Intelligent driving vehicle manual intervention whole vehicle braking control method and system

Abstract

The invention discloses an unmanned vehicle manual intervention whole vehicle braking control method and system, and the method comprises the steps: determining a manual intervention mode according to a manual intervention signal when the manual intervention signal is monitored in the automatic driving process of a vehicle; when the manual intervention mode is simultaneous transverse manual taking-over and longitudinal accelerator taking-over, the vehicle is controlled to exit the automatic driving mode; acquiring a deceleration request signal of the intelligent driving system when the manual intervention mode is not the transverse manual take-over mode and the longitudinal accelerator take-over mode at the same time; when the deceleration request signal is zero, the vehicle is controlled to exit the automatic driving mode; when the deceleration request signal is not zero, the vehicle is controlled to decelerate through the intelligent driving system; and when the vehicle decelerates to zero, controlling the vehicle to exit the automatic driving mode. And it is ensured that the manual transverse and longitudinal pipe connecting can keep good whole vehicle braking performance under different driving working conditions of the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving vehicle control technology, and in particular to a method and system for artificially intervening in whole-vehicle braking control of an intelligent driving vehicle. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] With the rapid development of sensor perception technology, artificial intelligence algorithms and 5G communication technology, intelligent driving vehicles are gradually becoming a hot topic in the current automotive industry. However, due to the complexity and variability of the driving environment and the imperfection of relevant regulations, intelligent driving vehicles still require manual intervention in certain situations to ensure driving safety. Especially in emergency situations, how to ensure the braking performance of the entire vehicle when manual control is taken over has become one of the key technologies in the current research on intelligent driving buses. Most of the currently disclosed manual intervention control methods for intelligent driving vehicles directly exit the intelligent driving control mode and hand over control to the driver when the vehicle detects a change in the throttle or brake opening. This method suddenly takes over by manual operation when the vehicle is in emergency braking or the steering wheel steering angle is large, which may cause problems such as loss of vehicle braking force or loss of vehicle control, thereby causing safety hazards and reducing the comfort of intelligent driving. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes a method and system for manually intervening in vehicle braking control of an intelligent driving vehicle. By judging the manual intervention mode and combining the deceleration request information, the vehicle's braking force output and the exit time of the unmanned driving mode are dynamically adjusted to ensure that the manual lateral and longitudinal tubes of the vehicle can maintain good vehicle braking performance under different driving conditions, thereby improving the vehicle's operating safety and ride comfort.

[0005] To achieve the above object, the present invention adopts the following technical solution:

[0006] In the first aspect, a method for manually intervening in vehicle braking control for an unmanned vehicle is proposed, comprising:

[0007] During the process of automatic driving of the vehicle, when a manual intervention signal is detected, the manual intervention method is determined according to the manual intervention signal;

[0008] When the manual intervention mode is simultaneous lateral manual takeover and longitudinal throttle takeover, the vehicle is controlled to exit the automatic driving mode;

[0009] When the manual intervention modes are different, namely, lateral manual takeover and longitudinal throttle takeover, a deceleration request signal of the intelligent driving system is obtained;

[0010] When the deceleration request signal is zero, the vehicle is controlled to exit the automatic driving mode;

[0011] When the deceleration request signal is not zero, the vehicle is controlled to decelerate through the intelligent driving system; when the vehicle decelerates to zero speed, the vehicle is controlled to exit the automatic driving mode.

[0012] Further, the manual intervention signal includes one or more of a steering torque signal, a throttle opening signal, and a brake opening signal;

[0013] When a steering torque signal is detected and the steering torque signal is greater than a set steering torque threshold, it is determined that the manual intervention mode is lateral manual takeover;

[0014] When the throttle opening signal is detected and the throttle opening signal is greater than the set throttle opening threshold, it is determined that the manual intervention mode is longitudinal throttle takeover;

[0015] When the brake opening signal is monitored and the brake opening signal is greater than the set brake opening threshold, it is determined that the manual intervention method is longitudinal brake takeover.

[0016] Further, when the deceleration request signal is not zero, a final deceleration of the vehicle is determined according to the deceleration request signal;

[0017] Through the intelligent driving system, the vehicle deceleration is controlled according to the vehicle's final deceleration.

[0018] Furthermore, when the manual intervention mode is lateral manual takeover or longitudinal throttle takeover, a target deceleration is determined according to the deceleration request signal; a minimum value is selected from the target deceleration and the maximum deceleration allowed by the vehicle as the final deceleration of the vehicle;

[0019] When the manual intervention mode is longitudinal brake takeover, the target deceleration is determined according to the brake opening signal; the maximum value is selected from the target deceleration and the deceleration request signal as the final deceleration of the vehicle;

[0020] When the manual intervention mode is lateral manual takeover and longitudinal brake takeover, a target deceleration is determined according to the deceleration request signal; the minimum value is selected from the target deceleration and the maximum deceleration allowed by the vehicle; a target deceleration is determined according to the brake opening signal; the maximum value is selected from the target deceleration and the deceleration request signal; the maximum value is selected from the selected minimum and maximum values ​​as the final deceleration of the vehicle.

[0021] Furthermore, when the manual intervention mode is lateral manual takeover, a steering angle signal of the vehicle is also obtained;

[0022] Determine the braking level of the vehicle according to the steering angle signal;

[0023] The target deceleration is determined based on the vehicle's braking level and the deceleration request signal.

[0024] Furthermore, a takeover reminder message is issued based on the manual intervention method.

[0025] Secondly, a manual intervention vehicle braking control system for unmanned vehicles is proposed, including:

[0026] A manual intervention mode determination module is used to determine the manual intervention mode according to the manual intervention signal when a manual intervention signal is detected during the automatic driving process of the vehicle;

[0027] The automatic driving module exit control module is used to control the vehicle to exit the automatic driving mode when the manual intervention mode is simultaneous lateral manual takeover and longitudinal throttle takeover; when the manual intervention modes are not simultaneous lateral manual takeover and longitudinal throttle takeover, obtain the deceleration request signal of the intelligent driving system; when the deceleration request signal is zero, control the vehicle to exit the automatic driving mode; when the deceleration request signal is not zero, control the vehicle to decelerate through the intelligent driving system; when the vehicle decelerates to zero speed, control the vehicle to exit the automatic driving mode.

[0028] In a third aspect, a computer device is provided, the device comprising:

[0029] a processor adapted to execute a computer program;

[0030] A computer-readable storage medium having a computer program stored therein, wherein when the computer program is executed by the processor, a method for manually intervening in vehicle braking control of an unmanned vehicle proposed in the first aspect is implemented.

[0031] In a fourth aspect, a computer-readable storage medium is proposed, wherein the computer-readable storage medium stores a computer program, and the computer program is suitable for being loaded by a processor and executing a method for manually intervening in vehicle braking control of an unmanned vehicle proposed in the first aspect.

[0032] In a fifth aspect, a computer program product is proposed, which includes a computer program. When the computer program is executed by a processor, it implements the method for manually intervening in vehicle braking control of an unmanned vehicle proposed in the first aspect.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] The present invention proposes a method and system for manually intervening in the braking control of an unmanned vehicle. During the automatic driving process of the vehicle, when a manual intervention signal is detected, the method first determines the manual intervention mode, and then dynamically adjusts the vehicle's braking force output and the exit time of the unmanned driving mode in combination with the deceleration request information, to ensure that the manual lateral and longitudinal tubes of the vehicle can maintain good vehicle braking performance under different driving conditions, thereby improving the vehicle's operating safety and ride comfort.

[0035] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0037] Figure 1 The present invention is a flow chart of a method for manually intervening in vehicle braking control for an unmanned vehicle disclosed in an embodiment. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0039] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0040] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0041] Example 1

[0042] In this embodiment, a method for controlling the braking of an unmanned vehicle by manual intervention is disclosed. Figure 1 As shown, including:

[0043] During the process of automatic driving of the vehicle, when a manual intervention signal is detected, the manual intervention method is determined according to the manual intervention signal;

[0044] When the manual intervention mode is simultaneous lateral manual takeover and longitudinal throttle takeover, the vehicle is controlled to exit the automatic driving mode;

[0045] When the manual intervention modes are different, namely, lateral manual takeover and longitudinal throttle takeover, a deceleration request signal of the intelligent driving system is obtained;

[0046] When the deceleration request signal is zero, the vehicle is controlled to exit the automatic driving mode;

[0047] When the deceleration request signal is not zero, the vehicle is controlled to decelerate through the intelligent driving system; when the vehicle decelerates to zero speed, the vehicle is controlled to exit the automatic driving mode.

[0048] The manual intervention signal includes one or more of a steering torque signal, a throttle opening signal and a brake opening signal;

[0049] When a steering torque signal is detected and the steering torque signal is greater than a set steering torque threshold, it is determined that the manual intervention mode is lateral manual takeover;

[0050] When the throttle opening signal is detected and the throttle opening signal is greater than the set throttle opening threshold, it is determined that the manual intervention mode is longitudinal throttle takeover;

[0051] When the brake opening signal is monitored and the brake opening signal is greater than the set brake opening threshold, it is determined that the manual intervention method is longitudinal brake takeover.

[0052] Preferably, the steering torque threshold is 4 NM, the throttle opening threshold is 5, and the brake opening threshold is 5.

[0053] After the vehicle of this embodiment is powered on, the vehicle controller and the intelligent driving system exchange handshakes through CAN messages. After the handshake is successful, the vehicle enters the automatic driving mode. In the automatic driving mode, the vehicle controller receives the message of the wire control steering system through the CAN bus and obtains the steering torque signal T eps , and at the same time obtain the throttle opening signal P through the sensor acc With brake opening signal P brk , combined with the steering torque signal, throttle opening signal and brake signal, determine whether the vehicle has manual intervention in the intelligent driving mode, and the specific manual intervention method: If the vehicle controller detects that the steering torque signal is greater than 4NM, that is, T eps >4, it is judged that the vehicle has manual intervention, and the manual intervention method is lateral manual takeover, which is recorded as state A. At this time, A=1, and when A=0, it indicates that no lateral manual takeover signal is detected; if the vehicle controller detects that the throttle opening is greater than 5, that is, P acc >5, it is judged that the vehicle has manual intervention, and the manual intervention method is longitudinal throttle takeover, which is recorded as state B. At this time, B=1. When B=0, it indicates that no longitudinal throttle takeover signal is detected; if the vehicle controller detects that the brake opening is greater than 5, that is, P brk>5, it is judged that the vehicle has manual intervention, and the manual intervention method is longitudinal brake takeover, which is recorded as state C. At this time, C=1. When C=0, it indicates that no longitudinal brake takeover signal is detected.

[0054] When the manual intervention mode is simultaneous lateral manual takeover and longitudinal throttle takeover, that is, A=1&B=1, it indicates that the vehicle is in the emergency avoidance stage. At this time, the vehicle is immediately controlled to exit the automatic driving mode, and the vehicle is taken over manually, and the corresponding manual steering and throttle commands are used to control the vehicle's steering and driving.

[0055] When the manual intervention modes are different, namely lateral manual takeover and longitudinal throttle takeover, this embodiment dynamically adjusts the vehicle's braking force output according to the deceleration request signal of the intelligent driving system, and determines the exit time of the automatic driving mode, to ensure that the manual lateral and longitudinal takeover of the vehicle can maintain good vehicle braking performance under different driving conditions, thereby improving vehicle operation safety and ride comfort.

[0056] Specifically, when the manual intervention modes are different, namely, lateral manual takeover and longitudinal throttle takeover, a deceleration request signal of the intelligent driving system is obtained;

[0057] When the deceleration request signal is zero, the final deceleration of the vehicle is determined according to the deceleration request signal; and the vehicle deceleration is controlled according to the final deceleration of the vehicle through the intelligent driving system.

[0058] Wherein, when the manual intervention mode is lateral manual takeover or longitudinal throttle takeover, the target deceleration is determined according to the deceleration request signal; the minimum value is selected from the target deceleration and the maximum deceleration allowed by the vehicle as the final deceleration of the vehicle;

[0059] When the manual intervention mode is longitudinal brake takeover, the target deceleration is determined according to the brake opening signal; the maximum value is selected from the target deceleration and the deceleration request signal as the final deceleration of the vehicle;

[0060] When the manual intervention mode is lateral manual takeover and longitudinal brake takeover, a target deceleration is determined according to the deceleration request signal; the minimum value is selected from the target deceleration and the maximum deceleration allowed by the vehicle; a target deceleration is determined according to the brake opening signal; the maximum value is selected from the target deceleration and the deceleration request signal; the maximum value is selected from the selected minimum and maximum values ​​as the final deceleration of the vehicle.

[0061] When the manual intervention mode is lateral manual takeover, the vehicle's steering angle signal is also obtained;

[0062] Determine the braking level of the vehicle according to the steering angle signal;

[0063] The target deceleration is determined based on the vehicle's braking level and the deceleration request signal.

[0064] The process of determining the exit time of the automatic driving mode under each manual intervention method is described in detail.

[0065] When the vehicle controller detects that the lateral manual takeover is in place and there is no longitudinal takeover, that is, A=1&B=0&C=0, the vehicle controller obtains the vehicle's current steering angle signal angle and the deceleration request signal a sent by the intelligent driving system through the CAN bus. auto , if the deceleration request signal a sent by the intelligent driving system auto is greater than 0, and the absolute value of the steering angle is greater than 400°, that is, a auto >0&|angle|>400°, the vehicle's braking level is determined to be level 1, and the target braking deceleration a1 is: a1=2*a auto At the same time, in order to avoid the vehicle losing control, the vehicle deceleration shall not exceed the maximum deceleration a allowed by the current vehicle. max , then the final deceleration of the vehicle is a x for:

[0066] a x =min(a1,a max )=min(2*a auto ,a max ).

[0067] If the deceleration request signal a sent by the intelligent driving system auto is greater than 0, and the absolute value of the steering angle is greater than 200° and less than 400°, that is, a auto >0&|angle|>200°&|angle|<400°, the vehicle's braking level is determined to be level 2, and the target braking deceleration a2 is: a2=1.5*a auto , and the vehicle deceleration does not exceed the maximum deceleration a allowed by the current vehicle max , then the final deceleration of the vehicle is a x For: a x =min(a2,a max )=min(1.5*a auto ,a max ).

[0068] If the deceleration request signal a sent by the intelligent driving system auto is greater than 0, and the steering angle is less than 200°, that is, a auto >0&|angle|<200°, the vehicle's braking level is determined to be level 3, and the target braking deceleration a3 is: a3=a auto , and the vehicle deceleration does not exceed the maximum deceleration a allowed by the current vehicle max, then the final deceleration of the vehicle is a x For: a x =min(a3,a max )=min(a auto ,a max ).

[0069] The vehicle controller calculates the final vehicle deceleration a according to different braking levels. x The signal is sent to the wire control brake system to brake the vehicle. The braking stage is still judged to be in the automatic driving mode, but the whole vehicle no longer responds to the steering control instructions and drive control instructions of the intelligent driving system. When the vehicle speed is detected to be 0, that is, speed = 0, the automatic driving mode is exited;

[0070] If the deceleration request signal a sent by the intelligent driving system auto is equal to 0, that is, a auto =0, the automatic driving mode will be exited directly and manual control will be implemented.

[0071] In summary, when lateral manual takeover is involved, the calculation formula for the final deceleration of the vehicle is:

[0072]

[0073] When the vehicle controller detects that there is manual takeover in the longitudinal direction but no manual takeover in the lateral direction, that is, A=0&B=1 or A=0&C=1, the vehicle controller performs braking control and driving mode switching by obtaining the throttle opening signal, brake opening signal and deceleration request signal sent by the intelligent driving system.

[0074] If the longitudinal takeover mode is longitudinal throttle takeover, and the deceleration request signal a sent by the intelligent driving system auto Greater than 0, that is, a auto >0&P acc >5, the throttle function fails, and the braking request is responded to first. At the same time, in order to reduce the driver's throttle hysteresis time as much as possible and reduce driving comfort, the vehicle needs to brake quickly, and the target braking deceleration a4 is: a4 = 1.8*a auto , and the vehicle deceleration does not exceed the maximum deceleration a allowed by the current vehicle max , then the final deceleration of the vehicle is a y for a y =min(a4,a max )=min(1.8*a auto ,a max ), the vehicle controller will a yThe signal is sent to the wire control brake system to brake the vehicle. The braking stage is still judged to be in the automatic driving mode, but the whole vehicle no longer responds to the steering control instructions and drive control instructions of the intelligent driving system. When the vehicle speed is detected to be 0, that is, speed = 0, the automatic driving mode is immediately exited and the throttle command is responded.

[0075] If the longitudinal takeover mode is throttle intervention takeover, and the deceleration request signal a sent by the intelligent driving system auto is equal to 0, that is, a auto =0&P acc >5, the vehicle will immediately exit the automatic driving mode and respond to the throttle command to drive the vehicle.

[0076] If the longitudinal takeover mode is longitudinal brake takeover, and the deceleration request signal a sent by the intelligent driving system auto Greater than 0, that is, a auto >0&P brk >5, then it is necessary to compare the target braking deceleration a calculated based on the brake opening brk The deceleration request signal a sent by the intelligent driving system auto The maximum value is taken as the final deceleration a of the vehicle y The vehicle controller determines the target braking deceleration a according to the brake opening table. brk :a brk =map{P brk}, that is, the final deceleration of the vehicle a y For: a y =max(a auto ,map{P brk}), the vehicle controller will a y The signal is sent to the wire control brake system to brake the vehicle. The braking stage is still judged to be in the automatic driving mode, but the whole vehicle no longer responds to the steering control instructions and drive control instructions of the intelligent driving system. When the vehicle speed is detected to be 0, that is, speed = 0, the automatic driving mode is immediately exited and the throttle command is responded.

[0077] If the longitudinal takeover mode is longitudinal brake takeover, and the deceleration request signal a sent by the intelligent driving system auto is equal to 0, that is, a auto =0&P brk >5, the system will immediately exit the autonomous driving mode, respond to the brake command, and control the vehicle to brake and decelerate.

[0078] In summary, when longitudinal manual takeover is involved, the calculation formula for the final deceleration of the vehicle is:

[0079]

[0080] When the vehicle controller detects manual takeover in both the lateral and longitudinal directions, that is, A=1&B=1 or A=1&C=1, the vehicle controller performs braking control and driving mode switching by obtaining the throttle, brake, steering angle and the deceleration request signal sent by the intelligent driving system.

[0081] If the manual intervention method is to take over both the lateral and longitudinal directions at the same time, and the longitudinal takeover method is longitudinal throttle takeover, that is: A=1&B=1, it is determined to be the emergency avoidance stage at this time, and the automatic driving mode is exited immediately, responding to manual steering and throttle commands to control the steering and driving of the vehicle.

[0082] If the horizontal and vertical takeover is carried out at the same time, and the longitudinal takeover mode is longitudinal brake takeover, and the deceleration request value a issued by the intelligent driving system auto Greater than 0, that is: A=1&C=1&a auto >0, the vehicle is judged to be in the emergency braking stage, and the final deceleration a of the vehicle calculated by lateral manual intervention needs to be compared x The final vehicle deceleration a calculated with longitudinal braking intervention y size, and from a x and a y Take the maximum value as the final deceleration a of the vehicle xy :a xy =max(a x ,a y ), and at the same time xy =max(a x ,a y ) is sent to the braking system for braking, and when the vehicle speed reaches 0, the automatic driving mode is exited.

[0083] If the horizontal and vertical takeover is carried out at the same time, and the longitudinal takeover mode is longitudinal brake takeover, and the deceleration request value a issued by the intelligent driving system auto Equal to 0, that is: A=1&C=1&a auto =0, it is determined to be the vehicle braking stage, and it is necessary to immediately exit the automatic driving mode to respond to manual steering and throttle commands to control the vehicle steering and braking;

[0084] In summary, when manual intervention is performed in both the lateral and longitudinal directions, the calculation formula for the final deceleration of the vehicle is:

[0085]

[0086] This embodiment also sends a takeover reminder message according to the manual intervention method after detecting the manual intervention signal.

[0087] In the automatic driving mode, when the vehicle controller detects a human intervention signal, it sends different prompt signals to the buzzer according to different human intervention methods, and the buzzer issues a takeover reminder message to provide a takeover reminder.

[0088] This embodiment also sets a reference deceleration value a d , compared with the deceleration value a calculated when manual takeover final with a d Value size, where a final =max{a x ,a y ,a xy}. If a final >a d , that is, the vehicle is in the rapid deceleration stage, the vehicle controller sends a high-frequency prompt signal to the buzzer, and the buzzer emits the highest frequency continuous sound to take over the reminder. When the vehicle speed is 0, the buzzer signal disappears; if 0 final ≤a d , that is, the vehicle is in the slow deceleration stage, the vehicle controller sends a low-frequency prompt signal to the buzzer, and the buzzer emits a low-frequency continuous sound to take over the reminder. When the vehicle speed is 0, the buzzer signal disappears; if a final =0, the automatic driving will be exited immediately without any beeping prompt.

[0089] After exiting the automatic driving mode, in order to improve vehicle driving safety, if you want to re-enter the automatic driving mode, you must wait until the vehicle speed is 0, that is, speed = 0, and the vehicle controller and the intelligent driving system must re-handshake and interact before you can enter again.

[0090] The present invention provides a method for manually intervening in the braking control of an unmanned vehicle, which effectively solves the problem of loss of vehicle braking force or vehicle body loss of control that may be caused by manual intervention under different autonomous driving conditions, thereby improving the safety and riding comfort of the unmanned bus.

[0091] Example 2

[0092] In this embodiment, a human-intervention vehicle braking control system for an unmanned vehicle is disclosed, comprising:

[0093] A manual intervention mode determination module is used to determine the manual intervention mode according to the manual intervention signal when a manual intervention signal is detected during the automatic driving process of the vehicle;

[0094] The automatic driving module exit control module is used to control the vehicle to exit the automatic driving mode when the manual intervention mode is simultaneous lateral manual takeover and longitudinal throttle takeover; when the manual intervention modes are not simultaneous lateral manual takeover and longitudinal throttle takeover, obtain the deceleration request signal of the intelligent driving system; when the deceleration request signal is zero, control the vehicle to exit the automatic driving mode; when the deceleration request signal is not zero, control the vehicle to decelerate through the intelligent driving system; when the vehicle decelerates to zero speed, control the vehicle to exit the automatic driving mode. ​

[0095] The present invention also discloses a computer device, which includes:

[0096] a processor adapted to execute a computer program;

[0097] A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, a method for manually intervening in vehicle braking control for an unmanned vehicle disclosed in Example 1 is implemented.

[0098] The present invention also discloses a computer-readable storage medium, which stores a computer program. The computer program is suitable for being loaded by a processor and executing a method for manually intervening in vehicle braking control for an unmanned vehicle disclosed in Example 1.

[0099] The present invention also discloses a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements an unmanned vehicle manual intervention vehicle braking control method disclosed in Example 1.

[0100] The method disclosed in Example 1 can be directly embodied as a hardware processor, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.

[0101] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with this embodiment can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0102] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A method for manually intervening in vehicle braking control for an unmanned vehicle, characterized in that: include: During the process of automatic driving of the vehicle, when a manual intervention signal is detected, the manual intervention method is determined according to the manual intervention signal; When the manual intervention mode is simultaneous lateral manual takeover and longitudinal throttle takeover, the vehicle is controlled to exit the automatic driving mode; When the manual intervention modes are different, namely, lateral manual takeover and longitudinal throttle takeover, a deceleration request signal of the intelligent driving system is obtained; When the deceleration request signal is zero, the vehicle is controlled to exit the automatic driving mode; When the deceleration request signal is not zero, the vehicle is controlled to decelerate through the intelligent driving system; when the vehicle decelerates to zero speed, the vehicle is controlled to exit the automatic driving mode.

2. The method for controlling the braking of an unmanned vehicle with manual intervention as claimed in claim 1, characterized in that: The manual intervention signal includes one or more of a steering torque signal, a throttle opening signal and a brake opening signal; When a steering torque signal is detected and the steering torque signal is greater than a set steering torque threshold, it is determined that the manual intervention mode is lateral manual takeover; When the throttle opening signal is detected and the throttle opening signal is greater than the set throttle opening threshold, it is determined that the manual intervention mode is longitudinal throttle takeover; When the brake opening signal is monitored and the brake opening signal is greater than the set brake opening threshold, it is determined that the manual intervention method is longitudinal brake takeover.

3. The method for controlling the braking of an unmanned vehicle with manual intervention as claimed in claim 1, characterized in that: When the deceleration request signal is not zero, determining a final deceleration of the vehicle according to the deceleration request signal; Through the intelligent driving system, the vehicle deceleration is controlled according to the vehicle's final deceleration.

4. The method for controlling the braking of an unmanned vehicle with manual intervention as claimed in claim 3, characterized in that: When the manual intervention mode is lateral manual takeover or longitudinal throttle takeover, the target deceleration is determined according to the deceleration request signal; the minimum value is selected from the target deceleration and the maximum deceleration allowed by the vehicle as the final deceleration of the vehicle; When the manual intervention mode is longitudinal brake takeover, the target deceleration is determined according to the brake opening signal; Selecting a maximum value from the target deceleration and the deceleration request signal as the final deceleration of the vehicle; When the manual intervention mode is lateral manual takeover and longitudinal brake takeover, a target deceleration is determined according to the deceleration request signal; Select a minimum value from the target deceleration and the maximum deceleration allowed by the vehicle; According to the brake opening signal, a target deceleration is determined; A maximum value is selected from the target deceleration and the deceleration request signal; and a maximum value is selected from the selected minimum value and maximum value as the final deceleration of the vehicle.

5. The method for controlling the braking of an unmanned vehicle with manual intervention as claimed in claim 4, characterized in that: When the manual intervention mode is lateral manual takeover, the vehicle's steering angle signal is also obtained; Determine the braking level of the vehicle according to the steering angle signal; The target deceleration is determined based on the vehicle's braking level and the deceleration request signal.

6. The method for controlling the braking of an unmanned vehicle with manual intervention as claimed in claim 1, characterized in that: According to the manual intervention method, a takeover reminder message is issued.

7. A manual intervention vehicle braking control system for an unmanned vehicle, characterized in that: include: A manual intervention mode determination module is used to determine the manual intervention mode according to the manual intervention signal when a manual intervention signal is detected during the automatic driving process of the vehicle; The automatic driving module exit control module is used to control the vehicle to exit the automatic driving mode when the manual intervention mode is simultaneous lateral manual takeover and longitudinal throttle takeover; when the manual intervention modes are not simultaneous lateral manual takeover and longitudinal throttle takeover, obtain the deceleration request signal of the intelligent driving system; when the deceleration request signal is zero, control the vehicle to exit the automatic driving mode; when the deceleration request signal is not zero, control the vehicle to decelerate through the intelligent driving system; when the vehicle decelerates to zero speed, control the vehicle to exit the automatic driving mode.

8. An electronic device, characterized in that: The device comprises: a processor adapted to execute a computer program; A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, the method for manually intervening in vehicle braking control for an unmanned vehicle as described in any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is suitable for being loaded by a processor and executing a method for manually intervening in vehicle braking control for an unmanned vehicle as described in any one of claims 1-6.

10. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor, the method for manually intervening in vehicle braking control for an unmanned vehicle as described in any one of claims 1 to 6 is implemented.

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