a control right transfer process after the takeover intention of the driver is monitored, in the control right transferring process, the control weight of the automobile transverse auxiliary driving system on the transverse movement of the automobile is gradually reduced, and meanwhile the control weight for controlling the transverse movement of the automobile is gradually increased through operation input of a driver till the automobile transverse auxiliary driving system exits transverse control; and in the control right transfer process, a driver take-over smooth processing process is carried out, and in the driver take-over smooth processing process, automatic control of the transverse auxiliary driving system of the vehicle is switched into manual control of driver take-over stably by adjusting control parameters of the EPS. According to the scheme, quick response and stable transition of taking over of a driver are achieved, and the driving safety and comfort are improved.

Description

Technical Field

[0001] The present invention relates to the field of automobile assisted driving, and in particular to a switching control method and system between an assisted driving lateral function and a driver safety access. Background Art

[0002] With the rapid development of today's automobile technology, assisted driving systems have become an important innovation direction in the automotive field. Among them, the lateral assisted driving function plays a key role in helping the driver keep the vehicle stable in the lane and make safe lane changes. The lateral assisted driving function is mainly the lane keeping assist system, including lane keeping, lane departure suppression, lane departure warning and other functions; the lateral assisted driving function is mainly completed by the host computer and the actuator complementing each other. At present, the host computer is mainly the front camera, and the actuator is the steering system. The steering system controller sends and receives signals to perform lateral actions; when the car is in the lateral assisted driving function, the host computer controls the steering controller according to the road conditions to perform lateral control of the car, and the driver does not need to participate in lateral driving. When the driver takes over the steering wheel actively, the lateral assisted driving function exits, and the host computer no longer sends instructions to make the steering system move laterally, and the car is completely controlled by the driver.

[0003] The process of transition between the driver and the host computer involves safety. However, the existing lateral assisted driving system often has some shortcomings when the driver takes over actively. For example, the response speed is not fast enough, resulting in the driver's operation not being responded to by the vehicle in time; the control transfer process is not smooth enough, which may cause a sudden change in the lateral movement of the vehicle, posing potential risks to driving safety; in addition, the judgment of the driver's intention to take over is not accurate enough, which is easy to cause misjudgment or delayed judgment. These problems not only affect the driving experience, but also threaten driving safety to a certain extent. Therefore, it is of great practical significance to develop a strategy that can quickly and accurately respond to the driver's active takeover intention and achieve smooth transfer of control rights. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a switching control method and system for assisted driving lateral functions to solve at least one of the problems existing in the prior art, such as untimely response, unstable transition and inaccurate judgment of takeover intention, so as to achieve rapid response and smooth transition of driver takeover and improve driving safety and comfort.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a switching control method for an assisted driving lateral function, comprising: monitoring the driver's intention to take over when the lateral assisted driving function of the vehicle is running, and when the driver's intention to take over is monitored, starting a control right transfer process, during which the control weight of the vehicle's lateral assisted driving system on the lateral movement of the vehicle is gradually reduced, while the control weight of the driver's operation input to control the lateral movement of the vehicle is gradually increased until the vehicle's lateral assisted driving system exits lateral control; during the control right transfer process, a driver takeover smoothing process is simultaneously entered, and during the driver takeover smoothing process, the control parameters of the EPS are adjusted to achieve smooth switching of the vehicle from automatic control of the lateral assisted driving system to manual control taken over by the driver.

[0006] The method also includes collecting the driver's operation data of the steering wheel in real time, and judging the driver's intention to take over based on the driver's operation data.

[0007] The driver's steering wheel operation data including steering wheel angle and steering torque are collected in real time; when the steering wheel angle controlled by the driver exceeds the preset angle threshold or the steering torque exceeds the set torque threshold and the duration reaches the set time threshold, it is judged that the driver has the intention to take over.

[0008] During the transfer of control, the reduction in the control weight of the lateral driving assistance system on the vehicle's lateral movement corresponds to the increase in the weight of the driver's operating input control, and the rate of increase or decrease in weight is adjusted based on the vehicle's driving speed and road conditions.

[0009] After the control weight of the lateral steering assistance system on the lateral movement of the vehicle is reduced to a set threshold, the lateral steering assistance system exits control of the steering system.

[0010] The control parameters of the driver takeover smoothing process are adjusted to the parameters of the electric steering power system. The parameters of the electric power steering system are switched from the lateral auxiliary driving system working state to the driver takeover state. The switching process is switched according to the set conversion rate until the parameters of the electric power steering system are restored to the set parameters of the driver takeover state.

[0011] The conversion rate of the electric power steering system parameters from the lateral assistance driving system working state to the driver takeover state corresponds to the weight conversion rate. After the weight conversion is completed, the parameters of the electric power steering system maintain synchronous switching to reach the parameters that meet the driver takeover state.

[0012] During the smoothing process, the lateral acceleration and yaw rate parameters of the vehicle are monitored in real time, and the electric power assist system is restricted based on the monitored lateral acceleration and yaw rate parameters.

[0013] The method also includes a recovery process after the driver takes over. After the driver completely takes over the control of the vehicle, the operating status of the vehicle is continuously monitored. When the driver's operation meets the recovery conditions, the lateral auxiliary driving system resumes and starts working.

[0014] A switching control system for an auxiliary driving lateral function, the control system comprising a driver operation input monitoring module, a takeover intention judgment module, a control right transfer module, and a transition smoothing processing module; the driver operation input monitoring module is used to detect the driver's operation data, and its output end is connected to the takeover intention judgment module, the takeover intention judgment module is used to monitor the driver's takeover intention when the automobile lateral auxiliary driving function is running, and when the driver's takeover intention is detected, the control right transfer process is started through the control right transfer module, and during the control right transfer process, the control right transfer module gradually reduces the control weight of the automobile lateral auxiliary driving system on the lateral movement of the vehicle, and gradually increases the control weight of the driver operation input controlling the lateral movement of the vehicle, until the automobile lateral auxiliary driving system exits the lateral control; during the control right transfer process, the driver takeover smoothing processing process is entered through the transition smoothing processing module, and the transition smoothing processing module adjusts the control parameters of the EPS during the driver takeover smoothing processing process to achieve smooth switching of the vehicle from the automatic control of the lateral auxiliary driving system to the manual control of the driver taking over.

[0015] The advantages of the present invention are: solving the problems of untimely response, unsmooth transition and inaccurate judgment of takeover intention in the prior art, achieving rapid response and smooth transition of driver takeover, and improving driving safety and comfort. The driver's intention detection and judgment are more accurate and reliable. When the driver takes over and the auxiliary driving function exits, a smooth switch between the two is achieved through control, improving user experience and avoiding fluctuations in the vehicle during the switching process, which affects the safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The following is a brief description of the contents expressed in the drawings of the present invention and the symbols in the drawings:

[0017] Figure 1 A schematic diagram of the functional boundaries of the ADAS system in the lateral function of the present invention;

[0018] Figure 2 This is a logic flow chart of the driver taking over control of the present invention;

[0019] Figure 3 It is a structural principle diagram of the switching control system of the present invention. DETAILED DESCRIPTION

[0020] The specific implementation of the present invention will be further explained in detail below by describing the optimal embodiment with reference to the accompanying drawings.

[0021] like Figure 1 As shown in FIG. 1 , a functional boundary diagram of lateral function control is shown, which includes an execution module, a perception module, a braking system and a decision system; the decision system generally includes an ADAS camera and a corresponding ADAS controller, which are used to implement decisions on lateral function control. Whether the ADAS system for assisted driving works or not is generally driven and controlled based on the connected ADAS switch. The lateral assisted driving system is generally a function of the ADAS system. After the ADAS system starts the startup function, the lateral function is enabled, and then the ADAS control instructions are executed through the execution module. The execution module is generally an electric power steering system, which drives the motor of the electric power steering system to rotate the front and rear wheel angles, thereby realizing steering and lane change control. The electric power steering system generally obtains the vehicle's speed signal, torque angle and other information to control the lateral function and realize steering or lane change control. However, in many cases, the lateral control of the vehicle is switched from the auxiliary lateral driving assistance system (ADAS system) to the driver taking over the lateral control. The two are generally switched directly during the switching process, that is, ADAS directly exits after obtaining the switching intention. This direct exit will cause the driver to obtain a steering wheel torque instantly, resulting in vehicle fluctuations during the switching process, affecting safety and driving experience. Based on this, the present application provides a switching control scheme for switching from the ADSA lateral driving assistance system to the driver taking over control. Through this switching method, the switching stability and smoothness of the vehicle when switching from the ADAS assisted driving system to manual control by the driver can be improved, thereby improving the user experience.

[0022] like Figure 2 As shown, a switching control method of the lateral driving assist function of this scheme is shown. When the lateral function switch is turned on and the perception and execution modules are in normal state, the lateral driving assist function is turned on, and the vehicle is automatically controlled by the ADAS lateral driving assist system. When it is detected that the driver intends to take over the control of the vehicle, the ADAS lateral driving assist system adjusts the control weight of the execution module and the control weight of the execution module after the driver takes over to perform a progressive weight switch until the set threshold is reached, and the ADAS assisted driving system exits the control function, and the driver completely takes over the control of the vehicle. The specific introduction is as follows:

[0023] This solution switches the vehicle control from the ADAS lateral auxiliary driving system to the driver's manual control mode. The solution includes:

[0024] The driver's takeover intention is monitored when the vehicle's lateral assistance driving function is running. When the driver's takeover intention is detected, the control right transfer process is started. During the control right transfer process, the control weight of the vehicle's lateral assistance driving system over the vehicle's lateral movement is gradually reduced, while the control weight of the driver's operation input for controlling the vehicle's lateral movement is gradually increased until the vehicle's lateral assistance driving system exits lateral control; during the control right transfer process, the driver takeover smoothing process is entered. During the driver takeover smoothing process, the control parameters of the EPS are adjusted to achieve smooth switching of the vehicle from automatic control of the lateral assistance driving system to manual control taken over by the driver.

[0025] Monitoring the driver's intention to take over includes: collecting the driver's operating data on the steering wheel in real time, and judging the driver's intention to take over based on the driver's operating data. The real-time collection of the driver's operating data on the steering wheel includes steering wheel angle and steering torque; when the steering wheel angle controlled by the driver exceeds the preset angle threshold or the steering torque exceeds the set torque threshold and the duration reaches the set time threshold, it is judged that the driver has the intention to take over; otherwise, it is judged that the driver has no intention to take over. Because if the driver has the intention to take over, the force of controlling the steering wheel should be greater than a certain level and can last for a certain period of time, otherwise the driver is not considered to have the intention to take over, and it is simpler and more convenient for the driver to actually operate in this way to judge the driver's intention to take over.

[0026] After monitoring the driver's intention to take over, the lateral driving assistance system cannot exit directly. If it exits directly, it will cause discontinuity and instability in the vehicle control from automatic driving to manual driving, which will lead to vehicle shaking and affect the driving experience and safety. Therefore, after detecting the driver's intention to take over, the control transfer process is entered. Through the control transfer process, the control of the electric steering power system is gradually transferred from the lateral function assistance control system ADAS to the driver's manual control, so as to achieve a smooth transition.

[0027] During the transfer of control, the control weight K1 of the lateral driving assistance system ADAS on the vehicle's electronic steering assist system gradually decreases, while the weight K2 of the driver's operation input control entered by the driver through the steering wheel gradually increases. The reduction of the control weight of the lateral driving assistance system on the lateral movement of the vehicle corresponds to the increase of the weight of the driver's operation input control, and the increase or decrease rate of the weight is adjusted based on the vehicle's driving speed and road conditions. That is, the reduction in weight 1 is equal to the increase in weight K2, until the weight K1 is reduced to the set threshold, the lateral driving assistance system ADAS exits the control of the electric driving assistance system and exits the lateral control function. The reduction rate of weight K1 or the increase rate of K2 is dynamically adjusted according to the vehicle's driving speed and road conditions, because if the weight increases or decreases too quickly, it will cause vehicle fluctuations during switching, and if it is too slow, it will affect the switching speed. Switching too quickly or too slowly will also affect the driving safety of the vehicle. Therefore, it is necessary to pre-calibrate the weight switching rate, that is, the decrease rate of weight K1 and the increase rate of K2, to meet the requirements of smoothness, reliability and safety during the vehicle switching process, while being compatible with the vehicle speed, and dynamically adjusting the rate during the switching process according to the current vehicle speed to further improve safety and stability.

[0028] For the exit of ADAS, after the control weight of the lateral motion of the vehicle by the lateral driving assistance system ADAS is reduced to the set threshold, the lateral driving assistance system exits the control of the steering system. The set threshold can be pre-calibrated. When the control weight of ADAS is less than the set threshold, the ADAS function exits and the driver completely takes over the direction control of the vehicle. At this time, the driver acts on the electric power steering control system of the vehicle through the steering wheel to realize the driver's control of the steering control.

[0029] In order to further improve the smoothness of the driver taking over the control of the vehicle, a smoothing process is performed simultaneously during the weight switching process. The control parameters of the driver takeover smoothing process are adjusted to the parameters of the electric steering power system. The parameters of the electric power steering system are switched from the lateral auxiliary driving system working state to the driver takeover state. The switching process is switched according to the set conversion rate until the parameters of the electric power steering system are restored to the set parameters of the driver takeover state. Because during ADAS automatic control, only the power steering module function in the electric power steering system works, and other modules such as steering gain, damping coefficient adjustment module, return module, friction compensation module and other functional modules of the electric power steering system do not work. After the driver takes over, the parameters of these functional modules directly reach the working state parameters, which is also a factor that easily causes instability. Therefore, in the process of weight conversion, the parameters of the electric power steering system are adjusted and controlled at the same time, so that its parameters start working from 0 and gradually become the parameters in the manual control mode during the weight conversion process. That is, during the time period of weight conversion, the steering gain, damping coefficient adjustment module, return module, friction compensation module and other functional modules of the electric power steering system start working and gradually adjust the parameters until they reach the parameters in the manual mode. In this way, the working parameters of the electric power steering system are also gradually transformed from the automatic control mode to the manual control mode. The control is more stable and reliable, avoiding safety hazards and fluctuations caused by instantaneous changes.

[0030] The conversion rate of the electric power steering system parameters from the lateral auxiliary driving system working state to the driver takeover state corresponds to the weight conversion rate. After the weight conversion is completed, the parameters of the electric power steering system are switched synchronously to reach the parameters that meet the driver takeover state. The corresponding rate means that during the weight switching process, the parameters of the electric power steering system are also gradually adjusted and controlled. After the weight conversion is completed, the parameters of the electric power steering system are also fully adjusted, so that the parameters of the two are adjusted synchronously, and the purpose of stable and smooth switching is achieved.

[0031] During the smoothing process or weight switching process, the vehicle's lateral acceleration and yaw rate parameters are monitored in real time, and the electric power assist system is restricted based on the monitored lateral acceleration and yaw rate parameters. The lateral acceleration and yaw rate thresholds during the switching process are pre-set. When the lateral acceleration and yaw rate during the switching process are detected to be greater than the set thresholds, a vehicle safety warning is issued, and an alarm is issued through the vehicle's alarm, instrument, display, etc. At the same time, the lateral function auxiliary driving system ADAS is controlled to start and last for a set time. During the ADAS startup process, ADAS performs control to limit the vehicle's lateral acceleration and yaw rate within the set thresholds to improve the vehicle's active safety. After the startup duration is completed, the weight switching process and smoothing process are re-entered.

[0032] The switching control method also includes a recovery process after the driver takes over. After the driver completely takes over the control of the vehicle, the vehicle's operating status is continuously monitored. When the driver's operation meets the recovery conditions, the lateral assisted driving system resumes and starts working. When the lateral assisted driving system ADAS stops or triggers the ADAS activation function according to the driver's operation or the real-time conditions of the vehicle meet the pre-designed recovery conditions, the lateral assisted driving system ADAS function is automatically restored and the ADAS system is activated to start working, thereby realizing the whole process of switching from the ADAS lateral assisted driving system to the driver taking over and then restoring to ADAS control. The entire control switching process will be smoother and more reliable, avoiding defects such as vehicle fluctuations and unevenness when switching from automatic control to manual control, and improving the driving experience.

[0033] like Figure 3 As shown, a switching control system for an assisted driving lateral function provided by the present embodiment, the switching control system is used to run the switching control method introduced in the above embodiment, the control system includes a driver operation input monitoring module, a takeover intention judgment module, a control right transfer module, and a transition smoothing processing module; the driver operation input monitoring module is used to detect the driver's operation data, and its output end is connected to the takeover intention judgment module, the takeover intention judgment module is used to monitor the driver's takeover intention when the automobile lateral assisted driving function is running, when the driver's takeover intention is detected, the control right transfer process is started through the control right transfer module, during the control right transfer process, the control right transfer module gradually reduces the control weight of the automobile lateral assisted driving system on the lateral movement of the vehicle, and gradually increases the control weight of the driver operation input controlling the lateral movement of the vehicle, until the automobile lateral assisted driving system exits the lateral control; during the control right transfer process, the driver takeover smoothing processing process is entered through the over-smoothing processing module, and the over-smoothing processing module adjusts the control parameters of the EPS during the driver takeover smoothing processing process to achieve smooth switching of the vehicle from the automatic control of the lateral assisted driving system to the manual control of the driver taking over.

[0034] This solution provides a strategy for the driver to actively take over the lateral assisted driving function of the car, which can solve the problems of untimely response, unstable transition and inaccurate judgment of takeover intention in the existing technology, realize the rapid response and smooth transition of the driver's takeover, and improve the safety and comfort of driving. The solution includes:

[0035] 1. Driver operation input monitoring module

[0036] Collect the driver's steering wheel operation data in real time, including steering wheel angle, steering torque, steering speed, etc. At the same time, monitor the driver's hand position, grip strength and other information to more comprehensively understand the driver's operating status. The monitoring module can use vehicle-mounted components to realize vehicle data collection and save costs.

[0037] 2. Takeover intention judgment module

[0038] Comprehensively analyze the driver's operation input data. When the steering wheel angle exceeds the preset angle threshold, or the steering torque exceeds the preset torque threshold, and the duration reaches a certain length of time, it is judged that the driver has the intention to take over actively. Consider the consistency and stability of the driver's operation to avoid misjudging the intention to take over due to short-term misoperation. When the steering wheel angle controlled by the driver exceeds the preset angle threshold or the steering torque exceeds the set torque threshold and the duration reaches the set time threshold, it is judged that the driver has the intention to take over; otherwise, it is judged that the driver has no intention to take over. Because if the driver has the intention to take over, the force of his steering wheel control should be greater than a certain level and can last for a certain period of time, otherwise the driver is not considered to have the intention to take over, and it is simpler and more convenient for the driver to actually operate in this way to judge the driver's intention to take over.

[0039] 3. Control transfer module

[0040] Once it is determined that the driver intends to take over, the control transfer process is immediately initiated. During the control transfer process, the control weight of the lateral driving assistance system on the lateral movement of the vehicle is gradually reduced, and the weight of the driver's operation input is correspondingly increased. The speed of control transfer can be dynamically adjusted according to factors such as the vehicle's driving speed and road conditions.

[0041] After monitoring the driver's intention to take over, the lateral auxiliary driving system cannot exit directly. If it exits directly, it will cause discontinuity and instability in the vehicle control from automatic driving to manual driving, which will cause the vehicle to shake and affect the driving experience and safety. Therefore, after detecting the driver's intention to take over, the control transfer process is entered. Through the control transfer process, the control of the electric steering assist system is gradually transferred from the lateral function auxiliary control system ADAS to the driver's manual control to achieve a smooth conversion. During the control transfer process, the control weight K1 of the vehicle's electronic steering assist system controlled by the lateral auxiliary driving system ADAS is gradually reduced, and the weight K2 of the driver's operation input control entered by the driver through the steering wheel is gradually increased. The reduction of the control weight of the lateral auxiliary driving system on the lateral movement of the vehicle corresponds to the increase of the weight of the driver's operation input control, and the increase or decrease rate of the weight is adjusted based on the vehicle's driving speed and road conditions. That is, the reduction of weight 1 is equal to the increase of weight K2, until the weight K1 is reduced to the set threshold, the lateral auxiliary driving system ADAS exits the control of the electric assisted driving system and exits the lateral control function. The reduction rate of weight K1 or the increase rate of K2 is dynamically adjusted according to the vehicle's driving speed and road conditions, because if the weight increases or decreases too quickly, it will cause vehicle fluctuations during switching, and if it is too slow, it will affect the switching speed. Switching too quickly or too slowly will also affect the driving safety of the vehicle. Therefore, it is necessary to pre-calibrate the weight switching rate, that is, the decrease rate of weight K1 and the increase rate of K2, to meet the requirements of smoothness, reliability and safety during the vehicle switching process, while being compatible with the vehicle speed, and dynamically adjusting the rate during the switching process according to the current vehicle speed to further improve safety and stability.

[0042] 4. Transition smoothing module

[0043] During the transfer of control rights, the smooth transition of the vehicle's lateral movement is achieved by adjusting control parameters such as steering gain and damping coefficient. The vehicle's lateral acceleration, yaw rate and other parameters are monitored and limited in real time to ensure that the vehicle's motion state meets the requirements of safety and comfort during the transition. During the weight switching process, a smoothing process is performed at the same time. The driver takes over the smoothing process and adjusts the control parameters to the parameters of the electric steering power system. The parameters of the electric power system are switched from the lateral auxiliary driving system working state to the driver take over state. The switching process is switched according to the set conversion rate until the parameters of the electric power system are restored to the set parameters of the driver take over state. Because during ADAS automatic control, only the power steering module function in the electric power steering system works, and other modules such as steering gain, damping coefficient adjustment module, return module, friction compensation module and other functional modules of the electric power steering system do not work. After the driver takes over, the parameters of these functional modules directly reach the working state parameters, which is also a factor that easily causes instability. Therefore, in the process of weight conversion, the parameters of the electric power steering system are adjusted and controlled at the same time, so that its parameters start working from 0 and gradually become the parameters in the manual control mode during the weight conversion process. That is, during the time period of weight conversion, the steering gain, damping coefficient adjustment module, return module, friction compensation module and other functional modules of the electric power steering system start working and gradually adjust the parameters until they reach the parameters in the manual mode. In this way, the working parameters of the electric power steering system are also gradually transformed from the automatic control mode to the manual control mode. The control is more stable and reliable, avoiding safety hazards and fluctuations caused by instantaneous changes.

[0044] 5. System status monitoring and recovery module

[0045] After the driver takes over completely, the vehicle's operating status is continuously monitored. When the driver's operation stops or meets the preset recovery conditions, the lateral driving assistance system can automatically recover or wait for the driver to reactivate according to the situation; when the lateral driving assistance system ADAS stops or triggers the ADAS activation function according to the driver's operation or the real-time conditions of the vehicle meet the pre-designed recovery conditions, the lateral driving assistance system ADAS function is automatically restored and the ADAS system is activated to start working, thus realizing the whole process from the ADAS lateral driving assistance system switching to the driver taking over and then recovering to ADAS control. The entire control switching process will be smoother and more reliable, avoiding defects such as vehicle fluctuations and unevenness when switching from automatic control to manual control, and improving the driving experience.

[0046] The strategy of the present invention can be implemented by the sensors, controllers and actuators of the vehicle. The sensors are responsible for collecting the driver's operation input and the vehicle's status information, such as steering wheel angle sensors, torque sensors, vehicle speed sensors, etc. The controller analyzes and processes the collected data, determines the driver's intention to take over, and executes the control algorithm for control transfer and smooth transition. The actuator adjusts the vehicle's steering system according to the instructions of the controller to achieve lateral motion control of the vehicle. Taking the vehicle driving on the highway as an example, when the vehicle is driving at a high speed on the highway, the lateral auxiliary driving system is in working state. At this time, if the driver starts to turn the steering wheel to a large extent, and the steering torque continues to exceed the threshold, the system determines that the driver has the intention to take over actively. The control right is gradually transferred from the auxiliary driving system to the driver, and at the same time, through the smoothing processing module, the lateral movement of the vehicle smoothly follows the driver's operation. During the takeover process, the system monitors the lateral acceleration and yaw rate of the vehicle in real time to ensure that it does not exceed the safety range. When the driver completes the operation or releases the steering wheel for a period of time, the system evaluates whether to restore the lateral auxiliary driving function according to the preset conditions.

[0047] Obviously, the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, they are all within the protection scope of the present invention.

Claims

1. A method for switching a lateral function of an assisted driving device, characterized in that: It includes monitoring the driver's intention to take over when the vehicle's lateral assistance driving function is running, and initiating the control transfer process when the driver's intention to take over is detected. During the control transfer process, the control weight of the vehicle's lateral assistance driving system over the vehicle's lateral movement is gradually reduced, while the control weight of the driver's operation input to control the vehicle's lateral movement is gradually increased until the vehicle's lateral assistance driving system exits lateral control; during the control transfer process, the driver takeover smoothing process is entered, and during the driver takeover smoothing process, the control parameters of the EPS are adjusted to achieve smooth switching of the vehicle from automatic control of the lateral assistance driving system to manual control taken over by the driver.

2. The switching control method of the lateral function of the auxiliary driving according to claim 1, characterized in that: The method also includes collecting the driver's operation data of the steering wheel in real time, and judging the driver's intention to take over based on the driver's operation data.

3. A method for switching control of a lateral function of an assisted driving according to claim 2, characterized in that: Real-time collection of the driver's steering wheel operation data including steering wheel angle and steering torque; When the steering wheel angle controlled by the driver exceeds a preset angle threshold or the steering torque exceeds a set torque threshold and the duration reaches a set time threshold, it is determined that the driver has the intention to take over.

4. A method for switching a lateral function of an assisted driving according to any one of claims 1 to 3, characterized in that: During the transfer of control, the reduction in the control weight of the lateral driving assistance system on the vehicle's lateral movement corresponds to the increase in the weight of the driver's operating input control, and the rate of increase or decrease in weight is adjusted based on the vehicle's driving speed and road conditions.

5. The switching control method of the lateral function of the auxiliary driving as claimed in claim 4, characterized in that: After the control weight of the lateral steering assistance system on the lateral movement of the vehicle is reduced to a set threshold, the lateral steering assistance system exits control of the steering system.

6. A method for switching and controlling a lateral function of an assisted driving according to any one of claims 1 to 3, characterized in that: The control parameters of the driver takeover smoothing process are adjusted to the parameters of the electric steering power system. The parameters of the electric power steering system are switched from the lateral auxiliary driving system working state to the driver takeover state. The switching process is switched according to the set conversion rate until the parameters of the electric power steering system are restored to the set parameters of the driver takeover state.

7. A method for switching and controlling a lateral function of an assisted driving device as claimed in claim 6, characterized in that: The conversion rate of the electric power steering system parameters from the lateral assistance driving system working state to the driver takeover state corresponds to the weight conversion rate. After the weight conversion is completed, the parameters of the electric power steering system maintain synchronous switching to reach the parameters that meet the driver takeover state.

8. A method for switching and controlling a lateral function of an assisted driving device as claimed in any one of claims 6, characterized in that: During the smoothing process, the lateral acceleration and yaw rate parameters of the vehicle are monitored in real time, and the electric power assist system is restricted based on the monitored lateral acceleration and yaw rate parameters.

9. A method for switching and controlling a lateral function of an assisted driving according to any one of claims 1 to 3, characterized in that: The method also includes a recovery process after the driver takes over. After the driver completely takes over the control of the vehicle, the operating status of the vehicle is continuously monitored. When the driver's operation meets the recovery conditions, the lateral auxiliary driving system resumes and starts working.

10. A switching control system for lateral driving assistance, characterized in that: The control system includes a driver operation input monitoring module, a takeover intention judgment module, a control right transfer module, and a transition smoothing processing module; the driver operation input monitoring module is used to detect the driver's operation data, and its output end is connected to the takeover intention judgment module, the takeover intention judgment module is used to monitor the driver's takeover intention when the automobile lateral auxiliary driving function is running, and when the driver's takeover intention is detected, the control right transfer process is started through the control right transfer module, and the control right transfer module gradually reduces the control weight of the automobile lateral auxiliary driving system on the lateral movement of the vehicle during the control right transfer process, and gradually increases the control weight of the driver's operation input controlling the lateral movement of the vehicle until the automobile lateral auxiliary driving system exits the lateral control; during the control right transfer process, the driver takeover smoothing processing process is entered through the over-smoothing processing module, and the over-smoothing processing module adjusts the control parameters of the EPS during the driver takeover smoothing processing process to achieve smooth switching of the vehicle from automatic control of the lateral auxiliary driving system to manual control of the driver taking over.

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