Man-machine co-driving control method, device and system based on variable torque limit value

Abstract

The invention discloses a man-machine co-driving control method, device and system based on a variable torque limit value, and belongs to the technical field of automobile intelligent control. The method includes: acquiring hand torque acting on a steering wheel by a driver in real time; based on the hand torque acting on the steering wheel by the driver, state judgment is conducted through a preset man-machine co-driving condition, and the current steering control state is determined; if the steering control state is a man-machine co-driving state, the distance between the center point of the front axle of the vehicle and the center line of the lane line is obtained, and the torque limiting threshold value is dynamically adjusted according to the distance between the center point of the front axle of the vehicle and the center line of the lane line. Smooth transition seamless switching can be achieved in three driving states of an intelligent driving system steering control state, a man-machine co-driving state and a driver control state, the driving experience is greatly improved, and the utilization rate of the intelligent driving function and the user satisfaction degree are greatly improved; the problem that in the using process of an existing L2-level intelligent driving function, the driving experience is poor is solved.

Description

Technical Field

[0001] The present invention relates to the field of automobile intelligent control technology, and in particular to a human-machine co-driving control method, device and system based on variable torque limit. Background Art

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

[0003] In the L2 intelligent driving function, lateral control mainly includes lane keeping assist, lane centering assist, traffic jam assist and other functions, which are mainly short-term lateral intervention and long-term lateral control. To ensure the safety of vehicle driving, the driver is required not to take his hands off the wheel for a long time during the use of L2 intelligent driving function.

[0004] But taking lane centering control as an example, if the driver needs to fine-tune the vehicle's driving position within the lane line, the traditional control function is an "either-or" mode, where the intelligent driving function either takes full control or recognizes manual intervention when the driver's torque is large. The intelligent driving function releases the steering wheel control and downgrades to longitudinal control mode only or exits the mode.

[0005] This results in a poor driving experience, low usage of intelligent driving, and is prone to user complaints. It may even lead to dangerous situations due to the large intervention torque of the intelligent driving function, making it difficult for the driver to take over in an emergency. Summary of the invention

[0006] In order to address the deficiencies in the prior art, the present invention provides a human-machine co-driving control method, device, system, electronic device, computer-readable storage medium and computer program product based on variable torque limit, which can achieve smooth transition and seamless switching of different control states, greatly improving the driving experience as well as the usage rate and user satisfaction of intelligent driving functions.

[0007] In a first aspect, the present invention provides a human-machine co-driving control method based on a variable torque limit;

[0008] A human-machine co-driving control method based on variable torque limit, comprising:

[0009] Obtain the driver's hand torque on the steering wheel in real time;

[0010] Based on the hand torque applied by the driver on the steering wheel, the state is judged through the preset human-machine co-driving conditions to determine the current steering control state;

[0011] If the steering control state is a human-machine co-driving state, the distance between the center point of the front axle of the vehicle and the center line of the lane is obtained, and the torque limit threshold is dynamically adjusted according to the distance between the center point of the front axle of the vehicle and the center line of the lane.

[0012] In some implementations, based on the hand torque of the driver acting on the steering wheel, the state is judged by using the preset human-machine co-driving conditions, and the current steering control state is determined to be:

[0013] If within the preset time range, the driver's hand torque applied to the steering wheel is continuously less than the preset first threshold, the current steering control state is the intelligent driving control state; if within the preset time range, the driver's hand torque applied to the steering wheel is continuously greater than the preset first threshold and is not continuously greater than the preset second threshold, the current steering control state is the human-machine co-driving state; if within the preset time range, the driver's hand torque applied to the steering wheel is continuously greater than the preset third threshold, the current steering control state is the driver control state.

[0014] In some embodiments, the distance between the center point of the front axle of the vehicle and the center line of the lane is proportional to the torque limit threshold.

[0015] In some implementations, the torque limit threshold is expressed as:

[0016] N = 2*L;

[0017] Where L represents the distance between the center point of the vehicle's front axle and the center line of the lane.

[0018] In some implementations, the hand torque of the driver acting on the steering wheel is collected by a steering wheel torque sensor.

[0019] In a second aspect, the present invention provides a human-machine co-driving control device based on a variable torque limit;

[0020] A human-machine co-driving control device based on variable torque limit, comprising:

[0021] The acquisition module is configured to: acquire the hand torque of the driver acting on the steering wheel in real time;

[0022] The human-machine co-driving control module is configured to: determine the current steering control state by judging the state based on the hand torque of the driver acting on the steering wheel through the preset human-machine co-driving conditions;

[0023] If the steering control state is a human-machine co-driving state, the distance between the center point of the front axle of the vehicle and the center line of the lane is obtained, and the torque limit threshold is dynamically adjusted according to the distance between the center point of the front axle of the vehicle and the center line of the lane.

[0024] In a third aspect, the present invention provides a human-machine co-driving control system based on a variable torque limit;

[0025] A human-machine co-driving control system based on variable torque limit, comprising:

[0026] Electric power steering system, used to detect the driver's hand torque on the steering wheel;

[0027] The intelligent driving controller is used to obtain the hand torque applied by the driver on the steering wheel in real time; based on the hand torque applied by the driver on the steering wheel, the state is judged through the preset human-machine co-driving conditions to determine the current steering control state; if the steering control state is the human-machine co-driving state, the distance between the center point of the front axle of the vehicle and the center line of the lane is obtained, and the torque limit threshold is dynamically adjusted according to the distance between the center point of the front axle of the vehicle and the center line of the lane and sent to the electric power steering system to execute the torque limit request.

[0028] In a fourth aspect, the present invention provides an electronic device;

[0029] An electronic device comprises a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the above-mentioned human-machine co-driving control method based on variable torque limit.

[0030] In a fifth aspect, the present invention provides a computer-readable storage medium;

[0031] A computer-readable storage medium stores a computer program / instruction thereon, which, when executed by a processor, implements the steps of the above-mentioned human-machine co-driving control method based on a variable torque limit.

[0032] In a sixth aspect, the present invention provides a computer program product;

[0033] A computer program product includes a computer program / instruction, which, when executed by a processor, implements the steps of the above-mentioned human-machine co-driving control method based on variable torque limit.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] The technical solution provided by the present invention identifies the driver's steering wheel torque, determines the driver's intention to take over, and distributes the weights of intelligent driving and manual driving according to the driver's willingness to take over. This weight distribution coefficient controls the torque limit threshold when the EPS electronic steering power system executes the steering wheel angle control command, and can adjust the force acting on the steering column when the EPS electronic steering power system controls the steering wheel to respond to the angle control command, and then feeds back to the driver's hand torque feeling; the vehicle can achieve smooth transition and seamless switching among the three driving states of intelligent driving system control state, human-machine co-driving state, and driver control state, thereby greatly improving the driving experience and greatly improving the utilization rate of intelligent driving functions and user satisfaction. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0037] Figure 1 A schematic flow chart of a human-machine co-driving control method based on a variable torque limit provided in an embodiment of the present invention;

[0038] Figure 2 An example diagram of a human-machine co-driving torque response provided by an embodiment of the present invention;

[0039] Figure 3 A schematic diagram of a change in torque limit provided by an embodiment of the present invention;

[0040] Figure 4 A system architecture diagram of a human-machine co-driving control system based on variable torque limit provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0042] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that the terms "include" and "have" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0043] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0044] Embodiment 1

[0045] In the existing L2 intelligent driving function, the driving experience and safety of control state switching in steering control need to be improved; therefore, the present invention provides a human-machine co-driving control method based on variable torque limit, which adaptively changes the torque limit in combination with the driver's takeover intention and driving safety status.

[0046] Next, combine Figure 1-Figure 4, a human-machine co-driving control method based on a variable torque limit disclosed in this embodiment is described in detail. The human-machine co-driving control method based on a variable torque limit includes:

[0047] S1. Obtain the hand torque of the driver acting on the steering wheel in real time.

[0048] In actual applications, when the vehicle's intelligent driving system controls steering, the steering wheel torque sensor in the electric power steering system identifies the driver's hand torque on the steering wheel.

[0049] S2. Based on the hand torque applied by the driver on the steering wheel, a state judgment is performed through a preset human-machine co-driving condition to determine the current steering control state; if the steering control state is the human-machine co-driving state, execute S3.

[0050] Specifically, if within a preset time range, the hand torque applied by the driver on the steering wheel is continuously less than a preset first threshold, the current steering control state is an intelligent driving control state; if within a preset time range, the hand torque applied by the driver on the steering wheel is continuously greater than a preset first threshold and is not continuously greater than a preset second threshold, the current steering control state is a human-machine co-driving state; if within a preset time range, the hand torque applied by the driver on the steering wheel is continuously greater than a preset third threshold, the current steering control state is a driver control state.

[0051] For example, if within 500ms, the driver's hand torque on the steering wheel is continuously less than 2N, the system maintains the intelligent driving control state; if within 500ms, the driver's hand torque on the steering wheel is continuously greater than 2N and not continuously greater than 3N, the system enters the human-machine co-driving state; if within 500ms, the driver's hand torque on the steering wheel is continuously greater than 3.5N, the system enters the driver control state.

[0052] S3. Obtain the distance between the center point of the front axle of the vehicle and the center line of the lane, and dynamically adjust the torque limit threshold according to the distance between the center point of the front axle of the vehicle and the center line of the lane.

[0053] When the system enters the human-machine co-driving state, Figure 2 As shown, the torque required by the electric power steering system to respond to the steering angle request of the intelligent driving controller is subject to the upper and lower torque limits. In the human-machine state, in order to reduce the torque confrontation when the driver is steering and at the same time consider the situation where the vehicle runs out of the lane when the driver unconsciously enters the human-machine co-driving state, the torque limit threshold (torque limit) will change according to the vehicle safety status.

[0054] The center line of the lane is the trajectory line of the vehicle traveling in the center of the lane. The distance between the center line of the lane and the center point of the front axle of the vehicle can reflect the safety status of the vehicle. Therefore, in this embodiment, the torque limit threshold is dynamically adjusted according to the distance between the center point of the front axle of the vehicle and the center line of the lane.

[0055] Combination Figure 3 , when the center line of the lane overlaps with the center point of the front axle of the vehicle, the torque limit value is 0. As the center line of the lane and the center point of the front axle of the vehicle increase, the torque limit value will also increase, and the two are in direct proportion. The torque limit threshold is expressed as:

[0056] N = 2*L;

[0057] Where L represents the distance between the center point of the vehicle's front axle and the center line of the lane.

[0058] Furthermore, the lane image captured by the camera mounted on the vehicle is processed by a lane centerline recognition algorithm based on image processing to obtain the distance between the center point of the front axle of the vehicle and the center line of the lane.

[0059] In this embodiment, the lane centerline recognition algorithm may be a trained yolo algorithm or a Candy algorithm, etc. This embodiment does not make any improvements thereto and will not be described in detail herein.

[0060] To sum up, the increase in the variable torque limit threshold allows the driver to smoothly perform steering control when the vehicle is driving in the center. When the vehicle is on the edge of danger, the intelligent driving function can return the vehicle to the center of the lane, bringing the driver a comfortable, safe and convenient experience when using the intelligent driving system.

[0061] Embodiment 2

[0062] This embodiment discloses a human-machine co-driving control device based on a variable torque limit, comprising:

[0063] The acquisition module is configured to: acquire the hand torque of the driver acting on the steering wheel in real time;

[0064] The human-machine co-driving control module is configured to: determine the current steering control state by judging the state based on the hand torque of the driver acting on the steering wheel through the preset human-machine co-driving conditions;

[0065] If the steering control state is a human-machine co-driving state, the distance between the center point of the front axle of the vehicle and the center line of the lane is obtained, and the torque limit threshold is dynamically adjusted according to the distance between the center point of the front axle of the vehicle and the center line of the lane.

[0066] It should be noted here that the above acquisition module and human-machine co-driving control module correspond to the steps in Embodiment 1, and the examples and application scenarios implemented by the above modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above Embodiment 1. It should be noted that the above modules, as part of the system, can be executed in a computer system such as a set of computer executable instructions.

[0067] Embodiment 3

[0068] Based on the human-machine co-driving control method based on variable torque limit described in Example 1, this embodiment discloses a human-machine co-driving control system based on variable torque limit, including an electric power steering system and an intelligent driving controller, the electric power steering system is used to detect the hand torque of the driver acting on the steering wheel and the steering wheel angle; the intelligent driving controller is used to obtain the hand torque of the driver acting on the steering wheel in real time; based on the hand torque of the driver acting on the steering wheel, a state judgment is performed through preset human-machine co-driving conditions to determine the current steering control state; if the steering control state is a human-machine co-driving state, the distance between the center point of the front axle of the vehicle and the center line of the lane line is obtained, and the torque limit threshold is dynamically adjusted according to the distance between the center point of the front axle of the vehicle and the center line of the lane line and sent to the electric power steering system, so that it executes the torque limit request.

[0069] Embodiment 4

[0070] Embodiment 4 of the present invention provides an electronic device, including a memory and a processor, and computer instructions stored in the memory and running on the processor. When the computer instructions are executed by the processor, the steps of the above-mentioned human-machine co-driving control method based on variable torque limit are completed.

[0071] Embodiment 5

[0072] Embodiment 5 of the present invention provides a computer-readable storage medium for storing computer instructions. When the computer instructions are executed by a processor, the steps of the above-mentioned human-machine co-driving control method based on variable torque limit are completed.

[0073] Embodiment 6

[0074] Embodiment 6 of the present invention provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the above-mentioned human-machine co-driving control method based on variable torque limit.

[0075] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0076] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0077] These computer program instructions can also be loaded onto a computer or other programmable data processing device, and a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0078] The description of each embodiment in the above embodiments has different emphases. For parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0079] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A human-machine co-driving control method based on variable torque limit, characterized in that: include: Obtain the driver's hand torque on the steering wheel in real time; Based on the hand torque applied by the driver on the steering wheel, the state is judged through the preset human-machine co-driving conditions to determine the current steering control state; If the steering control state is a human-machine co-driving state, the distance between the center point of the front axle of the vehicle and the center line of the lane is obtained, and the torque limit threshold is dynamically adjusted according to the distance between the center point of the front axle of the vehicle and the center line of the lane.

2. The human-machine co-driving control method based on variable torque limit according to claim 1, characterized in that: Based on the hand torque of the driver on the steering wheel, the state is judged through the preset human-machine co-driving conditions to determine the current steering control state: If within a preset time range, the hand torque of the driver on the steering wheel is continuously less than a preset first threshold, the current steering control state is an intelligent driving control state; If within a preset time range, the hand torque applied by the driver on the steering wheel is continuously greater than a preset first threshold value and is not continuously greater than a preset second threshold value, then the current steering control state is a human-machine co-driving state; If within a preset time range, the hand torque of the driver acting on the steering wheel continues to be greater than a preset third threshold, the current steering control state is the driver control state.

3. The human-machine co-driving control method based on variable torque limit according to claim 1, characterized in that: The distance between the center point of the vehicle's front axle and the center line of the lane is proportional to the torque limit threshold.

4. The human-machine co-driving control method based on variable torque limit according to claim 1, characterized in that: The torque limit threshold is expressed as: N = 2*L; Where L represents the distance between the center point of the vehicle's front axle and the center line of the lane.

5. The human-machine co-driving control method based on variable torque limit according to claim 1, characterized in that: The hand torque of the driver acting on the steering wheel is collected by a steering wheel torque sensor.

6. A human-machine co-driving control device based on a variable torque limit, characterized in that: include: The acquisition module is configured to: acquire the hand torque of the driver acting on the steering wheel in real time; The human-machine co-driving control module is configured to: determine the current steering control state by judging the state based on the hand torque of the driver acting on the steering wheel through the preset human-machine co-driving conditions; If the steering control state is a human-machine co-driving state, the distance between the center point of the front axle of the vehicle and the center line of the lane is obtained, and the torque limit threshold is dynamically adjusted according to the distance between the center point of the front axle of the vehicle and the center line of the lane.

7. A human-machine co-driving control system based on variable torque limit, characterized in that: include: Electric power steering system, used to detect the driver's hand torque on the steering wheel; Intelligent driving controller, used to obtain the driver's hand torque on the steering wheel in real time; Based on the hand torque applied by the driver on the steering wheel, the state is judged through the preset human-machine co-driving conditions to determine the current steering control state; If the steering control state is a human-machine co-driving state, the distance between the center point of the front axle of the vehicle and the center line of the lane is obtained, and the torque limit threshold is dynamically adjusted according to the distance between the center point of the front axle of the vehicle and the center line of the lane and sent to the electric power steering system to execute the torque limit request.

8. An electronic device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the human-machine co-driving control method based on variable torque limit as described in any one of claims 1-5.

9. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the human-machine co-driving control method based on variable torque limit described in any one of claims 1-5 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the human-machine co-driving control method based on variable torque limit described in any one of claims 1-5 are implemented.

Images