Vehicle driving mode switching control method, system and equipment and medium
By realizing power-on initialization, fault self-check and condition judgment in electric intelligent driving unmanned vehicles, the problems of driving mode switching delay and gear retention are solved, and switching efficiency and safety are improved.
Patent Information
- Application Number
- CN202311569012.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-11-21
- Publication Date
- 2025-05-23
Smart Images
Figure CN120024351A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of driving mode control, and in particular relates to a control method, system, device and medium for switching a vehicle driving mode. Background Art
[0002] The driving modes of electric intelligent driving unmanned vehicles include driver mode and unmanned driving mode. When the above two driving modes are switched, if the driver does not perform local operations such as braking, acceleration, and shifting, the vehicle cannot immediately enter the driving mode switchable state, and needs to wait for a period of time (such as at least 22 seconds) before it can smoothly enter the corresponding switched driving mode state. In addition, after the driving mode is switched, the gear of the driven vehicle enters the initial state (N gear), and the gear state before the driving mode switch cannot be maintained. Summary of the invention
[0003] The present invention provides a control method, system, device and medium for switching a vehicle driving mode, so as to solve the problems of long delay and failure to maintain a gear position after switching a driving mode.
[0004] The present invention provides a control method for switching a vehicle driving mode, the control method comprising:
[0005] Power on and initialize; wake up the vehicle to switch the driving mode of control; enter the target driving mode;
[0006] Start the vehicle fault self-check process and feedback the fault self-check information;
[0007] When the vehicle meets the preset target driving mode conditions, switching the current driving mode to the target driving mode;
[0008] Among them, the target driving mode includes unmanned driving mode and driver driving mode.
[0009] Optionally, the power-on initialization; waking up the vehicle to switch the controlled driving mode; and entering the target driving mode include:
[0010] The vehicle is powered on and initialized to trigger the wake-up state, and enters the driving mode selection operation; based on the selection result, it enters the selected target driving mode.
[0011] Optionally, entering the selected target driving mode based on the selection result includes:
[0012] If the selection result is the unmanned driving mode, and the unmanned driving mode conditions are met, the selected unmanned driving mode is entered;
[0013] If the selection result is the driver driving mode and the driver driving mode conditions are met, enter the selected driver driving mode.
[0014] Optionally, the conditions for satisfying the unmanned driving mode include:
[0015] When the first vehicle control unit (VCU), brake controller (EHB), and steering controller (EPS) all send out a wire control permission flag, and the intelligent driving controller (ADAS) sends out a wire control permission enable or a wire control switch is triggered, the conditions for entering the unmanned driving mode are met.
[0016] Optionally, the first vehicle controller (VCU) sending a line control permission flag includes:
[0017] The vehicle motor, battery and motor control system are detected to be fault-free and in normal status. When the current driver does not operate, the first vehicle controller (VCU) sends a line control permission flag.
[0018] Optionally, the brake controller (EHB) sends a line control permission flag including:
[0019] The vehicle braking system is detected to be fault-free and in normal condition. When the current driver does not operate, the brake controller (EHB) sends a line control flag to allow.
[0020] Optionally, the steering controller (EPS) sends a line control permission flag including:
[0021] The vehicle steering system is detected to be fault-free and in normal condition. When the current driver does not operate, the steering controller (EPS) sends a line control permission flag.
[0022] Optionally, before the intelligent driving controller (ADAS) issues the permission to enter the wire control enable, the intelligent driving controller (ADAS) also includes self-checking and finding that there is no fault and it is in a normal state.
[0023] Optionally, the condition of satisfying the driver's driving mode includes:
[0024] When the first condition of the driver driving mode is met, the vehicle directly enters the driver driving mode after being powered on; or
[0025] When the second condition of the driver driving mode is met, when the driver operates the accelerator pedal, brake pedal, or gear switch in the unmanned driving mode, the driver driving mode is entered under the intervention of the driver; or
[0026] When the third condition of the driver driving mode is met, if the intelligent driving controller fails, the driverless driving mode is automatically exited and the driver driving mode is entered; or
[0027] When the fourth condition of the driver driving mode is met, when the emergency stop switch or the wire control button is triggered, the unmanned driving mode is automatically exited and the driver driving mode is entered.
[0028] Optionally, it also includes: in the unmanned driving mode, the driver intervenes with the accelerator pedal and the brake pedal to exit the unmanned driving mode, and the vehicle gear position remains unchanged after exiting the unmanned driving mode.
[0029] Optionally, it also includes: in the unmanned driving mode, the driver intervenes in the gear switch to exit the unmanned driving mode, and the vehicle gear position after exiting the unmanned driving mode is the vehicle gear position corresponding to the intervention operation.
[0030] Optionally, the method further includes: in a driver driving mode, based on the driver's intervention operation, a first vehicle controller (VCU) analyzes the driver's intention, and manages the vehicle gear and driving torque based on the driver's intention;
[0031] In unmanned driving mode, the torque is driven by wire control based on the intelligent driving controller and the second vehicle controller (VCU2.0).
[0032] The present invention also provides a control system for switching a vehicle driving mode, the control system comprising:
[0033] Initialization unit, used for power-on initialization; waking up the vehicle to switch the driving mode of control; entering the target driving mode;
[0034] The vehicle is powered on and initialized to trigger the wake-up state, and enters the driving mode selection operation; based on the selection result, it enters the selected target driving mode;
[0035] If the selection result is the unmanned driving mode, and the unmanned driving mode conditions are met, the selected unmanned driving mode is entered;
[0036] If the selection result is the driver driving mode, and the driver driving mode conditions are met, enter the selected driver driving mode;
[0037] A control unit, used to start a vehicle fault self-checking process;
[0038] The driving mode switching unit is used to switch into the unmanned driving mode when the line control permission flag is obtained; and to switch into the driver driving mode when the driver driving mode condition is triggered.
[0039] Optionally, the initialization unit includes: a driving mode selection module, used to select a vehicle driving mode in a wake-up state.
[0040] Optionally, the driving mode switching unit includes:
[0041] The driving mode condition determination module is used to determine whether the current vehicle meets the target driving mode condition for switching from the current driving mode to the target driving mode.
[0042] The present invention also provides a vehicle, which includes the control system for switching the vehicle driving mode as described above.
[0043] The present invention also provides an electronic device, the electronic device comprising:
[0044] a memory for storing non-transitory computer-readable instructions; and
[0045] A processor is used to run the computer-readable instructions so that when the computer-readable instructions are executed by the processor, the control method for switching the vehicle driving mode described in any one of the above is implemented.
[0046] The present invention also provides a computer-readable storage medium, which includes computer instructions. When the computer instructions are executed on a device, the device executes any of the above-mentioned control methods for switching the vehicle driving mode.
[0047] Compared with the prior art, the present invention has obvious advantages and beneficial effects. By means of the above technical solution, the present invention has at least one of the following advantages and beneficial effects:
[0048] 1. The present invention provides a control method for switching a vehicle driving mode, the method comprising: power-on initialization; waking up the driving mode of the vehicle switching control; entering the target driving mode; the whole vehicle power-on initialization triggers the wake-up state and enters the driving mode selection operation; based on the selection result, enters the selected target driving mode; if the selection result is the unmanned driving mode, and when the unmanned driving mode conditions are met, enter the selected unmanned driving mode; if the selection result is the driver driving mode, and when the driver driving mode conditions are met, enter the selected driver driving mode; start the vehicle fault self-check process and feedback the fault self-check information; when the vehicle meets the preset target driving mode conditions, switch the current driving mode to the target driving mode; wherein the target driving mode includes the unmanned driving mode and the driver driving mode. The present invention shortens the delay time after the driving mode switch through fault self-check and fault feedback, combined with the selection of the target driving mode, and under the target driving mode conditions, switches the current driving mode to the target driving mode, and can maintain the gear state after the driving mode switch.
[0049] 2. The present invention also provides a control system for switching a vehicle driving mode, the control system comprising: an initialization unit for power-on initialization; waking up the driving mode of the vehicle switching control; entering the target driving mode; a control unit for starting the vehicle fault self-checking process; a driving mode switching unit for switching to the unmanned driving mode when obtaining the flag position that allows entry into the line control; switching to the driver driving mode when the driver driving mode condition is triggered. The present invention enters the target driving mode through the initialization unit, and the control unit starts the vehicle fault self-checking process, performs fault self-checking and fault feedback, combines the selection of the target driving mode, and under the target driving mode condition, switches the current driving mode to the target driving mode through the driving mode switching unit, shortens the delay time after the driving mode switch, and can maintain the gear state after the driving mode switch.
[0050] 3. The present invention also provides a vehicle, which includes the above-mentioned vehicle driving mode switching control system. The present invention enters the target driving mode through the initialization unit included in the vehicle, starts the vehicle fault self-check process based on the control unit, performs fault self-check and fault feedback, combines the selection of the target driving mode, and switches the current driving mode to the target driving mode through the driving mode switching unit under the target driving mode condition, thereby shortening the delay time after the driving mode switching, and can maintain the gear state after the driving mode switching.
[0051] 4. The present invention also provides an electronic device, which includes: a memory for storing non-temporary computer-readable instructions; and a processor for running the computer-readable instructions, so that when the computer-readable instructions are executed by the processor, the control method for switching the vehicle driving mode described in any one of the above is implemented.
[0052] 5. The present invention also provides a computer-readable storage medium, which includes computer instructions. When the computer instructions are executed on a device, the device executes any of the above-mentioned vehicle driving mode switching control methods.
[0053] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following specifically cites a preferred embodiment and describes it in detail with the accompanying drawings as follows. BRIEF DESCRIPTION OF THE DRAWINGS
[0054] Figure 1 is a flow chart of a control method for switching a vehicle driving mode according to an embodiment of the present invention;
[0055] Figure 2is a flow chart of a vehicle driving mode switching control method according to an embodiment of the present invention;
[0056] Figure 3 It is a schematic diagram of a flow chart of switching control from an unmanned driving mode to a driver driving mode during a driving phase according to an embodiment of the present invention;
[0057] Figure 4 It is a schematic diagram of a structure of generating an enable flag in a driving mode switching control according to an embodiment of the present invention;
[0058] Figure 5 It is a structural schematic diagram of a control system for switching a vehicle driving mode according to an embodiment of the present invention;
[0059] Figure 6 It is a schematic diagram of an electronic device for controlling vehicle driving mode switching according to an embodiment of the present invention. DETAILED DESCRIPTION
[0060] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects proposed according to the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.
[0061] The present invention provides a control method for switching a vehicle driving mode. Figure 1 As shown, the method comprises the following specific steps:
[0062] S1, power-on initialization; wake up the vehicle to switch the controlled driving mode; enter the target driving mode.
[0063] It should be noted that the target driving mode includes the driver driving mode and the unmanned driving mode. During the process of the vehicle being powered on, the control state of the vehicle driving mode switching changes from the dormant state to the awake state. When the vehicle is in the awake state, the driver can make an autonomous choice of the driving mode. For example, the driver enters the driver driving state by autonomously selecting the corresponding driver driving mode; or the driver enters the unmanned driving state by autonomously selecting the corresponding unmanned driving mode. In addition, if the driver autonomously selects the unmanned driving mode to enter the unmanned driving state, the vehicle can enter the vehicle awake state after the unmanned driving mode is in a preset time; or the driver can enter the driver driving mode through manual operation and intervention by the driver. The above-mentioned entering the driver driving mode from the unmanned driving mode is not limited to including the failure or failure of the intelligent driving controller (ADAS), the failure of the first vehicle controller (VCU), the intervention of the driver or the current vehicle state, the triggering of the emergency brake switch, and the triggering of the wire control button switch. When the vehicle is in the driver driving mode, the vehicle can also enter the awake state of the vehicle driver driving mode by driving in the driver driving mode for a preset time. If the driver only manually intervenes in the accelerator pedal or maintains the opening amplitude of the accelerator pedal, the vehicle can quickly enter the awake state of the vehicle driver driving mode. However, the vehicle's driverless driving mode cannot be entered from the awakened state of the vehicle's driver driving mode, so that when the vehicle is in the driver driving mode without being awakened, the vehicle's driver driving mode can enter the driverless driving mode after the driver's driving mode conditions are met. For example, after the vehicle is powered on and initialized, the vehicle enters the driver driving mode by default without any operation by the driver. At this time, the vehicle is in an operating state waiting for the driver to drive or is ready to enter the vehicle's driverless driving mode from the vehicle's driver driving mode after the driver's driving mode conditions are met.
[0064] S2, start the vehicle fault self-check process and feedback the fault self-check information;
[0065] It should be noted that the above-mentioned vehicle fault self-check can be pre-set or can be real-time automatic. For example, the vehicle fault self-check condition is not limited to including: at least one of the pre-set vehicle state conditions that meet or do not meet the pre-set periodic conditions of a certain length of time. For example, starting the vehicle fault self-check process includes starting the fault detection and state detection of the vehicle battery, motor, and motor control system. When the above-mentioned vehicle battery, motor, and motor control system are detected to be fault-free and are currently in a normal working state, the vehicle fault self-check system sends feedback information that the first vehicle controller (VCU) is fault-free and the operating state is normal. Similarly, the vehicle fault self-check process also includes whether the braking system and the steering system have faults, and whether they are in a running state and a normal working state. When the above-mentioned braking system and steering system are detected to be fault-free and in a normal working state, the vehicle fault self-check system sends feedback information that the braking system and the steering system are fault-free and the operating state is normal. In addition, the vehicle fault self-check process also includes whether the intelligent driving controller (ADAS) is faulty and whether it is in a control-enabled state of normal operation. The vehicle fault self-check system feeds back fault detection information based on the detection status, such as whether the intelligent driving controller (ADAS) is offline or seriously damaged. In addition, the vehicle fault self-check system also needs to detect whether the intelligent driving controller (ADAS) is in the state of entering the wire-controlled switch trigger state, and based on whether the intelligent driving controller (ADAS) is in the state of entering the wire-controlled switch trigger state, feedback the current wire-controlled switch trigger state of the intelligent driving controller (ADAS). In addition to detecting the above-mentioned vehicle status, the vehicle fault self-check also detects whether it is triggered, whether the vehicle is in the default driver driving mode after power-on, and can also self-check and identify the driver's driving operation status. For example, when the vehicle driving mode is in the unmanned driving mode, when the driver operates at least any one of the accelerator pedal, brake pedal, and gear switch, the driver's intervention operation is detected, and the vehicle fault self-check can also detect whether the emergency stop switch is in the trigger state, and feedback the corresponding detection result information based on the self-check process. It should be noted that the vehicle fault self-check can be based on the vehicle startup; it can also automatically perform self-check when the vehicle state changes before the gear shift condition determination is required, and can only perform self-check on vehicle components corresponding to the changing parameters of the vehicle state; it can also preset the self-check time to perform self-check on vehicle faults and states within a predetermined period of time, and autonomously and automatically perform self-check on faults and states before the gear shift condition determination is required or when the vehicle state changes, and feedback the self-check results to the corresponding equipment to further improve the real-time performance of the vehicle driving mode switching control.
[0066] S3, when the vehicle meets the preset target driving mode conditions, switching the current driving mode to the target driving mode; wherein the target driving mode includes an unmanned driving mode and a driver driving mode.
[0067] It should be noted that the preset target driving mode conditions include unmanned driving mode conditions and driver driving mode conditions. In the detection result information fed back by the vehicle fault self-check process, if the vehicle motor, battery and motor control system are all fault-free and in normal operation, and the current driver continues to have no operation within a preset time, the first vehicle controller (VCU) issues a line control permission flag based on the detection result information fed back by the vehicle fault self-check process and the above-mentioned normal state of the vehicle. Similarly, if the braking system and steering system are all fault-free and in normal operation, and the current driver continues to have no operation within a preset time, the braking controller (EHB) issues a line control permission flag based on the detection result information fed back by the vehicle fault self-check process and the above-mentioned normal state of the vehicle; the steering controller (EPS) issues a line control permission flag based on the detection result information fed back by the vehicle fault self-check process and the above-mentioned normal state of the vehicle. When the fault self-check of the intelligent driving controller (ADAS) is fault-free, based on the detection result information fed back by the vehicle fault self-check process and the normal state of the above-mentioned vehicle, and when the intelligent driving controller (ADAS) is in the enabled state or enters the wire control switch trigger state, the intelligent driving controller (ADAS) issues a wire control switch trigger instruction. At this time, when the first vehicle controller (VCU), the brake controller (EHB), and the steering controller (EPS) all issue a wire control flag and the intelligent driving controller (ADAS) is in the enabled state (or enters the wire control switch trigger state), the vehicle driving conditions meet the unmanned driving mode conditions, and the vehicle driving mode can be switched to the unmanned driving mode.
[0068] After the vehicle is started, after the whole vehicle is powered on and initialized, if the driver does not select the driving mode, and the current driver has no operation within the preset time, the first condition of the driver's driving mode is met by default, and the driving mode enters the driver mode by default. If after the vehicle is started, the driver selects the unmanned driving mode to drive, or when the vehicle is currently in the unmanned driving mode, the driver operates the accelerator pedal, brake pedal, and gear switch in the unmanned driving mode, under the driver's operation and intervention, the current vehicle driving state meets the second condition of the driver's driving mode. At this time, the driving mode enters the driver mode through the switching control operation from the unmanned driving mode. If the intelligent driving controller performs a fault self-check, the intelligent driving controller fails or the intelligent driving controller fails in the offline state, the current vehicle driving state meets the third condition of the driver's driving mode. At this time, the driving mode directly enters the driver's driving mode, or the unmanned driving mode enters the driver's driving mode through the switching control operation. If the emergency stop switch is triggered, the current vehicle driving state meets the fourth condition of the driver's driving mode. At this time, the driving mode directly enters the driver's driving mode, or the unmanned driving mode enters the driver's driving mode through the switching control operation. In addition, the operation and intervention of the driver include but are not limited to: the driver operates the accelerator pedal, brake pedal, gear switch, operates the steering wheel, triggers the emergency stop switch, and triggers the wire control switch. For example, when the driver intervenes in one of the accelerator pedal, brake pedal or gear switch, the unmanned driving mode is exited and the driver mode is entered, wherein, when the accelerator pedal and brake pedal are manually intervened, the unmanned driving mode is exited, but the gear remains unchanged, that is, the gear state of the current state remains unchanged after exiting the unmanned driving mode; when the driver intervenes in the gear switch, the unmanned driving mode is exited, and the operated gear corresponds to the gear entered for intervention (such as N / R / D gear), such as switching the gear arbitrarily in D / R gear to enter N gear; when in N gear, turn the gear switch left to enter R gear, and turn right to enter D gear.
[0069] Optionally, the power-on initialization; waking up the vehicle to switch the controlled driving mode; and entering the target driving mode include:
[0070] The vehicle is powered on and initialized to trigger the wake-up state, and enters the driving mode selection operation; based on the selection result, it enters the selected target driving mode.
[0071] It should be noted that the entire vehicle needs to be powered on before starting. The power-on operation can start the control service for switching the vehicle's driving mode. The control service for switching the vehicle's driving mode can control the vehicle to enter the awake state from the sleep state.
[0072] When the vehicle is in the wake-up state, the driver can make an autonomous choice of driving mode. For example, the driver enters the driver driving state by autonomously selecting the corresponding driver driving mode; or the driver enters the unmanned driving state by autonomously selecting the corresponding unmanned driving mode. In addition, if the driver autonomously selects the unmanned driving mode to enter the unmanned driving state, the vehicle can enter the vehicle wake-up state after a preset length of unmanned driving mode; or the driver can enter the driver driving mode through manual operation and intervention by the driver. If the driver autonomously selects the driver driving mode to enter the driver driving state, the vehicle can enter the vehicle wake-up state after a preset length of unmanned driving mode; generally, in the driver driving mode, the driver is usually required to switch the vehicle driving mode to the wake-up state, and then perform the vehicle fault self-check process in the wake-up state and the vehicle's current state meets the unmanned driving mode conditions before entering the unmanned driving mode from the driver driving state.
[0073] Optionally, entering the selected target driving mode based on the selection result includes:
[0074] If the selection result is the unmanned driving mode, and the unmanned driving mode conditions are met, the selected unmanned driving mode is entered;
[0075] If the selection result is the driver driving mode and the driver driving mode conditions are met, enter the selected driver driving mode.
[0076] It should be noted that after the vehicle enters the awake state from the dormant state, if the driver voluntarily selects the driver driving mode, the vehicle can directly switch the awake state of the vehicle to the driver driving mode through the vehicle driving mode switching control function. Alternatively, if the driver voluntarily selects the unmanned driving mode, the vehicle can directly switch the awake state of the vehicle to the unmanned driving mode through the vehicle driving mode switching control function.
[0077] As another implementation method, if the driver autonomously selects the unmanned driving mode and enters the unmanned driving state, the selected unmanned driving mode can be entered through the vehicle driving mode switching control function when the current vehicle driving state is normal and meets the unmanned driving mode conditions.
[0078] If the driver independently selects the driver driving mode and enters the driver driving state, the selected driver driving mode can be entered through the vehicle driving mode switching control function when the current vehicle driving state is normal and meets the driver driving mode conditions.
[0079] It is particularly important to note that when the driver is driving, if a sudden abnormal situation occurs between the driver and the moving vehicle, resulting in the driver being unable to quickly control the vehicle, the vehicle in the current driver's driving state can also press the wire control switch for a preset long period of time or trigger the wire control switch multiple times. When the vehicle self-checks and there is no fault and the vehicle's current driving state is normal, the current driver's driving mode can be quickly switched to the unmanned driving mode, and the vehicle's driving gear can be kept unchanged during the mode switching process.
[0080] Optionally, the conditions for satisfying the unmanned driving mode include:
[0081] When the first vehicle control unit (VCU), brake controller (EHB), and steering controller (EPS) all send out a wire control permission flag, and the intelligent driving controller (ADAS) sends out a wire control permission enable or a wire control switch is triggered, the conditions for entering the unmanned driving mode are met.
[0082] It should be noted that when the first vehicle controller (VCU), brake controller (EHB), and steering controller (EPS) have no faults in the fault self-check and are in normal operation, the first vehicle controller (VCU) generates a line control permission flag based on the fault self-check result information fed back by the fault self-check system, and sends the line control permission flag of the first vehicle controller through the first vehicle controller (VCU). The brake controller (EHB) generates a line control permission flag based on the fault self-check result information fed back by the fault self-check system, and sends the line control permission flag of the brake controller through the brake controller (EHB). The steering controller (EPS) generates a line control permission flag based on the fault self-check result information fed back by the fault self-check system, and sends the line control permission flag of the steering controller through the steering controller (EPS).
[0083] In addition, when the intelligent driving controller (ADAS) is in a state where entry into the wire control enable is allowed based on the fault self-check result information fed back by the fault self-check system and the intelligent driving controller (ADAS), an entry into the wire control enable is generated, and the intelligent driving controller (ADAS) issues an intelligent driving controller entry into the wire control enable instruction; or when the intelligent driving controller (ADAS) is in a state where the wire control switch is triggered based on the fault self-check result information fed back by the fault self-check system and the intelligent driving controller (ADAS) is in a wire control switch trigger state, an entry into the wire control switch trigger instruction is generated, and the intelligent driving controller (ADAS) issues an intelligent driving controller entry into the wire control switch trigger.
[0084] When the line control flag of the first vehicle controller, the line control flag of the brake controller, the line control flag of the steering controller, and the line control enable instruction of the intelligent driving controller are all generated, the current state of the vehicle meets the first condition of the unmanned driving mode and can enter the unmanned driving state. Or when the line control flag of the first vehicle controller, the line control flag of the brake controller, the line control flag of the steering controller, and the line control switch trigger of the intelligent driving controller are all generated, the current state of the vehicle meets the second condition of the unmanned driving mode and can enter the unmanned driving state. For example, when the first vehicle controller (VCU), braking system (EHB), and steering system (EPS) all fail in self-test, are in normal operating status, and there is no manual or driver operation, the three controllers, namely the first vehicle controller (VCU), braking system (EHB), and steering system (EPS), immediately issue a corresponding "allow entry into wire control flag". When receiving an entry wire control enable instruction from the intelligent driving controller (ADAS), the three controllers, namely the first vehicle controller (VCU), braking system (EHB), and steering system (EPS), immediately respond and enter the unmanned driving mode, shortening the delay time when the vehicle driving mode switches to control the driving mode, so that the driver's driving mode can be quickly switched to the unmanned driving mode.
[0085] Optionally, the first vehicle controller (VCU) sending a line control permission flag includes:
[0086] The vehicle motor, battery and motor control system are detected to be fault-free and in normal status. When the current driver does not operate, the first vehicle controller (VCU) sends a line control permission flag.
[0087] It should be noted that the control process of the vehicle driving mode switching in which the first vehicle controller (VCU) sends a line control permission flag includes: the vehicle motor, battery and motor control system are detected to be fault-free and the operating status of the above-mentioned vehicle motor, battery and motor control system are all normal, and when the current driver has no operation, after the current driver has no operation for a preset period of time, the first vehicle controller (VCU) sends a first vehicle controller line control permission flag.
[0088] Optionally, the brake controller (EHB) sends a line control permission flag including:
[0089] The vehicle braking system is detected to be fault-free and in normal condition. When the current driver does not operate, the brake controller (EHB) sends a line control flag to allow.
[0090] It should be noted that the control process of the vehicle driving mode switching when the brake controller (EHB) sends a line control flag to allow includes: when the brake controller (EHB) detects that there is no fault and the operating status is normal, and the current driver has no operation, after the current driver has no operation for a preset period of time, the brake controller (EHB) sends a brake controller (EHB) line control flag to allow.
[0091] Optionally, the steering controller (EPS) sends a line control permission flag including:
[0092] The vehicle steering system is detected to be fault-free and in normal condition. When the current driver does not operate, the steering controller (EPS) sends a line control permission flag.
[0093] It should be noted that the control process of vehicle driving mode switching when the steering controller (EPS) sends a flag allowing wire control includes: when the steering controller (EPS) detects that there is no fault and the operating status is normal, and the current driver has no operation, after the current driver has no operation for a preset period of time, the steering controller (EPS) sends a flag allowing wire control of the steering controller (EPS).
[0094] Optionally, before the intelligent driving controller (ADAS) issues the permission to enter the wire control enable, the intelligent driving controller (ADAS) also includes self-checking and finding that there is no fault and it is in a normal state.
[0095] It should be noted that the control process of the intelligent driving controller (ADAS) issuing a permission to switch the vehicle driving mode to the wire control mode includes: when the intelligent driving controller (ADAS) self-detects that there is no fault and the operating status is normal, after the current driver has no operation for a preset period of time, the intelligent driving controller (ADAS) issues a permission to enter the wire control mode.
[0096] As an optional implementation, the control process of the vehicle driving mode switching in which the intelligent driving controller (ADAS) issues a trigger instruction for allowing entry into the wire-controlled switch includes: when the intelligent driving controller (ADAS) self-detects that there is no fault and the operating status is normal, after the current driver has been inactive for a preset period of time, the intelligent driving controller (ADAS) issues a trigger instruction for allowing entry into the wire-controlled switch.
[0097] Optionally, the condition of satisfying the driver's driving mode includes:
[0098] When the first condition of the driver driving mode is met, the vehicle directly enters the driver driving mode after being powered on; or
[0099] When the second condition of the driver driving mode is met, when the driver operates the accelerator pedal, brake pedal, or gear switch in the unmanned driving mode, the driver driving mode is entered under the intervention of the driver; or
[0100] When the third condition of the driver driving mode is met, if the intelligent driving controller fails, the driverless driving mode is automatically exited and the driver driving mode is entered; or
[0101] When the fourth condition of the driver driving mode is met, when the emergency stop switch or the wire control button is triggered, the unmanned driving mode is automatically exited and the driver driving mode is entered.
[0102] It should be noted that after the vehicle is powered on, when the vehicle enters the awakening state from the dormant state, the driver can directly meet the first condition of the driver driving mode by autonomously selecting a driving mode such as the driver driving mode. At this time, the driver can directly enter the driver driving mode through the driving mode function of the vehicle driving mode switching control to control and drive the vehicle. If the current vehicle is in the unmanned driving mode, in the unmanned driving mode, the driver can step on the accelerator pedal or release it after stepping on it, step on the brake pedal or release it after stepping on it, and shift the gear switch or hold the gear handle but do not shift gears. Under the above-mentioned operation intervention of the driver, the second condition of the driver driving mode is met, and the vehicle enters the driver driving mode from the unmanned driving mode through the driving mode switching control function. If the current vehicle is in the unmanned driving mode, when the intelligent driving controller self-checks and finds a fault, the unmanned driving mode is directly exited through the driving mode switching control function. At this time, the third condition of the driver driving mode is met, and the driving mode is directly switched by the driving mode switching control function to enter the driver driving mode. If the current vehicle is in unmanned driving mode, when the driver triggers the emergency stop switch or the wire control button, the fourth condition of the driver's driving mode is met. At this time, the driving mode is automatically controlled through the driving mode switching control function to exit the unmanned driving mode, and the driver driving mode is entered through the switching control function.
[0103] Optionally, also include:
[0104] In the unmanned driving mode, the driver intervenes with the accelerator pedal and the brake pedal to exit the unmanned driving mode, and the vehicle gear position remains unchanged after exiting the unmanned driving mode.
[0105] It should be noted that, in the unmanned driving mode, when the driver exits the unmanned driving mode by intervening the accelerator pedal and / or the brake pedal, the throttle state of the vehicle is in the driver-controlled throttle state and / or the brake pedal state is in the driver-controlled braking state. At this time, when the driving mode switching control function exits the unmanned driving mode, the driving mode switching control function maintains the current driver-intervened throttle state and / or brake pedal state, as well as the current gear state of the vehicle, and when entering the driver driving mode, the throttle state, brake pedal state and current gear state of the vehicle are continuously maintained until the driver driving state; or when the driving mode switching control function exits the unmanned driving mode, the driving mode switching control function makes the current driver-intervened throttle state be the no-throttle state, the brake pedal state be the unbraked state, and the current gear state of the vehicle be continuously maintained, and when entering the driver driving mode, the throttle state, brake pedal state and current gear state of the vehicle are continuously maintained until the driver driving state.
[0106] Optionally, it also includes: in the unmanned driving mode, the driver intervenes in the gear switch to exit the unmanned driving mode, and the vehicle gear position after exiting the unmanned driving mode is the vehicle gear position corresponding to the intervention operation.
[0107] It should be noted that in the unmanned driving mode, the driver intervenes with the gear switch to exit the unmanned driving mode, and the vehicle gear position after exiting the unmanned driving mode is the original vehicle state gear position (that is, the driver touches the vehicle gear position through body parts, etc., so that the vehicle gear control system senses the touch on the above vehicle gear position, but the current gear position has not changed). At this time, the corresponding vehicle gear position after the intervention operation is the gear position of the original vehicle state. In addition, in the unmanned driving mode, the driver intervenes with the gear switch, such as performing a gear shift operation, and controls the driving mode to exit the unmanned driving mode through the driving mode switching control function. Before or when exiting the unmanned driving mode, the vehicle gear position changes, and after exiting the unmanned driving mode, the vehicle enters the driver mode. At this time, the current vehicle gear position in the driver mode continues to maintain the vehicle gear position corresponding to the driver's gear shift operation. For example, when the driver manually intervenes with the accelerator pedal and / or the brake pedal, the driving mode switching control function controls the driving mode to exit the unmanned driving mode, but the gear position of the current vehicle remains unchanged at the gear state when the driver manually intervenes with the accelerator pedal and / or the brake pedal; in addition, when the driver manually intervenes with the gear switch, the driving mode switching control function controls the driving mode to exit the unmanned driving mode, and when entering the driver driving mode, the gear position of the current vehicle corresponds to the vehicle state gear position (N / R / D) when the driver manually intervenes. For example, when entering the N gear, and any gear switch when entering the D / R gear. Specifically, when the gear switch is in N gear, turning the gear switch left enters R gear, and when the gear is in N gear, turning the gear switch right enters D gear. The present invention exits the unmanned driving mode and enters the driver mode when the driver intervenes with the accelerator pedal and / or the brake pedal or the gear switch; wherein, when the accelerator pedal and / or the brake pedal is intervened manually, the unmanned driving mode is exited, but the gear position still maintains the current gear state unchanged; when the gear switch is intervened manually, the unmanned driving mode is exited, and the gear position corresponds to the gear position (N / R / D) entering the intervention, so that when the driving mode switching control function switches the gear, the gear state can still be maintained unchanged, thereby improving the safety and experience of the driving mode switching control.
[0108] Optionally, the method further includes: in a driver driving mode, based on the driver's intervention operation, a first vehicle controller (VCU) analyzes the driver's intention, and manages the vehicle gear and driving torque based on the driver's intention;
[0109] In unmanned driving mode, the torque is driven by wire control based on the intelligent driving controller and the second vehicle controller (VCU2.0).
[0110] It should be noted that in the driver driving mode, the first vehicle controller (VCU) determines the driver's driving intention by collecting signals from the accelerator pedal, gear position, brake pedal and steering controller; at the same time, it monitors the vehicle status (such as vehicle speed, vehicle battery temperature, etc.) information, and after judgment and processing by the first vehicle controller (VCU), it sends the vehicle's operating status control instructions to the vehicle's power system and power battery system, and controls the vehicle's power system, such as cruise control, adaptive cruise control (ACC), automatic braking (AEB) and other new forms of driver driving intention. The first vehicle controller (VCU) analyzes the driver's driving intention (such as acceleration, deceleration, reversing, steering, etc.) by real-time monitoring of the changes in parameters such as current and voltage of the accelerator pedal, brake pedal, steering wheel and gear position, as well as the current vehicle speed, slip rate and other driving parameters, combined with the opening degree and opening change rate of the accelerator pedal. When the driver quickly steps on the accelerator pedal and / or quickly releases the brake pedal, the vehicle speed and slip ratio both increase. At this time, the first vehicle controller (VCU) analyzes the driver's driving intention of accelerating based on the above monitoring parameter values combined with the opening amplitude of the accelerator pedal, the direction and speed of the opening change. At this time, the first vehicle controller (VCU) manages the gear of the current state of the vehicle based on the current vehicle speed, and calculates the driving torque of the motor and the output power of the battery based on the current gear state, the opening of the accelerator pedal and the opening change rate.
[0111] In the unmanned driving mode, the intelligent driving controller (ADAS) and the second vehicle controller (VCU2.0) drive the torque in a wire control manner. For example, during acceleration, the intelligent driving controller (ADAS) sends the driving acceleration value to the ESP torque demand arbitration module through the "driving target analysis" module. After passing the safety verification mechanism, the torque value is output to the torque target analysis module in the second vehicle controller (VCU2.0), and the actual vehicle motor executable torque is generated after the torque is analyzed. The torque is simultaneously input to the safety verification module of the brake controller (EHB), and the brake controller (EHB) receives the safety verification signal through the electro-hydraulic distribution module, adjusts the actual hydraulic pressure to execute the torque value, and outputs the corresponding hydraulic pressure value to the electro-hydraulic distribution module through the "torque to hydraulic pressure" module. During deceleration, the ADAS system sends the corresponding deceleration value to the ESP torque demand arbitration module through the "brake target analysis" module. The module simultaneously receives the sliding torque and brake target analysis values from the second vehicle controller (VCU2.0), and outputs the corresponding original analysis torque value to the electro-hydraulic distribution module to generate the hydraulic execution torque and output it to the torque to hydraulic pressure module, and finally generates the target hydraulic pressure. During the above acceleration and deceleration process, the hydraulic pressure limit module feeds back the hydraulic execution capacity to the electro-hydraulic distribution module. At the same time, the electric system capacity limit module in the second vehicle controller (VCU2.0) feeds back the electric system recovery capacity to the ESP electro-hydraulic distribution module. After the calculation and verification of the electro-hydraulic torque, the executable electric recovery torque is output and sent to the VCU torque target analysis module. In the unmanned driving mode, the ADAS system converts the (torque Fx+acceleration Ax) interface to the pure acceleration Ax interface control mode through the ADAS system signal interface. Through the electro-hydraulic distribution and safety control mechanism in the ADAS control stage, a smooth transition can be achieved between the acceleration, reverse drag and braking conditions, and the implementation complexity is small.
[0112] In one embodiment of the present application, Figure 2As shown, during the whole vehicle power-on operation, the control system for switching the vehicle driving mode is initialized by powering on. At this time, the controller can be self-checked and the current vehicle status can be analyzed and judged, that is, whether the current vehicle is faulty. The operation of the controller self-checking without fault is not limited to the fault self-checking of the first vehicle controller (VCU), the second vehicle controller (VCU2.0), the intelligent driving controller (ADAS), the brake controller (EHB) and the steering controller (EPS), and the detection result information is fed back to the above controllers respectively. Under the condition that the above controller self-checks without fault and the operating state is normal, the vehicle enters the driving mode selection, and the driver mode is entered by default at this time, and the vehicle driving stage is entered in the driver driving mode. If it is necessary to switch to the unmanned driving mode in the driver mode stage, on the one hand, the driver mode can be adjusted to the vehicle wake-up state, and the wake-up state can be directly switched to the unmanned driving stage after the unmanned driving conditions are met. On the other hand, the driver can also directly enter the unmanned driving stage in the driver mode stage. When the conditions for entering the unmanned driving mode are met, it is allowed to enter the wire control enable and the intelligent driving controller wire control enable allows entering the wire control enable state. If the conditions for allowing entry into the wire control enablement are met, including self-checking the first vehicle control unit (VCU), brake controller (EHB) and steering controller (EPS) to be fault-free and operating in a normal state, the first vehicle control unit (VCU), brake controller (EHB) and steering controller (EPS) will issue their corresponding enablement flags respectively, and the intelligent driving controller wire control is allowed to enter the wire control enablement state. When the wire control enablement state operates normally, the driver mode can be switched to the unmanned driving mode through the vehicle driving mode switching control function. At this time, the vehicle driving is changed from being controlled by the driver to being controlled by the unmanned driving mode. If the driver wants, needs and / or automatically exits the unmanned driving mode, when the conditions for exiting the unmanned driving mode are met, the unmanned driving mode of the vehicle driving stage is switched to the driver mode through the vehicle driving mode switching control function. The conditions for exiting the unmanned driving mode include but are not limited to: (1) failure of the intelligent driving controller (ADAS), (2) serious failure of the first vehicle controller (VCU), (3) manual intervention, (4) emergency brake switch triggering, and (5) at least one of the entry / exit wire control button triggering conditions.
[0113] In one embodiment of the present application, Figure 3As shown, when the vehicle is in the unmanned driving mode during the driving stage, if the controller fails during the driving process of the vehicle, such as but not limited to: intelligent driving controller failure, poor contact, disconnection, etc., or the controller VCU has a serious fault such as abnormal driving, the vehicle stage is switched from the unmanned driving mode to the driver mode through the vehicle driving mode switching control function, wherein the controller VCU includes a first vehicle controller (VCU) and a second vehicle controller (VCU2.0), that is, when one of the first vehicle controller (VCU) and the second vehicle controller (VCU2.0) has a serious fault, the controller fails, and the driving stage is automatically switched from the unmanned driving mode to the driver mode. In addition, when the driver intervenes in the unmanned driving mode, the driving stage is automatically switched from the unmanned driving mode to the driver mode. For example, the above-mentioned driver intervention in the unmanned driving mode includes: manual intervention in the accelerator pedal, manual intervention in the brake pedal, manual intervention in the gear switch, and manual intervention in the steering wheel. In the present invention, the unmanned driving mode can be automatically switched to the driver mode during the driving stage by triggering the emergency brake switch. In addition, the unmanned driving mode can be automatically switched to the driver mode during the driving stage by entering or exiting the wire control switch button switch. The above-mentioned automatic switching of the unmanned driving mode to the driver mode during the driving stage can refer to the corresponding content of the control method for switching the vehicle driving mode, which will not be repeated here.
[0114] In one embodiment of the present application, Figure 4As shown, the second vehicle controller (VCU2.0) included in the vehicle controller is respectively connected to the intelligent driving controller (ADAS), the first vehicle controller (VCU), the brake controller (EHB) and the steering controller (EPS) through the CAN signal bus. In addition, the second vehicle controller (VCU2.0) is also connected to the wire switch that controls entry or exit through a hard-wired signal line, and is connected to the emergency stop switch. The emergency stop switch is also connected and interacts with the brake controller (EHB) through a hard-wired signal line. The second vehicle controller (VCU2.0) is electrically connected to the wire switch and the unmanned driving mode module through a hard-wired signal line, and the wire switch connected to the second vehicle controller (VCU2.0) is pressed. When the three-electric system of the vehicle motor, battery and motor control system is in normal and fault-free state, and there is no driver operation, the vehicle controller (VCU2.0) issues a line control flag; when the braking system is in normal and fault-free state, and there is no driver operation, the brake controller (EHB) issues a line control flag; when the steering system (EPS) is in normal and fault-free state, and there is no driver operation, the steering controller (EPS) issues a line control flag; and when the conditions of the intelligent driving controller (ADAS) being in the enabling state (or entering the line control switch trigger) are met at the same time, the driving mode switches to the unmanned driving mode, and the unmanned driving mode takes over the vehicle and automatically controls the vehicle to operate in the unmanned driving mode. For example, the second vehicle controller (VCU2.0) is also connected to the first vehicle controller (VCU) that controls the enable control flag, and is used to send an enable control flag to the first vehicle controller (VCU) when the second vehicle controller (VCU2.0) obtains the corresponding signal on the CAN signal bus, and the first vehicle controller (VCU) allows the current vehicle to enter the enable control state based on the enable flag. When the vehicle controller (VCU2.0) issues a flag to allow entry into the wire control position: the three electrical states of the vehicle motor, battery and motor control system are normal and without fault, and there is currently no driver operating the accelerator pedal, brake pedal, or gear switch, the vehicle controller (VCU2.0) immediately issues a flag to allow entry into the wire control position; when the steering system (EPS) issues a flag to allow entry into the wire control position, if the steering system is normal and without fault, and there is no driver operating the steering wheel, the steering controller (EPS) immediately issues a flag to allow wire control; when the braking system (EHB) issues a flag to allow entry into the wire control position, if the braking system is normal and without fault, and there is no driver operating the steering wheel, the steering controller (EPS) immediately issues a flag to allow wire control; when the intelligent driving controller (ADAS) issues a flag to enable intelligent driving, if the intelligent driving controller self-checks normally and without fault, the wire control is enabled. The current vehicle switches from driver mode to unmanned driving mode.
[0115] When the driver intervenes with the accelerator pedal, brake pedal or gear switch, the driver mode is exited and the driver mode is entered. If the driver manually intervenes with the accelerator pedal or brake pedal, the driver mode is exited, but the current gear remains unchanged; when the gear switch is manually intervened, the driver mode is exited, such as the relevant gear corresponding to the gear to be intervened (N / R / D), such as when the gear is D / R, the gear is switched arbitrarily to enter the N gear; when the gear is N, turn the gear switch left to enter the R gear, and when it is right, it enters the D gear. When the relevant intervention operation is performed at this time, the RGB indicator light corresponding to the operation is turned on and off accordingly. When the emergency switch is touched, the buzzer will sound an emergency alarm to remind the driver to take over the unmanned driving mode in time, and at the same time, the warning lights inside and outside the vehicle will flash to alert the driver and other vehicles and pedestrians around the vehicle. For the specific control process of the above control system 100, please refer to the relevant content of the control method for switching the vehicle driving mode, which will not be repeated here.
[0116] The present invention also provides a control system for switching a vehicle driving mode, such as Figure 5 As shown, the control system 100 includes:
[0117] The initialization unit 110 is used for power-on initialization; waking up the driving mode of the vehicle switching control; and entering the target driving mode;
[0118] If the selection result is the unmanned driving mode, and the unmanned driving mode conditions are met, the selected unmanned driving mode is entered;
[0119] If the selection result is the driver driving mode, and the driver driving mode conditions are met, the selected driver driving mode is entered;
[0120] The control unit 120 is used to start the vehicle fault self-checking process and feedback the fault self-checking information;
[0121] The driving mode switching unit 130 is used to switch to the unmanned driving mode when the line control permission flag is obtained; and to switch to the driver driving mode when the driver driving mode condition is triggered.
[0122] It should be noted that the method flow executed by the initialization unit 110, the control unit 120 and the driving mode switching unit 130 included in the vehicle driving mode switching control system 100 during operation can be found in the corresponding method part mentioned above and will not be repeated here.
[0123] Optionally, the initialization unit includes:
[0124] The driving mode selection module is used to select the vehicle driving mode in the awake state.
[0125] It should be noted that the driving mode selection module can use a physical switch to set the unmanned driving mode and the driver driving mode included in the target driving mode to the corresponding specific switch state. It is also possible to set an executable code and a corresponding icon on the corresponding touch screen, and the driver touches the corresponding unmanned driving mode icon to select the unmanned driving mode in the awake state. Or the driver touches the corresponding driver driving mode icon to select the driver driving mode in the awake state. The method flow executed by the above method at runtime can be found in the corresponding method part mentioned above, which will not be repeated here.
[0126] Optionally, the driving mode switching unit includes:
[0127] The driving mode condition determination module is used to determine whether the current vehicle meets the target driving mode condition for switching from the current driving mode to the target driving mode.
[0128] It should be noted that when switching from the unmanned driving mode to the driver driving mode, the driving mode switching unit needs to obtain the current driving mode state and the target driving mode state before controlling the driving mode switching. The above driving mode state is determined by the driving mode condition determination module. When the vehicle meets the target driving mode state condition, the driving mode switching unit controls the execution of the vehicle driving mode switching to the target driving mode, wherein the target driving mode includes the unmanned driving mode and the driver driving mode.
[0129] The present invention also provides a vehicle, which includes the control system for switching the vehicle driving mode as described above.
[0130] It should be noted that, for the description of the control system 100 for switching the vehicle driving mode included in the above-mentioned vehicle, please refer to the description of the control method for switching the vehicle driving mode, which will not be repeated here.
[0131] The present invention also provides an electronic device for controlling vehicle driving mode switching, such as Figure 6 As shown, the electronic device 300 includes:
[0132] Memory 310 for storing non-transitory computer-readable instructions 330; and
[0133] The processor 320 is used to run the computer-readable instructions 330, so that when the computer-readable instructions 330 are executed by the processor 310, the above-mentioned vehicle driving mode switching control method is implemented.
[0134] The present invention also provides a computer-readable storage medium, which includes computer instructions. When the computer instructions are executed on a device, the device executes the above-mentioned vehicle driving mode switching control method.
[0135] It should be noted that any process or method description in the flowchart or otherwise described herein may be understood to represent a module, fragment or portion of a code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and that the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.
[0136] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.
[0137] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.
[0138] A person of ordinary skill in the art may understand that all or part of the steps included in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one of the steps of the method embodiment or a combination thereof.
[0139] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be partially implemented in the form of hardware, or may be implemented in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.
[0140] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.
[0141] The above are only preferred embodiments of the present invention, and are not intended to limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technician familiar with the profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.
Claims
1. A control method for switching a vehicle driving mode, It is characterized in that include: Power on initialization; Wake up the vehicle to switch the driving mode of the control; Enter Target Driving Mode; The vehicle is powered on and initialized to trigger the wake-up state, and enter the driving mode selection operation; Entering the selected target driving mode based on the selection result; If the selection result is the unmanned driving mode, and the unmanned driving mode conditions are met, the selected unmanned driving mode is entered; If the selection result is the driver driving mode, and the driver driving mode conditions are met, enter the selected driver driving mode; Start the vehicle fault self-check process and feedback the fault self-check information; When the vehicle meets the preset target driving mode conditions, switching the current driving mode to the target driving mode; Among them, the target driving mode includes unmanned driving mode and driver driving mode.
2. The control method according to claim 1, It is characterized in that The conditions for satisfying the unmanned driving mode include: When the first vehicle controller, brake controller, and steering controller all send out a line control permission flag, and the intelligent driving controller sends out a line control permission enable or a line control switch trigger, the conditions for entering the unmanned driving mode are met.
3. The control method according to claim 2, It is characterized in that The first vehicle controller sending a line control permission flag includes: The vehicle motor, battery and motor control system are detected to be fault-free and in normal condition. When the current driver does not operate, the first vehicle controller sends a line control permission flag.
4. The control method according to claim 2, It is characterized in that The brake controller sending a line control permission flag includes: The vehicle braking system is detected to be fault-free and in normal condition. When the current driver does not operate, the brake controller sends a line control permission flag.
5. The control method according to claim 2, It is characterized in that The steering controller sending a line control permission flag includes: The vehicle steering system is detected to be fault-free and in normal condition. When the current driver does not operate, the steering controller sends a line control permission flag.
6. The control method according to claim 2, It is characterized in that Before the intelligent driving controller issues the permission to enter the wire control enable, the intelligent driving controller also includes self-checking that there is no fault and it is in a normal state.
7. The control method according to claim 1, It is characterized in that The conditions for satisfying the driver's driving mode include: When the first condition of the driver driving mode is met, the vehicle directly enters the driver driving mode after being powered on; or When the second condition of the driver driving mode is met, when the driver operates the accelerator pedal, brake pedal, or gear switch in the unmanned driving mode, the driver driving mode is entered under the intervention of the driver; or When the third condition of the driver driving mode is met, if the intelligent driving controller fails, the driverless driving mode is automatically exited and the driver driving mode is entered; or When the fourth condition of the driver driving mode is met, when the emergency stop switch or the wire control button is triggered, the unmanned driving mode is automatically exited and the driver driving mode is entered.
8. The control method according to claim 7, It is characterized in that Also includes: In the unmanned driving mode, the driver intervenes with the accelerator pedal and the brake pedal to exit the unmanned driving mode, and the vehicle gear position remains unchanged after exiting the unmanned driving mode.
9. The control method according to claim 7, It is characterized in that Also includes: In the unmanned driving mode, the driver intervenes with the gear switch to exit the unmanned driving mode, and the vehicle gear position after exiting the unmanned driving mode is the vehicle gear position corresponding to the intervention operation.
10. The control method according to claim 7, It is characterized in that Also includes: In the driver driving mode, based on the driver's intervention operation, the first vehicle controller analyzes the driver's intention and manages the vehicle gear and driving torque based on the driver's intention; In unmanned driving mode, the torque is driven by wire control based on the intelligent driving controller and the second vehicle controller.
11. A control system for switching vehicle driving modes, It is characterized in that include: Initialization unit, used for power-on initialization; Wake up the vehicle to switch the driving mode of the control; Enter Target Driving Mode; The vehicle is powered on and initialized to trigger the wake-up state, and enter the driving mode selection operation; Entering the selected target driving mode based on the selection result; If the selection result is the unmanned driving mode, and the unmanned driving mode conditions are met, the selected unmanned driving mode is entered; If the selection result is the driver driving mode, and the driver driving mode conditions are met, the selected driver driving mode is entered; A control unit, used to start a vehicle fault self-checking process; Feedback fault self-check information; A driving mode switching unit, used to switch to an unmanned driving mode when a flag allowing entry into the wire control is obtained; When the driver driving mode condition is triggered, switch to the driver driving mode.
12. The control method according to claim 11, It is characterized in that The initialization unit includes: The driving mode selection module is used to select the vehicle driving mode in the awake state.
13. The control method according to claim 12, It is characterized in that The driving mode switching unit includes: The driving mode condition determination module is used to determine whether the current vehicle meets the target driving mode condition for switching from the current driving mode to the target driving mode.
14. A vehicle, comprising the above-mentioned vehicle driving mode switching control system.
15. An electronic device, include: a memory for storing non-transitory computer-readable instructions; as well as A processor is used to run the computer-readable instructions so that when the computer-readable instructions are executed by the processor, the control method for switching the vehicle driving mode as described in any one of claims 1 to 10 is implemented.
16. A computer-readable storage medium, It is characterized in that It comprises computer instructions, and when the computer instructions are executed on a device, the device executes the control method for switching the vehicle driving mode as described in any one of claims 1 to 10.