Safe take-over method and system of auxiliary driving system and vehicle

Abstract

The invention relates to the technical field of automobile automatic driving, and discloses a safe take-over method and system of an auxiliary driving system and a vehicle. An intelligent driving controller and a steering controller are independent devices, and under the condition that the intelligent driving controller does not have a fault, when it is determined that the condition of quitting an auxiliary driving function is met, the steering controller is switched on; and when the steering controller detects that the intelligent driving controller breaks down and does not break down, an auxiliary driving quit instruction is sent to other associated controllers acting on auxiliary driving, and when the steering controller detects that the intelligent driving controller breaks down and does not break down, the steering controller determines that the condition of quitting the auxiliary driving function is met and sends the auxiliary driving quit instruction to the intelligent driving controller, so that safe taking-over of the vehicle is achieved. When the intelligent driving controller or the steering controller breaks down, the other device which does not break down can still quit the auxiliary driving function, the dual-protection effect is achieved, and it is ensured that a driver can take over the vehicle successfully under any condition.

Description

Technical Field

[0001] The present invention relates to the field of automobile automatic driving technology, and in particular to a safe takeover method, system and vehicle for an assisted driving system. Background Art

[0002] With the continuous development of new-generation information technologies such as artificial intelligence, 5G, and big data, the technology of intelligent connected vehicles has a strong momentum of development and an increasing market share. The main functions of the Advanced Driver Assistance System (ADAS) include integrated adaptive cruise control (IACC), adaptive cruise control (ACC), lane keeping (Lane Keeping Aid, LKA), automatic emergency braking (AEB), automatic parking (AutoParkingAssist, APA), lane departure warning (Lane Departure Warning, LDW), blind spot detection (Blind Spot Detection, BSD) and other functions. These functions enhance the driving experience and make cars more and more intelligent.

[0003] However, in order to achieve the above functions, the vehicle's electronic and electrical systems have become more complex, and the probability of failure or malfunction of the electronic and electrical systems has become higher. During IACC cruising, failure of the steering system (Electric Power Steering, EPS) or the intelligent driving controller (ADASDomain Control, ADC) may cause the driver to be unable to take over the vehicle, resulting in unacceptable safety risks. Summary of the invention

[0004] In view of this, the present invention provides a safe takeover method, system and vehicle of an assisted driving system to solve the problem that during IACC cruising, a steering system failure or an intelligent driving controller failure may cause the driver to be unable to take over the vehicle, thereby causing unacceptable safety risks.

[0005] In a first aspect, the present invention provides a safe takeover method for an assisted driving system, which is applied to an intelligent driving controller of a vehicle, and the method comprises: in the case where there is no fault in itself, based on the hand torque and duration of the driver's action on the steering wheel, exiting the assisted driving function, and sending an assisted driving exit instruction to other associated controllers that act on the assisted driving, so that the other associated controllers exit the assisted driving function; or, in response to receiving an assisted driving exit instruction sent by a steering controller of the vehicle, exiting the assisted driving function, and sending an assisted driving exit instruction to other associated controllers that act on the assisted driving, so that the other associated controllers exit the assisted driving function, wherein the assisted driving exit instruction is the steering controller that exits the assisted driving function based on the hand torque and duration of the driver's action on the steering wheel, and sends the assisted driving exit instruction to the intelligent driving controller when the steering controller detects that a fault has occurred in the intelligent driving controller but does not itself have a fault.

[0006] In the safe takeover method of the assisted driving system provided by the present invention, the intelligent driving controller and the steering controller are independent devices, and both can exit the assisted driving function based on the hand torque and duration of the driver's application of the steering wheel when there is no fault in themselves. Among them, when the intelligent driving controller itself does not have a fault, regardless of whether the steering controller has a fault, when it is determined that the conditions for exiting the assisted driving function are met, it can send an assisted driving exit instruction to other associated controllers acting on the assisted driving. When the steering controller detects that the intelligent driving controller has a fault but does not have a fault itself, when it determines that the conditions for exiting the assisted driving function are met, it sends the assisted driving exit instruction to the intelligent driving controller to achieve complete takeover of the driver. Regardless of whether the intelligent driving controller or the steering controller has a fault, the other device that does not have a fault can still exit the assisted driving function, which has a double protection effect, ensuring that the driver can successfully take over the vehicle under any circumstances.

[0007] In an optional embodiment, the method also includes: the hand torque and duration of the driver's application to the steering wheel are the result of the driver operating the steering wheel to perform a safety takeover operation, and the driver operating the steering wheel to perform a safety takeover operation is an operation performed by the driver after the intelligent driving controller prompts the driver to safely take over the vehicle in response to receiving fault information sent by the steering controller or detecting a fault in itself.

[0008] When the steering controller of the present invention fails, it can send fault information to the intelligent driving controller. The intelligent driving controller can prompt the driver to take over the vehicle safely based on the fault information sent by the intelligent driving controller or when it detects that it has a fault. This ensures that the driver is notified in time to take over the vehicle when the vehicle fails.

[0009] In an optional embodiment, the assisted driving function is exited based on the hand torque and duration of the driver's hand force applied to the steering wheel, and an assisted driving exit instruction is sent to other associated controllers that act on assisted driving, including: determining whether the hand torque applied by the driver to the steering wheel is greater than a first hand force threshold; if the hand torque applied by the driver to the steering wheel is greater than the first hand force threshold, recording the first duration of time that the driver's hand torque applied to the steering wheel is greater than the first hand force threshold; when the first duration is greater than the first duration threshold, exiting the assisted driving function, and sending an assisted driving exit instruction to other associated controllers that act on assisted driving.

[0010] In an optional embodiment, the intelligent driving controller integrates a threshold prediction model in which different hand force thresholds and time thresholds correspond to different driving scenarios. The method also includes: obtaining the driving scene of the current vehicle; inputting the driving scene of the current vehicle into the threshold prediction model to obtain a first hand force threshold and a first time threshold corresponding to the driving scene of the current vehicle.

[0011] In a second aspect, the present invention provides a safe takeover method for an assisted driving system, which is applied to a steering controller of a vehicle. The method includes: when a fault is detected in the intelligent driving controller but the vehicle itself is not faulty, based on the hand torque and duration of the driver's action on the steering wheel, exiting the assisted driving function, and sending an assisted driving exit instruction to the intelligent driving controller of the vehicle, so that the intelligent driving controller exits the assisted driving function based on the assisted driving exit instruction sent by the steering controller, and sending assisted driving exit instructions to other associated controllers acting on assisted driving, so that the other associated controllers exit the assisted driving function.

[0012] In an optional embodiment, the method also includes: detecting whether there is a fault in itself, and when a fault is detected, sending the fault information to the intelligent driving controller, so that the intelligent driving controller prompts the driver to take over the vehicle safely based on the fault information sent by the steering controller, and when there is no fault in the intelligent driving controller itself, based on the hand torque and duration of the driver's action on the steering wheel, exiting the assisted driving function, and sending an assisted driving exit instruction to other associated controllers acting on assisted driving, so that the other associated controllers exit the assisted driving function.

[0013] In an optional embodiment, the assisted driving function is exited based on the hand torque and duration of the driver's hand force applied to the steering wheel, and an assisted driving exit instruction is sent to the intelligent driving controller, including: determining whether the hand torque applied by the driver to the steering wheel is greater than a second hand force threshold; if the hand torque applied by the driver to the steering wheel is greater than the second hand force threshold, recording the second duration during which the driver's hand torque applied to the steering wheel is greater than the second hand force threshold; when the second duration is greater than the second duration threshold, sending an assisted driving exit instruction to the intelligent driving controller, the second hand force threshold is greater than the first hand force threshold, and the first hand force threshold is the threshold used by the intelligent driving controller to determine whether to exit the assisted driving function based on the driver's hand torque applied to the steering wheel.

[0014] The present invention uses the intelligent driving controller as the first-level protection mechanism and the steering controller as the second-level protection mechanism. This can solve the problem that the driver cannot take over the vehicle through the steering wheel after the safety mechanism of the intelligent driving controller or the steering controller fails, thereby achieving a double protection effect and ensuring that the driver can successfully take over the vehicle under any circumstances.

[0015] In an optional embodiment, the method of exiting the assisted driving function based on the hand torque and duration of the driver's hand force on the steering wheel and sending an assisted driving exit instruction to the intelligent driving controller also includes: if it is determined that the hand torque applied by the driver to the steering wheel is greater than a first hand force threshold but less than a second hand force threshold, recording the third duration of the driver's hand torque applied to the steering wheel greater than the first hand force threshold but less than the second hand force threshold; when the third duration is greater than the third duration threshold, sending an assisted driving exit instruction to the intelligent driving controller.

[0016] The steering controller designed in the present invention sends an assisted driving exit instruction to the intelligent driving controller if it determines that the hand torque applied by the driver to the steering wheel is greater than a first hand force threshold but less than a second hand force threshold, when the third duration is greater than the third duration threshold, to avoid the risk of the driver being unable to take over the vehicle immediately when the actual hand force value of the driver fails to reach the second hand force threshold.

[0017] In an optional embodiment, the steering controller is integrated with a threshold prediction model in which different hand force thresholds and time thresholds correspond to different driving scenarios, and the method further includes: obtaining the driving scene of the current vehicle; inputting the driving scene of the current vehicle into the threshold prediction model to obtain a second hand force threshold, a second time threshold and a third hand force threshold, a third time threshold corresponding to the driving scene of the current vehicle.

[0018] The present invention determines the corresponding hand force threshold and duration threshold based on the current vehicle driving scenario, and then based on the determined hand force threshold and duration threshold, judges whether the current driver's hand torque and duration acting on the steering wheel meet the conditions for exiting the assisted driving function, thereby improving the smoothness and safety of the driver's takeover.

[0019] In an optional embodiment, the threshold prediction model for different hand force thresholds and duration thresholds corresponding to different driving scenarios is obtained by the following steps: based on different data acquisition methods, respectively obtaining the corresponding safety takeover data for all driving scenarios, wherein the safety takeover data for any driving scenario includes the safety takeover data respectively obtained under different data acquisition methods; according to the preset driving scenario sets corresponding to different hand force thresholds and duration thresholds, respectively configuring the obtained safety takeover data for all driving scenarios into the corresponding driving scenario sets, and calculating the average hand force moment and the average duration corresponding to different data acquisition methods under different hand force thresholds and duration thresholds, wherein the different hand force thresholds and duration thresholds include a first hand force threshold and a first duration threshold, a second hand force threshold and a second duration threshold, and A third hand force threshold and a third time threshold; weighted summing the weights corresponding to different data acquisition methods in the preset current driving scenario with the average hand force moment and the average duration of the hand force corresponding to the different data acquisition methods under the different hand force thresholds and time thresholds, to obtain different hand force thresholds and time thresholds corresponding to the current driving scenario; traversing all driving scenarios, and repeatedly performing the step of weighted summing the weights corresponding to different data acquisition methods in the current driving scenario with the average hand force moment and the average duration of the hand force corresponding to the different data acquisition methods under the different hand force thresholds and time thresholds, to obtain different hand force thresholds and time thresholds corresponding to different driving scenarios; inputting the different hand force thresholds and time thresholds corresponding to different driving scenarios into a preset neural network model for training, to obtain a threshold prediction model.

[0020] The present invention can distribute weights according to the characteristics of different driving scenarios, enhance the system's adaptability to different driving scenarios and drivers, and reduce safety risks caused by improper takeover.

[0021] In a third aspect, the present invention provides a safety takeover system for an assisted driving system, the system comprising an intelligent driving controller and a steering controller of a vehicle, wherein the intelligent driving controller, when there is no fault in itself, exits the assisted driving function based on the hand torque and duration of the driver's hand acting on the steering wheel, and sends an assisted driving exit instruction to other associated controllers acting on assisted driving, so that the other associated controllers exit the assisted driving function; when the steering controller detects that the intelligent driving controller has a fault but there is no fault in itself, the steering controller exits the assisted driving function based on the hand torque and duration of the driver's hand acting on the steering wheel, and sends an assisted driving exit instruction to the intelligent driving controller; the intelligent driving controller exits the assisted driving function in response to receiving the assisted driving exit instruction sent by the steering controller, and sends an assisted driving exit instruction to other associated controllers acting on assisted driving.

[0022] The present invention provides a safe takeover system for an assisted driving system, wherein the intelligent driving controller and the steering controller are independent devices, and both can exit the assisted driving function based on the hand torque and duration of the driver's application of the steering wheel when there is no fault in themselves. The intelligent driving controller can send an assisted driving exit instruction to other associated controllers acting on the assisted driving when it is determined that the conditions for exiting the assisted driving function are met, regardless of whether the steering controller fails, when there is no fault in itself. When the steering controller detects that the intelligent driving controller has a fault but does not have a fault in itself, and determines that the conditions for exiting the assisted driving function are met, it sends the assisted driving exit instruction to the intelligent driving controller to achieve complete takeover of the driver. Regardless of whether the intelligent driving controller or the steering controller fails, the other device that does not have a fault can still exit the assisted driving function, thereby achieving a double protection effect, ensuring that the driver can successfully take over the vehicle under any circumstances.

[0023] In a fourth aspect, the present invention provides a vehicle comprising a safety takeover system for an assisted driving system according to the third aspect or any corresponding embodiment thereof.

[0024] The present invention provides a safe takeover system for an assisted driving system, wherein the intelligent driving controller and the steering controller are independent devices, and both can exit the assisted driving function based on the hand torque and duration of the driver's application of the steering wheel when there is no fault in themselves. The intelligent driving controller can send an assisted driving exit instruction to other associated controllers acting on the assisted driving when it is determined that the conditions for exiting the assisted driving function are met, regardless of whether the steering controller fails, when there is no fault in itself. When the steering controller detects that the intelligent driving controller has a fault but does not have a fault in itself, and determines that the conditions for exiting the assisted driving function are met, it sends the assisted driving exit instruction to the intelligent driving controller to achieve complete takeover of the driver. Regardless of whether the intelligent driving controller or the steering controller fails, the other device that does not have a fault can still exit the assisted driving function, thereby achieving a double protection effect, ensuring that the driver can successfully take over the vehicle under any circumstances. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 is an example diagram of a general measure flow of a driver taking over a vehicle through a steering wheel according to an embodiment of the present invention;

[0027] Figure 2 : is a structural block diagram of a safety takeover system of an assisted driving system according to an embodiment of the present invention

[0028] Figure 3 is the vehicle-level safety target information of the IACC cruise function according to an embodiment of the present invention;

[0029] Figure 4 is the functional safety requirement information of the IACC cruise function according to an embodiment of the present invention;

[0030] Figure 5 is an example diagram of a safety architecture of an assisted driving system according to an embodiment of the present invention;

[0031] Figure 6 is an example diagram of a training process of a threshold prediction model according to an embodiment of the present invention;

[0032] Figure 7 is a schematic diagram of the interaction between various ports in the safety takeover system of the assisted driving system according to an embodiment of the present invention;

[0033] Figure 8 is an example diagram of the interaction between various ports in the safety takeover system of the assisted driving system according to an embodiment of the present invention;

[0034] Fig. 9 is a structural block diagram of a vehicle according to an embodiment of the present invention;

[0035] Fig.10 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0037] During IACC cruising, if the vehicle is operating normally, the driver can generally exit the IACC function by turning the steering wheel, stepping on the brake pedal, stepping on the accelerator pedal, or pressing the exit button. Figure 1 As shown, the method for the driver to take over the vehicle by turning the steering wheel is generally to set a hand torque threshold (generally around 3Nm) through EPS. When the driver's hand torque when turning the steering wheel is greater than the threshold and lasts for more than a certain value (generally around 200ms), EPS actively exits the IACC function (i.e., does not execute the IACC lateral and longitudinal control instructions), and sends a driver takeover instruction to ADC. After receiving the instruction, ADC exits the IACC function and sends an IACC exit instruction to other associated controllers (such as: braking system ESP, power system VCU). All controllers only execute the driver's control instructions. This method easily leads to the risk of ADAS and the driver snatching the steering wheel, and does not consider how the driver can safely take over after the steering system (EPS) or intelligent driving controller (ADC) fails or fails from the perspective of functional safety.

[0038] This design takes the adaptive cruise control function (IACC) as an example, combines the functional characteristics and functional usage scenarios of IACC, and obtains the vehicle-level safety goals of IACC through hazard analysis and risk assessment (HARA), aiming to solve the following three problems:

[0039] (1) During IACC cruising, EPS or ADC malfunctions or fails, resulting in the driver being unable to take over effectively.

[0040] (2) The EPS and ADC safety mechanisms fail, resulting in the driver being unable to take over effectively.

[0041] (3) Under complex working conditions, driver takeover problems may occur due to unreasonable settings of the driver's takeover torque and duration.

[0042] The embodiment of the present invention provides a safety takeover system for an auxiliary driving system, such as Figure 2 As shown, the system includes an intelligent driving controller 1 and a steering controller 2 of a vehicle, wherein the intelligent driving controller, when there is no fault in itself, exits the assisted driving function based on the hand torque and duration of the driver's action on the steering wheel, and sends an assisted driving exit instruction to other associated controllers acting on assisted driving, so that the other associated controllers exit the assisted driving function; when the steering controller detects that the intelligent driving controller has a fault but there is no fault in itself, the steering controller exits the assisted driving function based on the hand torque and duration of the driver's action on the steering wheel, and sends an assisted driving exit instruction to the intelligent driving controller; in response to receiving the assisted driving exit instruction sent by the steering controller, the intelligent driving controller exits the assisted driving function and sends an assisted driving exit instruction to other associated controllers acting on assisted driving.

[0043] The intelligent driving controller and steering controller of the embodiment of the present invention are independently operated devices in the vehicle. During vehicle driving, if the user wants to take over the vehicle safely, he or she can exit the IACC function by turning the steering wheel. Alternatively, when the intelligent driving controller, steering controller or other related controllers fail, the user will be prompted to take over the vehicle safely through the corresponding instrument display, horn, etc., and the user can then exit the IACC function by turning the steering wheel. This is just an example.

[0044] When the vehicle's intelligent driving controller itself has no faults, regardless of whether the steering controller has faults, a first-level protection mechanism is set, in which the intelligent driving controller detects the hand torque and duration of the driver's action on the steering wheel through grip sensor data, wherein the intelligent driving controller determines that if the conditions for exiting the IACC function are met, it will exit the assisted driving function, and may send an assisted driving exit instruction to other associated controllers that act on assisted driving, wherein the other associated controllers may include a steering controller, a power system, and a braking system, etc., so that the other associated controllers exit the assisted driving function after receiving the assisted driving exit instruction, wherein there is no limitation on the conditions for exiting the IACC function, and it may be determined that the driver's hand torque acting on the steering wheel is greater than a preset hand force threshold, and / or the duration of the driver's action on the steering wheel is greater than a preset duration threshold, then it is determined that the conditions for exiting the IACC function are met.

[0045] When the vehicle's steering controller detects that the intelligent driving controller has a fault but the vehicle itself does not have a fault, the second-level protection mechanism is set up, in which the steering controller detects the driver's hand torque applied to the steering wheel and the duration of the force. If the conditions for exiting the IACC function are met, the assisted driving function is exited and an assisted driving exit command is sent to the intelligent driving controller. After receiving the assisted driving exit command sent by the steering controller, the intelligent driving controller exits the assisted driving function and may send assisted driving exit commands to other associated controllers to cause other associated controllers to exit the assisted driving function.

[0046] The safe takeover system of the assisted driving system provided by the present invention provides an intelligent driving controller and a steering controller as independent devices, both of which can exit the assisted driving function based on the hand torque and duration of the driver's action on the steering wheel when there is no fault in themselves. In particular, when the intelligent driving controller itself does not have a fault, regardless of whether the steering controller has a fault, when it is determined that the conditions for exiting the assisted driving function are met, it can send an assisted driving exit instruction to other associated controllers acting on the assisted driving. When the steering controller detects that the intelligent driving controller has a fault but does not have a fault itself, when it determines that the conditions for exiting the assisted driving function are met, it sends the assisted driving exit instruction to the intelligent driving controller to achieve complete takeover of the driver. Regardless of whether the intelligent driving controller or the steering controller has a fault, the other device that does not have a fault can still exit the assisted driving function, thereby achieving a double protection effect, ensuring that the driver can successfully take over the vehicle under any circumstances.

[0047] Specifically, the intelligent driving controller and the steering controller are both integrated with their corresponding safety mechanisms based on the assisted driving function, and the safety mechanisms are used to determine whether there is a fault in themselves. Among them, the safety mechanism based on the assisted driving function integrated in the steering controller at least includes the deceleration and deceleration change rate of the steering controller during braking not exceeding the preset first safety threshold and the steering angle and steering rate of the steering controller during steering not exceeding the preset second safety threshold.

[0048] The embodiment of the present invention is aimed at the adaptive cruise control (IACC) function, and relies on the process of the road vehicle functional safety standard GB / T34590 to perform a conceptual layer analysis at the vehicle level to obtain safety goals and safety requirements. Then, the corresponding safety mechanism can be designed in combination with the possible failures or failures of the auxiliary driving system to solve the problems of EPS failure, ADC failure or failure of EPS and ADC safety mechanisms during the IACC cruising process, so that the system enters a corresponding safe state; the IACC function is defined, and the IACC functional requirements, non-functional requirements, interface definitions and functional boundaries are confirmed. Based on the working scenario of the IACC, the failure mode and the hazardous events at the vehicle level are determined, and then the corresponding risk assessment can be performed on each hazardous event, such as Figure 3As shown in the figure, the automotive safety integrity (ASIL) level of the vehicle hazard event is determined, the safety goal is derived, and the safety goal can be decomposed to obtain the following Figure 4 The functional safety requirements shown in the figure should be systematically analyzed, and safety mechanisms related to driver takeover should be designed. For example, when EPS detects an internal abnormality in the steering system, it should send an "unavailable status" to the intelligent driving controller and report the fault. The ADC should have a fault diagnosis mechanism for lateral control requests and longitudinal control requests. When it is detected that the requested lateral control or longitudinal control exceeds the safety limit, it should be output according to the maximum limit, and the driver can be prompted to take over the vehicle safely. This is just an example to meet the functional safety requirements and put the system into a corresponding safe state, thereby reducing the risk of the driver being unable to take over the vehicle to an acceptable range.

[0049] Specifically, in order to solve the functional safety problem that the driver cannot take over due to EPS and ADC failure, the following features are designed: Figure 5 The system safety architecture shown in the figure enables the system to enter the corresponding safety state. The system safety architecture is designed with the following mechanisms: Safety Mechanism 1: During IACC cruising, the deceleration and deceleration change rate during ESP braking should not exceed the safety threshold. This mechanism can solve the problem of ADC failure or failure, which leads to unexpected braking requests from IACC or excessive braking requests from IACC. This safety mechanism can meet the following requirements: Figure 4 FSR-ESP-1, FSR-ESP-2, FSR-ADC-2, FSR-ADC-3, FSR-ADC-4 shown; Safety mechanism 2: During IACC cruising, the steering angle and steering rate of EPS steering should not exceed the safety threshold. This mechanism can solve the problem of ADC failure, which causes IACC to issue unexpected steering requests or IACC to issue excessive steering requests. This safety mechanism can meet FSR-EPS-P3, FSR-ADC-3, FSR-ADC-4, just as an example.

[0050] Specifically, Figure 5As shown, the steering controller in the system includes at least a first steering controller and a second steering controller, wherein the first steering controller is the steering controller with the highest priority, and is used for exiting the assisted driving function based on the hand torque and duration of the driver's action on the steering wheel when there is no fault in itself, and sending an assisted driving exit instruction to the intelligent driving controller to make other associated controllers exit the assisted driving function; the second steering controller is used for monitoring whether there is a fault in the first steering controller, and if a fault is detected in the first steering controller, it updates itself to the steering controller with the highest priority, and exiting the assisted driving function based on the hand torque and duration of the driver's action on the steering wheel when there is no fault in itself, and sending an assisted driving exit instruction to the intelligent driving controller to make other associated controllers exit the assisted driving function; the second steering controller is also used for sending fault information to the intelligent driving controller when a fault is detected in the first steering controller and when there is a fault in itself.

[0051] The safety mechanism 3 designed in the embodiment of the present invention includes: redundant design of the ESP system, for example, at least two steering controllers can be designed, one is a main steering controller with the highest priority, and the other is an auxiliary steering controller. The main steering controller can exit the assisted driving function based on the hand torque and duration of the driver's action on the steering wheel when there is no fault in itself, and send an assisted driving exit instruction to the intelligent driving controller to make other associated controllers exit the assisted driving function. The auxiliary steering controller can detect in real time whether there is a fault in the main steering controller.

[0052] If the main steering controller fails, the EPS steering system still has a certain steering capability. The auxiliary steering controller takes over the execution based on the driver's hand torque and duration on the steering wheel, exits the assisted driving function, and sends an assisted driving exit instruction to the intelligent driving controller to make other associated controllers exit the assisted driving function. If the auxiliary steering controller detects that the main steering controller has a fault and it itself has a fault, it can send fault information to the intelligent driving controller to solve the EPS fault, which causes EPS to unexpectedly execute IACC control requests or the driver cannot successfully take over the vehicle and control the vehicle to enter a safe state. This safety mechanism can meet the following requirements: Figure 4 The FSR-EPS-P4, FSR-ADC-1, FSR-ADC-3, and FSR-ADC-3 shown are for example only.

[0053] Specifically, the hand torque and duration of the driver's application to the steering wheel are the result of the driver operating the steering wheel to perform a safety takeover operation. The driver's operation of the steering wheel to perform a safety takeover operation is an operation performed by the driver after the intelligent driving controller prompts the driver to safely take over the vehicle in response to receiving fault information sent by the steering controller or detecting a fault in itself.

[0054] The steering controller of the embodiment of the present invention can utilize an integrated safety mechanism designed based on functional safety requirements to detect whether it has a fault. If a fault is detected, the fault information can be sent to the intelligent driving controller. The intelligent driving controller can prompt the driver to take over the vehicle safely after receiving the fault information sent by the steering controller, so that the driver can operate the steering wheel to perform the safe takeover operation. In the case that the intelligent driving controller itself does not have a fault, the intelligent driving controller will detect the hand torque and duration of the driver's action on the steering wheel. If the requirements for exiting the IACC function are met, the assisted driving function can be exited, and an assisted driving exit instruction will be sent to other associated controllers acting on assisted driving.

[0055] The intelligent driving controller of the embodiment of the present invention can also utilize an integrated safety mechanism designed based on functional safety requirements to detect whether it has a fault. If a fault is detected, it can prompt the driver to take over the vehicle safely so that the driver can operate the steering wheel to perform the safety takeover operation, and can send its own fault information to the steering controller. When the steering controller responds to a fault in the intelligent driving controller but does not have a fault itself, it triggers the second-level protection mechanism, that is, the steering controller exits the assisted driving function based on the hand torque and duration of the driver's action on the steering wheel, and sends an assisted driving exit instruction to the intelligent driving controller, so that the intelligent driving controller sends the assisted driving exit instruction to other associated controllers.

[0056] In the embodiment of the present invention, if there is no fault in the steering controller and the intelligent driving controller, the first layer of protection mechanism is used, that is, the intelligent driving controller detects the hand torque and duration of the driver's action on the steering wheel. If the requirements for exiting the IACC function are met, the assisted driving function can be exited, and an assisted driving exit instruction is sent to other associated controllers acting on the assisted driving.

[0057] When the steering controller of the present invention fails, it can send fault information to the intelligent driving controller. The intelligent driving controller can prompt the driver to take over the vehicle safely based on the fault information sent by the intelligent driving controller or when it detects that it has a fault. This ensures that the driver is notified in time to take over the vehicle when the vehicle fails.

[0058] The steering controller and intelligent driving controller designed in the present invention can self-detect whether they have faults, and prompt the driver to take over the vehicle safely if a fault occurs. The side without faults can be used to exit the assisted driving function based on the driver's hand torque and duration on the steering wheel, so that the vehicle enters a corresponding safe state.

[0059] Specifically, the intelligent driving controller determines whether the hand torque applied by the driver to the steering wheel is greater than a first hand force threshold; if the hand torque applied by the driver to the steering wheel is greater than the first hand force threshold, the first duration of time that the hand torque applied by the driver to the steering wheel is greater than the first hand force threshold is recorded; when the first duration is greater than the first duration threshold, the assisted driving function is exited, and an assisted driving exit instruction is sent to other associated controllers acting on assisted driving.

[0060] Specifically, the steering controller determines whether the hand torque applied by the driver to the steering wheel is greater than the second hand force threshold; if the hand torque applied by the driver to the steering wheel is greater than the second hand force threshold, the second duration of the hand torque applied by the driver to the steering wheel greater than the second hand force threshold is recorded; when the second duration is greater than the second duration threshold, an assisted driving exit command is sent to the intelligent driving controller.

[0061] Among them, the second hand force threshold is greater than the first hand force threshold, and the first hand force threshold is the threshold used by the intelligent driving controller to determine whether to exit the assisted driving function based on the hand torque applied by the driver to the steering wheel.

[0062] The embodiment of the present invention sets two layers of safety mechanism logic. The first layer of safety mechanism logic is that when the hand force torque is greater than the first hand force threshold N1 and the duration is greater than the first duration threshold, the assisted driving function is exited; the second layer of safety mechanism logic is that when the hand force torque is greater than the second hand force threshold N2 and the duration is greater than the second duration threshold, the assisted driving function is exited. Generally, the first layer of safety mechanism logic is the safety mechanism logic that is implemented first under normal circumstances. The hand force threshold set by it can be a smaller threshold to facilitate user safe takeover. When the first layer of safety mechanism logic fails, the second layer of safety mechanism logic is implemented. Correspondingly, in the actual driving process, the driver takes over the vehicle and finds that he cannot take over. Under normal circumstances, the driver will increase the hand force value. Therefore, the second hand force threshold in the second layer of safety mechanism logic is greater than the first hand force threshold. N1 is generally about 3Nm, and N2 can be about 10Nm, just as an example.

[0063] Among them, the intelligent driving controller of the embodiment of the present invention is integrated with the first-layer safety mechanism logic. When there is no fault in the intelligent driving controller itself, regardless of whether there is a fault in the steering controller, the first-layer protection mechanism is triggered. The intelligent driving controller detects the hand torque and duration of the driver's hand acting on the steering wheel, and determines whether the hand torque of the driver acting on the steering wheel is greater than the first hand force threshold, recorded as N1. After determining that the hand torque of the driver acting on the steering wheel is greater than the first hand force threshold, the first duration of the hand torque of the driver acting on the steering wheel greater than the first hand force threshold is recorded, and when the first duration is greater than the first duration threshold, wherein the first duration threshold is recorded as T1, the assisted driving function is exited, and an assisted driving exit instruction is sent to other associated controllers acting on assisted driving. The reason for the failure of the intelligent driving controller may be its own hardware or software failure, or it may be the failure of the first-layer safety mechanism logic integrated in itself. When the first-layer safety mechanism logic fails, the present invention realizes safe takeover of the vehicle by designing the steering controller to integrate the second-layer safety mechanism logic, thereby avoiding the problem that the driver cannot take over the vehicle through the steering wheel after the intelligent driving controller fails.

[0064] The steering controller of an embodiment of the present invention is integrated with a second-layer safety mechanism logic. When a fault is detected in the intelligent driving controller but the controller itself does not have any fault, the second-layer protection mechanism is triggered. The steering controller detects the hand torque and duration of the driver's hand force applied to the steering wheel, and determines whether the hand torque applied to the steering wheel by the driver is greater than the second hand force threshold, recorded as N2. After determining that the hand torque applied to the steering wheel by the driver is greater than the second hand force threshold, the controller may record the second duration of the hand torque applied to the steering wheel by the driver being greater than the second hand force threshold, recorded as T2. When the second duration is greater than the second duration threshold, the controller sends an assisted driving exit command to the intelligent driving controller, so that the intelligent driving controller exits the assisted driving function after receiving the assisted driving exit command, and sends the assisted driving exit command to the associated controller.

[0065] The present invention uses the intelligent driving controller as the first layer of protection mechanism and the steering controller as the second layer of protection mechanism, which can solve the problem that the driver cannot take over the vehicle through the steering wheel after the safety mechanism of the intelligent driving controller or the steering controller fails, and achieves a double protection effect, ensuring that the driver can successfully take over the vehicle under any circumstances. This safety mechanism can meet the following requirements: Figure 4 FSR-EPS-P1 and FSR-EPS-P2 shown.

[0066] Furthermore, if the steering controller determines that the hand torque applied by the driver to the steering wheel is greater than the first hand force threshold but less than the second hand force threshold, it records the third duration of the hand torque applied by the driver to the steering wheel being greater than the first hand force threshold but less than the second hand force threshold; when the third duration is greater than the third duration threshold, an assisted driving exit command is sent to the intelligent driving controller.

[0067] The embodiment of the present invention takes into account that the driver wants to take over the vehicle by turning the steering wheel, but the first-level safety mechanism does not work due to the failure of the safety mechanism of the intelligent driving controller, and the driver's hand force value does not reach the safety threshold of the second-level safety mechanism, which will cause the driver and the auxiliary driving function to grab the steering wheel. At this time, if the driver does not increase the torque to turn the steering wheel in time, he will be driven by the steering wheel, causing safety problems. Therefore, a third-level protection mechanism is set, that is, the third-level safety mechanism logic is designed, wherein the third-level safety mechanism logic is that when the hand torque is greater than the first hand force threshold and less than the second hand force threshold, and the third duration is greater than the third duration threshold, the auxiliary driving function is exited, and the steering controller integrated There is a third-layer safety mechanism logic. Therefore, when the steering controller detects a fault in the intelligent driving controller but does not itself have a fault, its integrated second-layer safety logic and third-layer safety logic can be implemented simultaneously. If it is determined that the driver's hand torque applied to the steering wheel is greater than the first hand force threshold but less than the second hand force threshold, the third duration of the driver's hand torque applied to the steering wheel is greater than the first hand force threshold but less than the second hand force threshold is recorded. When the third duration is greater than the third duration threshold, an assisted driving exit command can be sent to the intelligent driving controller. After receiving the assisted driving exit command, the intelligent driving controller exits the assisted driving function and can send an assisted driving exit command to the associated controller.

[0068] The steering controller designed in the present invention sends an assisted driving exit instruction to the intelligent driving controller if it determines that the hand torque applied by the driver to the steering wheel is greater than a first hand force threshold but less than a second hand force threshold, when the third duration is greater than the third duration threshold, to avoid the risk of the driver being unable to take over the vehicle immediately when the actual hand force value of the driver fails to reach the second hand force threshold.

[0069] Specifically, the intelligent driving controller integrates a threshold prediction model with different hand force thresholds and time thresholds corresponding to different driving scenarios to obtain the driving scene of the current vehicle; the driving scene of the current vehicle is input into the threshold prediction model to obtain the first hand force threshold and the first time threshold corresponding to the driving scene of the current vehicle.

[0070] Specifically, the steering controller integrates a threshold prediction model with different hand force thresholds and time thresholds corresponding to different driving scenarios to obtain the driving scene of the current vehicle; the driving scene of the current vehicle is input into the threshold prediction model to obtain the second hand force threshold, the second time threshold and the third hand force threshold, the third time threshold corresponding to the driving scene of the current vehicle.

[0071] The intelligent driving controller and steering controller of the embodiment of the present invention are both integrated with pre-trained threshold prediction models corresponding to different hand force thresholds and duration thresholds for different driving scenarios, wherein the threshold detection model can be based on the vehicle safety takeover situation corresponding to historical vehicles in different scenarios, determine the first hand force threshold and the first duration threshold, the second hand force threshold and the second duration threshold, and the third hand force threshold and the third duration threshold, and input them into the neural network model for training to obtain the threshold prediction model. As an example only, the driving controller can obtain the driving scene of the current vehicle when there is no fault in itself, wherein the driving scene includes at least the vehicle status, road conditions and driver behavior characteristics. As an example only, the driving scene of the current vehicle is input into the threshold prediction model to obtain the first hand force threshold and the first duration threshold corresponding to the driving scene of the current vehicle, and judge whether the hand torque and duration of the current driver acting on the steering wheel meet the conditions for exiting the assisted driving function based on the first hand force threshold and the first duration threshold.

[0072] When the steering controller itself has no faults and when the driver's hand torque and duration of application to the steering wheel are detected, the current vehicle's driving scene can be acquired in advance, and the current vehicle's driving scene can be input into a pre-integrated threshold prediction model to obtain a second hand force threshold, a second duration threshold, a third hand force threshold, and a third duration threshold corresponding to the current vehicle's driving scene. Based on the second hand force threshold, the second duration threshold, the third hand force threshold, and the third duration threshold, it is determined whether the current driver's hand torque and duration of application to the steering wheel meet the conditions for exiting the assisted driving function, as an example only.

[0073] The present invention determines the corresponding hand force threshold and duration threshold based on the current vehicle driving scenario, and then based on the determined hand force threshold and duration threshold, judges whether the current driver's hand torque and duration acting on the steering wheel meet the conditions for exiting the assisted driving function, thereby improving the smoothness and safety of the driver's takeover.

[0074] Specifically, the threshold prediction model for different hand force thresholds and duration thresholds corresponding to different driving scenarios is obtained through the following steps: based on different data acquisition methods, the corresponding safety takeover data for all driving scenarios are respectively obtained, wherein the safety takeover data for any driving scenario includes the safety takeover data respectively obtained under different data acquisition methods; according to the preset driving scenario sets corresponding to different hand force thresholds and duration thresholds, the obtained safety takeover data for all driving scenarios are respectively configured into the corresponding driving scenario sets, and the hand force moment average value and duration average value corresponding to different data acquisition methods under different hand force thresholds and duration thresholds are calculated, and the different hand force thresholds and duration thresholds include a first hand force threshold and a first duration threshold, a second hand force threshold and a second duration threshold, and a third hand force threshold and a second duration threshold. Threshold and a third duration threshold; weighted sum the preset weights corresponding to different data acquisition methods in the current driving scenario, and the average hand force moment and the average duration corresponding to different data acquisition methods under different hand force thresholds and duration thresholds, to obtain different hand force thresholds and duration thresholds corresponding to the current driving scenario; traverse all driving scenarios, and repeatedly perform the steps of weighted summing the weights corresponding to different data acquisition methods in the current driving scenario, and the average hand force moment and the average duration corresponding to different data acquisition methods under different hand force thresholds and duration thresholds, to obtain different hand force thresholds and duration thresholds corresponding to different driving scenarios; input the different hand force thresholds and duration thresholds corresponding to different driving scenarios into a preset neural network model for training to obtain a threshold prediction model.

[0075] The embodiment of the present invention does not limit the data acquisition method, and cloud platform data, real vehicle test data and simulation data can be used as examples. Figure 6 As shown, firstly, based on different data acquisition methods, the corresponding safety takeover data in all driving scenarios can be obtained respectively. For example, historical takeover data from different vehicles and different drivers can be obtained through the cloud platform, including hand force value, takeover time, vehicle status before takeover, road conditions, driver behavior characteristics, etc., and actual vehicle tests can be carried out based on specific vehicles and different drivers to record the takeover hand force value, takeover time, vehicle status before takeover, road conditions, driver behavior characteristics and other data. Advanced driver assistance system simulation software can also be used to simulate the takeover process in cloud platform and actual vehicle test scenarios to generate corresponding simulation data, which includes takeover hand force value, takeover time, vehicle status before takeover, road conditions, driver behavior characteristics and other data.

[0076] The embodiments of the present invention can perform data preprocessing on the acquired safety takeover data, such as removing outliers and missing values ​​to ensure the accuracy and reliability of the data, and then extract key features from the preprocessed data, such as the vehicle speed, acceleration or deceleration, road curvature, road surface flatness, driver's line of sight direction and driver's gender before the vehicle takes over, just as an example. A machine algorithm (such as a support vector machine) can be used to design an adaptive weight allocation mechanism, and according to the data characteristics, weights can be dynamically allocated in real time for cloud platform data, real vehicle test data, and simulation data in different driving scenarios to ensure that the driver's hand torque and duration can be accurately predicted in different driving scenarios.

[0077] The embodiment of the present invention can pre-set driving scenario sets corresponding to different hand force thresholds and duration thresholds. For example, in a low-speed driving scenario, the hand force threshold can be allocated to the safety takeover data of the second hand force threshold. In a turning driving scenario, the hand force threshold can be allocated to the safety takeover data of the first hand force threshold. Just as an example, according to the driving scenario sets corresponding to different hand force thresholds and duration thresholds, the safety takeover data of all driving scenarios obtained can be allocated to the corresponding driving scenario sets. Then, the average hand force moment and the average duration corresponding to different data acquisition methods under different hand force thresholds and duration thresholds can be calculated, such as cloud platform data, real vehicle test data, and simulation data. The first-layer hand force average values ​​are Ncloud1, Ntest1, Nsin1, and the duration average values ​​are Tcloud1, Ttest1, Tcloudsin1, respectively. The first-layer safety mechanism represents the first hand force threshold and the first duration threshold, cloud represents the cloud platform, test represents the actual vehicle test, sin represents the simulation test, the second-layer hand force average values ​​are Ncloud2, Ntest2, Nsin2, and the duration average values ​​are Tcloud2, Ttest2, Tsin2, respectively; the third-layer duration average values ​​are Tcloud3, Ttest3, Tsin3, for example only.

[0078] The embodiment of the present invention adopts the weighted average method to fuse the cloud platform data, the actual vehicle test data, and the simulation data, and calculates the hand torque and duration required for the driver to take over in the current scenario as the input of the prediction model. The weights corresponding to the different data acquisition methods in the preset current driving scenario and the hand torque average values ​​and duration average values ​​corresponding to the different data acquisition methods in different layers are weighted summed to obtain different hand force thresholds and duration thresholds corresponding to the current driving scenario, that is, N=Νcloud*ωcloud+Νtest*ωtest+Νsin*ωsin, T=Τcloud*τcloud+Ttest*τtest+Tsin*τsin, and the first hand force threshold, the first duration threshold and the second hand force threshold, the second duration threshold and the third hand force threshold, the third duration threshold are obtained respectively, and all driving scenarios are traversed to obtain different hand force thresholds and duration thresholds corresponding to different driving scenarios.

[0079] The embodiment of the present invention constructs a threshold prediction model for the dynamic driver's takeover hand force threshold and duration threshold based on different hand force thresholds and duration thresholds corresponding to different driving scenarios. An appropriate machine learning or deep learning algorithm, such as a neural network, a random forest, etc., can be selected to optimize and train the prediction model to obtain a threshold prediction model to ensure the prediction accuracy and generalization ability of the threshold prediction model. In the application stage, the intelligent driving controller and the steering controller can input the first hand force threshold, the first duration threshold and the second hand force threshold, the second duration threshold and the third hand force threshold, the third duration threshold in real time according to the current vehicle state, road conditions and driver behavior characteristics. The actual takeover situation can also be compared with the data output by the threshold prediction model. If the deviation is within an acceptable range, the current weight can be maintained. If the deviation is outside the acceptable range, an online learning algorithm (such as gradient descent, reinforcement learning, etc.) can be used to optimize the weight of the threshold prediction model.

[0080] The present invention can distribute weights according to the characteristics of different driving scenarios, enhance the system's adaptability to different driving scenarios and drivers, and reduce safety risks caused by improper takeover.

[0081] The embodiment of the present invention also provides a safe takeover method for an auxiliary driving system, which is applied to Figure 2 The intelligent driving controller 1 and the steering controller 2 shown in FIG. Figure 7 As shown, the intelligent driving controller 1 is used to execute steps S101 to S102, and the steering controller 2 is used to execute step S201.

[0082] Step S101, when there is no fault itself, based on the driver's hand torque on the steering wheel and the duration, exit the assisted driving function, and send an assisted driving exit instruction to other associated controllers acting on assisted driving, so that other associated controllers exit the assisted driving function.

[0083] Step S102, in response to receiving an assisted driving exit instruction sent by the steering controller of the vehicle, exit the assisted driving function, and send an assisted driving exit instruction to other associated controllers that act on assisted driving to enable the other associated controllers to exit the assisted driving function.

[0084] Step S201, in the absence of any fault, sends an assisted driving exit command to the vehicle's intelligent driving controller based on the driver's hand torque on the steering wheel and the duration of the force applied.

[0085] In a specific embodiment, Figure 8 As shown, when the driver's hand torque is greater than N1 and lasts longer than T1, the ADC exits IACC and sends an IACC exit instruction to the associated controller. This layer serves as the first layer of protection mechanism; when the driver's hand torque is greater than N2 and lasts longer than T2, the EPS exits IACC and sends an IACC exit instruction to the ADC. After receiving the instruction, the ADC exits IACC and sends an IACC exit instruction to the associated controller. This layer serves as the second layer of protection mechanism; when the driver's hand torque is greater than N1 and less than N2 and lasts longer than T3, the EPS actively exits IACC and sends an IACC exit instruction to the ADC. After receiving the instruction, the ADC exits IACC and sends an IACC exit instruction to the associated controller. This layer serves as the third layer of protection mechanism. Please refer to the above embodiment for detailed description, which will not be repeated here.

[0086] The embodiment of the present invention further provides a vehicle, such as Fig. 9 As shown, the vehicle includes the safety takeover system of the above-mentioned assisted driving system.

[0087] See also Fig.10 , Fig.10 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Fig.10As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Fig.10 A processor 10 is taken as an example.

[0088] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0089] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0090] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0091] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0092] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Fig.10 The example of connecting through bus is taken in the following.

[0093] The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0094] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0095] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A safe takeover method for an assisted driving system, characterized in that: An intelligent driving controller applied to a vehicle, the method comprising: In the absence of a fault, the assisted driving function is exited based on the hand torque and duration of the driver's action on the steering wheel, and an assisted driving exit instruction is sent to other associated controllers acting on the assisted driving, so that the other associated controllers exit the assisted driving function; Or, in response to receiving an assisted driving exit instruction sent by the vehicle's steering controller, the assisted driving function is exited, and an assisted driving exit instruction is sent to other associated controllers that act on assisted driving, so that the other associated controllers exit the assisted driving function. The assisted driving exit instruction is an assisted driving exit instruction sent by the steering controller to the intelligent driving controller based on the hand torque and duration of the driver's action on the steering wheel when the steering controller detects that the intelligent driving controller has a fault but there is no fault in the steering controller itself.

2. The method according to claim 1, characterized in that The hand torque and duration of the driver's application to the steering wheel are the result of the driver operating the steering wheel to perform a safety takeover operation. The driver operating the steering wheel to perform a safety takeover operation is an operation performed by the driver after the intelligent driving controller prompts the driver to safely take over the vehicle in response to receiving fault information sent by the steering controller or detecting a fault in itself.

3. The method according to claim 1, characterized in that The method of exiting the assisted driving function based on the hand torque and duration of the driver's action on the steering wheel, and sending an assisted driving exit instruction to other associated controllers acting on the assisted driving, includes: Determining whether the hand torque applied by the driver to the steering wheel is greater than a first hand force threshold; If the hand torque applied by the driver to the steering wheel is greater than the first hand force threshold, a first duration of time during which the hand torque applied by the driver to the steering wheel is greater than the first hand force threshold is recorded; When the first duration is greater than a first duration threshold, the assisted driving function is exited, and an assisted driving exit instruction is sent to other associated controllers that act on the assisted driving.

4. The method according to claim 3, characterized in that The intelligent driving controller integrates a threshold prediction model corresponding to different hand force thresholds and duration thresholds in different driving scenarios, and the method further includes: Get the driving scene of the current vehicle; The driving scene of the current vehicle is input into the threshold prediction model to obtain a first hand force threshold and a first duration threshold corresponding to the driving scene of the current vehicle.

5. A safe takeover method for an assisted driving system, characterized in that: A steering controller applied to a vehicle, the method comprising: When a fault is detected in the intelligent driving controller but the vehicle itself is not faulty, an assisted driving exit command is sent to the vehicle's intelligent driving controller based on the driver's hand torque and duration of application of the steering wheel, so that the intelligent driving controller exits the assisted driving function based on the assisted driving exit command sent by the steering controller, and an assisted driving exit command is sent to other associated controllers that act on assisted driving, so that other associated controllers exit the assisted driving function.

6. The method according to claim 5, characterized in that The method further comprises: It detects whether it has a fault, and when it detects that it has a fault, it sends the fault information to the intelligent driving controller, so that the intelligent driving controller prompts the driver to take over the vehicle safely based on the fault information sent by the steering controller, and when there is no fault in the intelligent driving controller itself, it exits the assisted driving function based on the hand torque and duration of the driver's action on the steering wheel, and sends an assisted driving exit instruction to other associated controllers that act on assisted driving, so that other associated controllers exit the assisted driving function.

7. The method according to claim 5, characterized in that The method of exiting the assisted driving function based on the hand torque and duration of the driver's hand force acting on the steering wheel, and sending an assisted driving exit instruction to the intelligent driving controller, includes: Determining whether the hand torque applied by the driver to the steering wheel is greater than a second hand force threshold; If the hand torque applied by the driver to the steering wheel is greater than the second hand force threshold, a second duration of time during which the hand torque applied by the driver to the steering wheel is greater than the second hand force threshold is recorded; When the second duration is greater than the second duration threshold, an assisted driving exit command is sent to the intelligent driving controller, and the second hand force threshold is greater than the first hand force threshold. The first hand force threshold is the threshold used by the intelligent driving controller to determine whether to exit the assisted driving function based on the hand torque applied by the driver to the steering wheel.

8. The method according to claim 7, characterized in that The method of exiting the assisted driving function based on the hand torque and duration of the driver's hand force acting on the steering wheel, and sending an assisted driving exit instruction to the intelligent driving controller, further includes: If it is determined that the hand torque applied by the driver to the steering wheel is greater than the first hand force threshold but less than the second hand force threshold, a third duration of time during which the hand torque applied by the driver to the steering wheel is greater than the first hand force threshold but less than the second hand force threshold is recorded; When the third duration is greater than the third duration threshold, an assisted driving exit instruction is sent to the intelligent driving controller.

9. The method according to claim 8, characterized in that The steering controller is integrated with a threshold prediction model corresponding to different hand force thresholds and duration thresholds in different driving scenarios, and the method further includes: Get the driving scene of the current vehicle; The driving scene of the current vehicle is input into the threshold prediction model to obtain a second hand force threshold, a second duration threshold, a third hand force threshold, and a third duration threshold corresponding to the driving scene of the current vehicle.

10. The method according to claim 4 or 9, characterized in that: The threshold prediction models corresponding to different hand force thresholds and duration thresholds for different driving scenarios are obtained by the following steps: Based on different data acquisition methods, corresponding safety takeover data in all driving scenarios are respectively acquired, wherein the safety takeover data in any driving scenario includes the safety takeover data acquired in different data acquisition methods; According to the preset driving scene sets corresponding to different hand force thresholds and duration thresholds, the acquired safety takeover data in all driving scenes are respectively configured into the corresponding driving scene sets, and the hand force moment average value and the duration average value corresponding to different data acquisition methods under different hand force thresholds and duration thresholds are calculated, wherein the different hand force thresholds and duration thresholds include a first hand force threshold and a first duration threshold, a second hand force threshold and a second duration threshold, and a third hand force threshold and a third duration threshold; The weights corresponding to the preset different data acquisition methods under the current driving scene are weighted summed with the average hand force moments and the average durations corresponding to the different data acquisition methods under the different hand force thresholds and duration thresholds to obtain different hand force thresholds and duration thresholds corresponding to the current driving scene; Traversing all driving scenarios, repeatedly performing the step of weighted summing of the weights corresponding to different data acquisition methods in the current driving scenario and the average hand force moment and the average duration corresponding to different data acquisition methods under the different hand force thresholds and duration thresholds, to obtain different hand force thresholds and duration thresholds corresponding to different driving scenarios; Different hand force thresholds and time thresholds corresponding to different driving scenarios are input into the preset neural network model for training to obtain a threshold prediction model.

11. A safety takeover system for an auxiliary driving system, characterized in that: The system includes a vehicle intelligent driving controller and a steering controller, wherein: In the absence of any faults in the intelligent driving controller itself, the intelligent driving controller will exit the assisted driving function based on the hand torque and duration of the driver's action on the steering wheel, and send an assisted driving exit instruction to other associated controllers acting on the assisted driving, so that the other associated controllers will exit the assisted driving function; When the steering controller detects that a fault has occurred in the intelligent driving controller but the steering controller itself is not at fault, the controller exits the assisted driving function based on the hand torque and duration of the driver's application of the steering wheel, and sends an assisted driving exit command to the intelligent driving controller. In response to receiving the assisted driving exit command sent by the steering controller, the intelligent driving controller exits the assisted driving function and sends an assisted driving exit command to other associated controllers that act on assisted driving.

12. A vehicle, characterized in that: The vehicle includes the safety takeover system of the assisted driving system according to claim 11.

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