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

Abstract

The application discloses a kind of unmanned vehicle artificial intervention whole vehicle brake control method and system, the method includes: in the automatic driving process of vehicle, when monitoring artificial intervention signal, according to artificial intervention signal, determine artificial intervention mode;When artificial intervention mode is simultaneously lateral artificial takeover and longitudinal throttle takeover, control vehicle exit automatic driving mode;When artificial intervention mode is different and lateral artificial takeover and longitudinal throttle takeover, obtain the deceleration request signal of intelligent driving system;When deceleration request signal is zero, control vehicle exit automatic driving mode;When deceleration request signal is not zero, vehicle is slowed down by intelligent driving system;When vehicle is slowed down to vehicle speed is zero, control vehicle exit automatic driving mode.It is guaranteed that vehicle can keep good whole vehicle brake performance in different driving conditions in artificial lateral and longitudinal takeover.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving vehicle control technology, and in particular to a method and system for manual intervention in the braking control of an intelligent driving vehicle. Background Technology

[0002] The statements in this section are merely 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 research topic in the automotive industry. However, due to the complexity and variability of the driving environment and the imperfection of relevant regulations, intelligent driving vehicles still require human intervention in certain situations to ensure driving safety. Especially in emergency situations, ensuring the braking performance of the vehicle when human intervention is required has become one of the key technologies in the research of intelligent driving buses. Most publicly available methods for human intervention in intelligent driving vehicles directly exit the intelligent driving control mode and hand over control to the driver when the vehicle detects a change in throttle or brake opening. This method, when the vehicle is under emergency braking or the steering wheel angle is large, may lead to loss of braking force or loss of vehicle control, thereby causing safety hazards and reducing the comfort of intelligent driving. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a method and system for manual intervention in vehicle braking control of intelligent driving vehicles. By determining the manual intervention method and combining it with deceleration request information, the system dynamically adjusts the vehicle's braking force output and the exit time of the autonomous driving mode. This ensures that the vehicle maintains good braking performance under different driving conditions, whether manual intervention is performed laterally or longitudinally, thereby improving vehicle operation safety and passenger comfort.

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

[0006] Firstly, a method for manual intervention in the braking control of unmanned vehicles is proposed, including:

[0007] When a signal for human intervention is detected during the autonomous driving process, the method of human intervention is determined based on the signal.

[0008] When manual intervention involves simultaneous lateral manual control and longitudinal throttle control, the vehicle is controlled to exit the autonomous driving mode.

[0009] When the manual intervention method is different from both lateral manual control and longitudinal throttle control, obtain the deceleration request signal of the intelligent driving system;

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

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

[0012] Furthermore, the manual intervention signals include one or more of the following: steering torque signal, throttle opening signal, and brake opening signal;

[0013] When a steering torque signal is detected and the steering torque signal is greater than the set steering torque threshold, the manual intervention method is determined to be lateral manual control.

[0014] When a throttle opening signal is detected and the throttle opening signal is greater than the set throttle opening threshold, the manual intervention method is determined to be longitudinal throttle control.

[0015] When a brake opening signal is detected and the brake opening signal is greater than the set brake opening threshold, the manual intervention method is determined to be longitudinal brake control.

[0016] Furthermore, when the deceleration request signal is not zero, the final deceleration of the vehicle is determined based on the deceleration request signal;

[0017] The intelligent driving system controls the vehicle to decelerate based on its final deceleration.

[0018] Furthermore, when the manual intervention method is lateral manual control or longitudinal throttle control, the target deceleration is determined according to the deceleration request signal; the minimum value between the target deceleration and the maximum allowable deceleration of the vehicle is selected as the final deceleration of the vehicle.

[0019] When the manual intervention method is longitudinal brake takeover, the target deceleration is determined based on the brake opening signal; the maximum value between the target deceleration and the deceleration request signal is selected as the final deceleration of the vehicle.

[0020] When the manual intervention method is lateral manual control and longitudinal brake control, a target deceleration is determined based on the deceleration request signal; the minimum value is selected from the target deceleration and the maximum allowable deceleration of the vehicle; a target deceleration is determined based on 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 method is lateral manual takeover, the vehicle's steering angle signal is also acquired;

[0022] Determine the vehicle's braking level based on the steering angle signal;

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

[0024] Furthermore, depending on the method of manual intervention, a takeover alert message will be issued.

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

[0026] The manual intervention method determination module is used to determine the manual intervention method based on the detected manual intervention signal during the autonomous driving process of the vehicle.

[0027] The autonomous driving module exit control module is used to control the vehicle to exit autonomous driving mode when the manual intervention method is simultaneous lateral manual control and longitudinal throttle control; when the manual intervention method is not simultaneous lateral manual control and longitudinal throttle control, it obtains the deceleration request signal from the intelligent driving system; when the deceleration request signal is zero, it controls the vehicle to exit autonomous driving mode; when the deceleration request signal is not zero, it controls the vehicle to decelerate through the intelligent driving system; when the vehicle decelerates to zero speed, it controls the vehicle to exit autonomous driving mode.

[0028] Thirdly, a computer device is proposed, the device comprising:

[0029] A processor, adapted to execute computer programs;

[0030] A computer-readable storage medium storing a computer program, which, when executed by the processor, implements the method for manual intervention in vehicle braking control of an unmanned vehicle as proposed in the first aspect.

[0031] Fourthly, a computer-readable storage medium is proposed, wherein the computer-readable storage medium stores a computer program adapted to be loaded and executed by a processor, the method for manual intervention in vehicle braking control of an unmanned vehicle proposed in the first aspect.

[0032] Fifthly, 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 manual intervention in vehicle braking control of an unmanned vehicle proposed in the first aspect.

[0033] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0034] This invention proposes a method and system for manual intervention in vehicle braking control of unmanned vehicles. When a manual intervention signal is detected during the autonomous driving process, the method first determines the mode of manual intervention, and then dynamically adjusts the vehicle's braking force output and the exit time of the autonomous driving mode in conjunction with deceleration request information. This ensures that the vehicle can maintain good braking performance under different driving conditions, whether the manual intervention is performed laterally or longitudinally, thereby improving vehicle operation safety and ride comfort.

[0035] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0036] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0037] Figure 1 The following is a flowchart of a method for manually intervening in the braking control of an unmanned vehicle, as disclosed in an embodiment. Detailed Implementation

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

[0039] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0040] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0041] Example 1

[0042] In this embodiment, a method for manual intervention in the braking control of an unmanned vehicle is disclosed, such as... Figure 1 As shown, it includes:

[0043] When a signal for human intervention is detected during the autonomous driving process, the method of human intervention is determined based on the signal.

[0044] When manual intervention involves simultaneous lateral manual control and longitudinal throttle control, the vehicle is controlled to exit the autonomous driving mode.

[0045] When the manual intervention method is different from both lateral manual control and longitudinal throttle control, obtain the deceleration request signal of the intelligent driving system;

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

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

[0048] Among them, the manual intervention signals include one or more of the following: steering torque signal, throttle opening signal, and brake opening signal;

[0049] When a steering torque signal is detected and the steering torque signal is greater than the set steering torque threshold, the manual intervention method is determined to be lateral manual control.

[0050] When a throttle opening signal is detected and the throttle opening signal is greater than the set throttle opening threshold, the manual intervention method is determined to be longitudinal throttle control.

[0051] When a brake opening signal is detected and the brake opening signal is greater than the set brake opening threshold, the manual intervention method is determined to be longitudinal brake control.

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

[0053] In this embodiment, after the vehicle is powered on, the vehicle controller and the intelligent driving system communicate via CAN messages. Upon successful handshake, the vehicle enters autonomous driving mode. In autonomous driving mode, the vehicle controller receives messages from the steer-by-wire system via the CAN bus to obtain the steering torque signal T. eps Simultaneously, the throttle opening signal P is acquired through the sensor. acc With brake opening signal P brk By combining steering torque signal, throttle opening signal, and brake signal, the system determines whether manual intervention is required in intelligent driving mode, and the specific method of intervention: If the vehicle controller detects a steering torque signal greater than 4 Nm, i.e., T... eps If the throttle opening is greater than 4, it indicates that manual intervention has occurred, and the intervention method is lateral manual control, denoted as state A. In this case, A = 1. When A = 0, it indicates that no lateral manual control signal has been detected. If the vehicle controller detects a throttle opening greater than 5, i.e., P... acc If the value is greater than 5, it indicates that manual intervention has occurred, and the intervention method is longitudinal throttle control, denoted as state B. In this case, B = 1. When B = 0, it indicates that no longitudinal throttle control signal has been detected. If the vehicle controller detects that the brake opening is greater than 5, i.e., P... brkIf the value is >5, it indicates that the vehicle has been manually intervened, and the manual intervention method is longitudinal brake takeover, which is denoted as state C. At this time, C=1. When C=0, it indicates that no longitudinal brake takeover signal has been detected.

[0054] When the manual intervention method is simultaneous lateral manual control and longitudinal throttle control, i.e., A=1 & B=1, it indicates that the vehicle is in an emergency avoidance phase. At this time, the vehicle should be immediately controlled to exit the automatic driving mode, and the vehicle should be manually controlled by issuing corresponding manual steering and throttle commands to control the vehicle's steering and drive.

[0055] When the manual intervention method is different, namely lateral manual control and longitudinal throttle control, 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 autonomous driving mode, so as to ensure that the vehicle can maintain good overall braking performance under different driving conditions, thereby improving vehicle operation safety and ride comfort.

[0056] Specifically, when the manual intervention method is different, namely lateral manual control and longitudinal throttle control, the 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 based on the deceleration request signal; the intelligent driving system then controls the vehicle to decelerate based on the final deceleration.

[0058] Specifically, when the manual intervention method is lateral manual control or longitudinal throttle control, the target deceleration is determined based on the deceleration request signal; the minimum value between the target deceleration and the maximum allowable deceleration of the vehicle is selected as the final deceleration of the vehicle.

[0059] When the manual intervention method is longitudinal brake takeover, the target deceleration is determined based on the brake opening signal; the maximum value between the target deceleration and the deceleration request signal is selected as the final deceleration of the vehicle.

[0060] When the manual intervention method is lateral manual control and longitudinal brake control, a target deceleration is determined based on the deceleration request signal; the minimum value is selected from the target deceleration and the maximum allowable deceleration of the vehicle; a target deceleration is determined based on 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 method is lateral manual takeover, the vehicle's steering angle signal is also acquired;

[0062] Determine the vehicle's braking level based on the steering angle signal;

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

[0064] The process for determining the exit time of the autonomous driving mode under each type of manual intervention is explained in detail.

[0065] When the vehicle controller detects a lateral manual intervention and no longitudinal intervention (i.e., 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 via the CAN bus. auto If the intelligent driving system sends a deceleration request signal a auto Greater than 0, and the absolute value of the steering angle is greater than 400°, i.e., a auto If >0 and |angle|>400°, the vehicle's braking level is determined to be Level 1. Therefore, the target braking deceleration a1 is: a1=2*a auto Meanwhile, to avoid loss of vehicle control, the vehicle deceleration shall not exceed the maximum permissible deceleration 'a' for the current vehicle. max Then the vehicle's final deceleration a x for:

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

[0067] If the intelligent driving system sends a deceleration request signal a auto Greater than 0, and the absolute value of the steering angle is greater than 200° and less than 400°, i.e., a auto If >0 &|angle|>200° &|angle|<400°, the vehicle's braking level is determined to be Level 2. Therefore, the target braking deceleration a2 is: a2 = 1.5 * a auto At the same time, the vehicle deceleration does not exceed the current maximum permissible deceleration a. max Then the vehicle's final deceleration a x For: a x =min(a2,a max ) = min(1.5*a auto ,a max ).

[0068] If the intelligent driving system sends a deceleration request signal a auto Greater than 0, and the turning angle is less than 200°, i.e., a auto If >0 and |angle| < 200°, the vehicle's braking level is determined to be level three. Therefore, the target braking deceleration a3 is: a3 = a auto At the same time, the vehicle deceleration does not exceed the current maximum permissible deceleration a. maxThen the vehicle's final deceleration a x For: a x =min(a3,a max ) = min(a auto ,a max ).

[0069] The vehicle controller calculates the final deceleration 'a' of the vehicle based on different braking levels. x The system sends a signal to the brake-by-wire system to brake the vehicle. During this braking phase, the vehicle is still considered to be in autonomous driving mode, but the vehicle no longer responds to the steering control command and drive control command of the intelligent driving system. When the vehicle speed is detected to be 0, i.e., speed=0, the autonomous driving mode is exited.

[0070] If the intelligent driving system sends a deceleration request signal a auto It equals 0, that is, a auto If the value is 0, the automatic driving mode will be exited directly and manual control will be required.

[0071] In summary, the formula for calculating the final deceleration of the vehicle when lateral manual intervention is initiated is as follows:

[0072]

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

[0074] If the longitudinal control method is longitudinal throttle control, and the intelligent driving system sends a deceleration request signal a auto Greater than 0, i.e., a auto >0&P acc If the throttle response is greater than 5, the throttle function will fail, and the braking request will be prioritized. Simultaneously, to minimize the driver's perceived throttle lag and reduce driving comfort, the vehicle needs to brake quickly. Therefore, the target braking deceleration a4 is: a4 = 1.8 * a auto At the same time, the vehicle deceleration does not exceed the current maximum permissible deceleration a. max Then the vehicle's final deceleration a y For a y =min(a4,a max ) = min(1.8*a auto ,a max The vehicle controller will a yThe system sends a signal to the brake-by-wire system to brake the vehicle. During this braking phase, the vehicle is still considered to be in autonomous driving mode, but the vehicle no longer responds to the steering control and drive control commands of the intelligent driving system. When the vehicle speed is detected to be 0, i.e., speed=0, the system immediately exits autonomous driving mode and responds to throttle commands.

[0075] If the longitudinal takeover method is throttle intervention, and the intelligent driving system sends a deceleration request signal a auto It equals 0, that is, a auto =0&P acc If the value is >5, the vehicle will immediately exit autonomous driving mode, respond to the throttle command, and drive the vehicle.

[0076] If the longitudinal takeover method is longitudinal braking takeover, and the intelligent driving system sends a deceleration request signal a auto Greater than 0, i.e., a auto >0&P brk If the value is greater than 5, then the target braking deceleration a calculated based on the brake opening needs to be compared. brk The deceleration request signal a sent by the intelligent driving system auto The magnitude of the value is taken as the final deceleration a of the vehicle. y The vehicle controller determines the target braking deceleration 'a' by looking up a table based on the brake opening. brk :a brk =map{P brk}, that is, the vehicle's final deceleration a y For: a y =max(a auto ,map{P brk The vehicle controller will a) y The system sends a signal to the brake-by-wire system to brake the vehicle. During this braking phase, the vehicle is still considered to be in autonomous driving mode, but the vehicle no longer responds to the steering control and drive control commands of the intelligent driving system. When the vehicle speed is detected to be 0, i.e., speed=0, the system immediately exits autonomous driving mode and responds to throttle commands.

[0077] If the longitudinal takeover method is longitudinal braking takeover, and the intelligent driving system sends a deceleration request signal a auto It equals 0, that is, a auto =0&P brk If the value is >5, the automatic driving mode will be immediately disengaged, and the vehicle will respond to the braking command and brake to decelerate.

[0078] In summary, the formula for calculating the final deceleration of the vehicle when longitudinal manual intervention is initiated is as follows:

[0079]

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

[0081] If the manual intervention method is simultaneous lateral and longitudinal control, and the longitudinal control method is longitudinal throttle control, i.e., A=1&B=1, then it is determined to be an emergency avoidance phase. The automatic driving mode is immediately disengaged, and the manual steering and throttle commands are responded to to control the vehicle's steering and drive.

[0082] If both lateral and longitudinal traffic control are initiated simultaneously, and the longitudinal control method is longitudinal braking control, and the intelligent driving system issues a deceleration request value 'a'... auto Greater than 0, that is: A = 1 & C = 1 & a auto If the value is greater than 0, the vehicle is considered to be in the emergency braking phase. At this point, the final deceleration 'a' calculated manually by lateral intervention needs to be compared with the value of 'a'. x The final deceleration of the vehicle, a, calculated with longitudinal braking intervention. y The size, and from a x and a y Take the maximum value as the vehicle's final deceleration 'a'. xy :a xy =max(a x ,a y ), and at the same time, a xy =max(a x ,a y The system sends a signal to the braking system to apply the brakes. Once the vehicle speed reaches 0, the automatic driving mode is discontinued.

[0083] If both lateral and longitudinal traffic control are initiated simultaneously, and the longitudinal control method is longitudinal braking control, and the intelligent driving system issues a deceleration request value 'a'... auto Equals 0, that is: A = 1 & C = 1 & a auto =0, at this time it is determined that the vehicle is in the braking stage, and the automatic driving mode must be exited immediately to respond to manual steering and throttle commands to control the vehicle's steering and braking;

[0084] In summary, when manual intervention occurs simultaneously in both the lateral and longitudinal directions, the formula for calculating the vehicle's final deceleration is:

[0085]

[0086] This embodiment also issues a takeover reminder message based on the method of manual intervention after detecting a signal for manual intervention.

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

[0088] This embodiment also sets a reference deceleration value a. d Compare the deceleration value 'a' calculated during manual intervention. final With a d The value of a final =max{a x ,a y ,a xy If a final >a d When the vehicle is undergoing rapid deceleration, the vehicle controller sends a high-frequency warning signal to the buzzer, which then emits a continuous, highest-frequency tone as a takeover reminder. The buzzer signal disappears when the vehicle speed reaches 0. final ≤a d When the vehicle is in a slow deceleration phase, the vehicle controller sends a low-frequency warning signal to the buzzer, which emits a continuous low-frequency tone as a takeover reminder. The buzzer signal disappears when the vehicle speed reaches 0. If a final =0, meaning the automatic driving mode immediately disengages without a beeping warning.

[0089] After exiting autonomous driving mode, in order to improve vehicle driving safety, to re-enter autonomous driving mode, the vehicle controller and intelligent driving system must re-engage after the vehicle speed reaches 0 (speed=0) before it can re-enter.

[0090] The present invention provides a method for manual intervention in the braking control of unmanned vehicles, which effectively solves the problem of loss of vehicle braking force or loss of vehicle control that may occur due to manual intervention under different autonomous driving conditions, thereby improving the safety and ride comfort of unmanned buses.

[0091] Example 2

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

[0093] The manual intervention method determination module is used to determine the manual intervention method based on the detected manual intervention signal during the autonomous driving process of the vehicle.

[0094] The autonomous driving module exit control module is used to control the vehicle to exit autonomous driving mode when the manual intervention method is simultaneous lateral manual control and longitudinal throttle control; when the manual intervention method is not simultaneous lateral manual control and longitudinal throttle control, it obtains the deceleration request signal from the intelligent driving system; when the deceleration request signal is zero, it controls the vehicle to exit autonomous driving mode; when the deceleration request signal is not zero, it controls the vehicle to decelerate through the intelligent driving system; when the vehicle decelerates to zero speed, it controls the vehicle to exit autonomous driving mode. ​

[0095] The present invention also discloses a computer device, the device comprising:

[0096] A processor, adapted to execute computer programs;

[0097] A computer-readable storage medium storing a computer program, which, when executed by the processor, implements a method for manual intervention in vehicle braking control of an unmanned vehicle disclosed in Embodiment 1.

[0098] The present invention also discloses a computer-readable storage medium storing a computer program adapted to be loaded by a processor and executed by a processor to perform a method for manual intervention in vehicle braking control of an unmanned vehicle disclosed in Embodiment 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 a method for manual intervention in vehicle braking control of an unmanned vehicle disclosed in Embodiment 1.

[0100] The method disclosed in Example 1 can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor. The software modules can reside in readily available storage media in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are omitted here.

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

[0102] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this 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 without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A method for manually intervening in the braking control of an unmanned vehicle, characterized in that, include: When a signal for human intervention is detected during the autonomous driving process, the method of human intervention is determined based on the signal. When manual intervention involves simultaneous lateral manual control and longitudinal throttle control, the vehicle is controlled to exit the autonomous driving mode. When the manual intervention method is different from both lateral manual control and longitudinal throttle control, obtain the deceleration request signal of the intelligent driving system; When the deceleration request signal is zero, control the vehicle to exit the autonomous driving mode; When the deceleration request signal is not zero, the final deceleration of the vehicle is determined based on the deceleration request signal; The intelligent driving system controls the vehicle to decelerate based on its final deceleration rate; when the vehicle decelerates to zero speed, it exits the autonomous driving mode. Specifically, when the manual intervention method is lateral manual control or longitudinal throttle control, the target deceleration is determined based on the deceleration request signal; the minimum value between the target deceleration and the maximum allowable deceleration of the vehicle is selected as the final deceleration of the vehicle. When the manual intervention method is longitudinal brake takeover, the target deceleration is determined based on the brake opening signal; the maximum value between the target deceleration and the deceleration request signal is selected as the final deceleration of the vehicle. When the manual intervention method is lateral manual control and longitudinal brake control, a target deceleration is determined based on the deceleration request signal; the minimum value is selected from the target deceleration and the maximum allowable deceleration of the vehicle; a target deceleration is determined based on 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.

2. The method for manual intervention in vehicle braking control of an unmanned vehicle as described in claim 1, characterized in that, Manual intervention signals include one or more of the following: steering torque signal, throttle opening signal, and brake opening signal; When a steering torque signal is detected and the steering torque signal is greater than the set steering torque threshold, the manual intervention method is determined to be lateral manual control. When a throttle opening signal is detected and the throttle opening signal is greater than the set throttle opening threshold, the manual intervention method is determined to be longitudinal throttle control. When a brake opening signal is detected and the brake opening signal is greater than the set brake opening threshold, the manual intervention method is determined to be longitudinal brake control.

3. The method for manual intervention in vehicle braking control of an unmanned vehicle as described in claim 1, characterized in that, When the manual intervention method is lateral manual takeover, the vehicle's steering angle signal is also acquired; Determine the vehicle's braking level based on the steering angle signal; The target deceleration is determined based on the vehicle's braking level and deceleration request signal.

4. The method for manual intervention in vehicle braking control of an unmanned vehicle as described in claim 1, characterized in that, A takeover alert message will be issued based on the method of manual intervention.

5. A manually intervened vehicle braking control system for an unmanned vehicle, characterized in that, include: The manual intervention method determination module is used to determine the manual intervention method based on the detected manual intervention signal during the autonomous driving process of the vehicle. The autonomous driving module exit control module is used to control the vehicle to exit autonomous driving mode when the manual intervention method is simultaneous lateral manual control and longitudinal throttle control; when the manual intervention method is not simultaneous (lateral manual control and longitudinal throttle control), it obtains the deceleration request signal from the intelligent driving system; when the deceleration request signal is zero, it controls the vehicle to exit autonomous driving mode; when the deceleration request signal is not zero, it determines the final deceleration of the vehicle based on the deceleration request signal; through the intelligent driving system, it controls the vehicle to decelerate based on the final deceleration of the vehicle; when the vehicle decelerates to zero speed, it controls the vehicle to exit autonomous driving mode. Specifically, when the manual intervention method is lateral manual control or longitudinal throttle control, the target deceleration is determined based on the deceleration request signal; the minimum value between the target deceleration and the maximum allowable deceleration of the vehicle is selected as the final deceleration of the vehicle. When the manual intervention method is longitudinal brake takeover, the target deceleration is determined based on the brake opening signal; the maximum value between the target deceleration and the deceleration request signal is selected as the final deceleration of the vehicle. When the manual intervention method is lateral manual control and longitudinal brake control, a target deceleration is determined based on the deceleration request signal; the minimum value is selected from the target deceleration and the maximum allowable deceleration of the vehicle; a target deceleration is determined based on 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.

6. An electronic device, characterized in that, The device includes: A processor, adapted to execute computer programs; A computer-readable storage medium storing a computer program, which, when executed by the processor, implements the manual intervention vehicle braking control method for an unmanned vehicle as described in any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program adapted to be loaded by a processor and executed by a processor to provide a method for manual intervention in vehicle braking control of an unmanned vehicle as described in any one of claims 1-4.

8. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the method for manual intervention in vehicle braking control of an unmanned vehicle as described in any one of claims 1-4.

Images