Man-machine co-driving control method and device and vehicle

Abstract

The invention relates to the technical field of auxiliary driving, in particular to a man-machine co-driving control method and device and a vehicle. According to the invention, the takeover intention of the user is predicted based on the steering wheel control parameter, the corresponding intelligent driving control coefficient is obtained, and the intelligent driving control coefficient participates in generation of the target control parameter for finally controlling the vehicle steering system; the control degree of intelligent driving steering request parameters output by intelligent driving in the target control parameters conforms to the takeover intention of a user, the problem that an intelligent driving system and a driver grab a steering wheel is solved, safety, comfort and compliance are considered at the same time, intelligent torque distribution of man-machine co-driving is achieved in combination with cooperation of an upper computer and a lower computer, and the user experience is improved. And the flexibility of intelligent driving is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of assisted driving technology, and in particular, to a human-machine co-driving control method, device, and vehicle. Background Art

[0002] With the continuous development of technology, intelligent driving functions are applied to more and more vehicles. The intelligent driving function can intelligently control the vehicle steering system according to the road conditions in the vehicle driving direction, so that the vehicle travels along the lane line or a predetermined route. At present, due to safety considerations, relevant regulations do not allow the driver to disengage from the steering wheel and enable the vehicle to drive completely autonomously in the intelligent driving function. Therefore, there will be a situation where the driver and the assisted driving jointly intervene in the control of the vehicle steering system.

[0003] In order to avoid excessive confrontation between the driver and the intelligent driving function in the control of the steering system, a takeover threshold is usually set. When the driver applies a torque to the steering wheel exceeding the takeover threshold, the intelligent driving function automatically exits and switches to the manual driving mode. However, whether the takeover threshold is set reasonably will directly affect the driver's driving experience of the vehicle. If the takeover threshold is set too low, the intelligent driving function will exit too quickly in case of an emergency, and the active safety function cannot be well exerted. If the takeover threshold is set too high, it will be difficult for the driver to take over, which does not meet the driver's psychological expectations, and there will also be a sense of boundary where the steering wheel feel suddenly becomes lighter when the intelligent driving exits.

[0004] Therefore, the existing intelligent driving control of the steering system is relatively rigid and lacks flexibility. Summary of the Invention

[0005] In order to solve the above technical problems, the present disclosure provides a human-machine co-driving control method, device, and vehicle to improve the flexibility of intelligent driving.

[0006] In a first aspect, an embodiment of the present disclosure provides a human-machine co-driving control method, including:

[0007] Obtain the steering wheel control parameters of the user for the steering wheel;

[0008] Control the host computer to make a user takeover intention decision based on the steering wheel control parameters, and obtain a co-driving control coefficient corresponding to the user takeover intention, where the co-driving control coefficient is inversely proportional to the intensity of the user takeover intention;

[0009] Control the host computer to obtain a co-driving steering request parameter based on the road condition information;

[0010] Send the co-driving control coefficient and the co-driving steering request parameter to the slave computer;

[0011] The lower control unit compensates the steering wheel control parameter based on the intelligent driving control coefficient and the intelligent driving steering request parameter to obtain a target control parameter;

[0012] The lower control unit controls the vehicle steering system to perform a steering action based on the target control parameter.

[0013] In some embodiments, the steering wheel control parameter includes a hand torque, and the upper control unit makes a user takeover intention decision based on the steering wheel control parameter to obtain the intelligent driving control coefficient corresponding to the user takeover intention, including:

[0014] When the hand torque is greater than the lowest value of the preset torque range and less than the highest value of the preset torque range, normalize the hand torque based on the preset torque range to obtain an intelligent driving control coefficient; or,

[0015] When the hand torque is less than or equal to the lowest value of the preset torque range, determine the intelligent driving control coefficient as the preset maximum coefficient; or,

[0016] When the hand torque is greater than or equal to the highest value of the preset torque range, determine the intelligent driving control coefficient as the preset minimum coefficient.

[0017] In some embodiments, the steering wheel control parameter includes a steering wheel rotation speed. When the hand torque is less than or equal to the lowest value of the preset torque range, determining the intelligent driving control coefficient as the preset maximum coefficient includes:

[0018] Calculate a coefficient increasing speed based on the steering wheel rotation speed, a preset rotation speed threshold, and a preset increasing step size;

[0019] When the hand torque jumps from the preset torque range to less than or equal to the lowest value of the preset torque range, output the intelligent driving control coefficient according to the coefficient increasing speed until the intelligent driving control coefficient reaches the preset maximum coefficient or the hand torque is greater than the lowest value of the preset torque range.

[0020] In some embodiments, the steering wheel control parameter includes a steering wheel rotation speed. When the hand torque is greater than or equal to the highest value of the preset torque range, determining the intelligent driving control coefficient as the preset minimum coefficient includes:

[0021] Calculate a coefficient decreasing speed based on the steering wheel rotation speed, a preset rotation speed threshold, and a preset decreasing step size;

[0022] When the hand torque jumps from the preset torque range to greater than or equal to the highest value of the preset torque range, output the intelligent driving control coefficient according to the coefficient decreasing speed until the intelligent driving control coefficient reaches the preset minimum coefficient or the hand torque is less than the highest value of the preset torque range.

[0023] In some embodiments,

[0024] When the manual torque jumps from the preset torque range to a value greater than or equal to the highest value of the preset torque range, the control host computer is controlled to use the target control parameter at the current moment as the intelligent driving steering request parameter.

[0025] In some embodiments, the steering wheel control parameter includes manual torque, and the control slave computer compensates the steering wheel control parameter based on the intelligent driving control coefficient and the intelligent driving steering request parameter to obtain a target control parameter, including:

[0026] Calculate the product of the intelligent driving control coefficient and the intelligent driving steering request parameter to obtain an intelligent driving assistance parameter;

[0027] Calculate the sum of the intelligent driving assistance parameter and the manual torque to obtain a target control parameter.

[0028] In some embodiments, the slave computer controls the vehicle steering system to perform a steering action based on the target control parameter, including:

[0029] When the intelligent driving control coefficient is less than a preset coefficient threshold, determine an integral output contribution degree based on the intelligent driving control coefficient, and the integral output contribution degree is proportional to the intelligent driving control coefficient;

[0030] Limit the integral output of the target control parameter to the vehicle steering system according to the integral output contribution degree.

[0031] In some embodiments, the method further includes:

[0032] When the intelligent driving function accidentally exits, obtain the intelligent driving control coefficient at the moment before the accidental exit of the intelligent driving function;

[0033] Determine an intelligent driving transition speed according to the vehicle driving style mode;

[0034] Control the host computer to perform a decreasing output of the intelligent driving control coefficient at the moment before the accidental exit of the intelligent driving function based on the intelligent driving transition speed until the intelligent driving control coefficient reaches a preset minimum coefficient.

[0035] In a second aspect, an embodiment of the present disclosure provides a human-machine co-driving control device, including:

[0036] An acquisition module, configured to acquire a steering wheel control parameter of a user for a steering wheel;

[0037] A first control module, configured to control a host computer to make a user takeover intention decision based on the steering wheel control parameter, and obtain an intelligent driving control coefficient corresponding to the user takeover intention, where the intelligent driving control coefficient is inversely proportional to the intensity of the user takeover intention;

[0038] A second control module, configured to control the host computer to obtain intelligent driving steering request parameters based on road condition information;

[0039] A sending module, configured to send the intelligent driving control coefficient and the intelligent driving steering request parameters to the slave computer;

[0040] A third control module, configured to control the slave computer to compensate the steering wheel control parameters based on the intelligent driving control coefficient and the intelligent driving steering request parameters to obtain target control parameters;

[0041] A fourth control module, configured to control the vehicle steering system to perform a steering action based on the target control parameters through the slave computer.

[0042] In a third aspect, an embodiment of the present disclosure provides a vehicle, including:

[0043] A memory;

[0044] A processor;

[0045] Wherein, an executable program code is stored in the memory, and the processor is configured to call and execute the executable program code to execute the method described in the first aspect.

[0046] The human-machine co-driving control method, device and vehicle provided by the embodiments of the present disclosure predict the user takeover intention based on the steering wheel control parameters, obtain corresponding intelligent driving control coefficients, and make the intelligent driving control coefficients participate in generating the target control parameters for finally controlling the vehicle steering system, so that the control degree of the intelligent driving steering request parameters output by the intelligent driving in the target control parameters conforms to the user takeover intention, solves the problem that the intelligent driving system grabs the steering wheel with the driver, and at the same time takes into account safety, comfort and compliance, combines the master and slave computers to cooperate to realize the intelligent distribution of the torque of human-machine co-driving, and improves the flexibility of intelligent driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can be obtained according to these drawings without creative efforts.

[0049] Figure 1 It is a schematic diagram of a vehicle system architecture;

[0050] Figure 2It is a schematic diagram of human-machine co-driving;

[0051] Figure 3 It is a flowchart of the human-machine co-driving control method provided by the present disclosure embodiment;

[0052] Figure 4 It is a schematic diagram of the vehicle control system provided by the present disclosure embodiment;

[0053] Figure 5 It is a schematic diagram of the host computer algorithm provided by the present disclosure embodiment;

[0054] Figure 6 It is a schematic diagram of the slave computer algorithm provided by the present disclosure embodiment;

[0055] Figure 7 It is a schematic diagram of the structure of the human-machine co-driving control device provided by the present disclosure embodiment;

[0056] Figure 8 It is a schematic diagram of the structure of a vehicle provided by the present disclosure embodiment;

[0057] Figure 9 It is a schematic diagram of the structure of the electronic device provided by the present disclosure embodiment. Detailed implementation manners

[0058] In order to be able to more clearly understand the above-mentioned objects, features and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other.

[0059] Many specific details are set forth in the following description in order to fully understand the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present disclosure, rather than all of the embodiments.

[0060] The intelligent driving system, as the host computer, is the total device for the automotive assisted driving to achieve a series of longitudinal movements and lateral controls. It sends control commands to each component system in real time and corrects its own control commands by monitoring the operating states of each component system, so as to achieve the closed-loop control purpose of controlling the vehicle body attitude and motion conditions. Figure 1 It is a schematic diagram of a vehicle system architecture. As Figure 1 shown, the main performance component-related systems of the intelligent driving system include the steering system, the power system, and the braking system. The steering system mainly assists the intelligent driving system to control the lateral function, and the power system and the braking system mainly assist the intelligent driving system to achieve longitudinal movements. The network communication system provided by the gateway connects the two networks of lateral control and longitudinal movement.

[0061] In lateral control, due to the requirements of relevant regulations and safety considerations, it is not allowed for the driver to disengage from the steering wheel and let the vehicle drive autonomously during the assisted driving stage. This leads to the phenomenon of the driver and the intelligent driving system jointly intervening in the steering system, which involves whether the driver can smoothly take over the steering or meet the driver's psychological expectations.

[0062] Figure 2 It is a schematic diagram of human-machine co-driving. As Figure 2 shown, there are two sets of links for the human to obtain assistance by transmitting hand force to the steering gear and for the intelligent driving system to obtain assistance by transmitting control commands to the steering gear, resulting in two phenomena: in order for the driver to easily take over, the intelligent driving system sets a low fixed hand force threshold exit mechanism, and in case of an emergency, the intelligent driving system cannot fully play its active safety function, causing user complaints; when the intelligent driving system sets a high fixed hand force threshold, it is difficult for the driver to take over, which does not meet the driver's psychological expectations, and there is a phenomenon that the intelligent driving system grabs the steering wheel, and the driver's hand feeling is poor. Moreover, regardless of which of the above phenomena occurs, the steering wheel feels heavy before the intelligent driving system exits and light after the intelligent driving system exits, creating a strong sense of boundary for the driver and affecting the driving experience.

[0063] To address the above problems, the embodiments of the present disclosure provide a human-machine co-driving control method, which will be introduced below in combination with specific embodiments.

[0064] Figure 3 It is a flowchart of the human-machine co-driving control method provided by the embodiments of the present disclosure. This method can be applied to a vehicle control system as Figure 4 shown. As Figure 4 shown, the upper computer 41 obtains the steering wheel control parameters (hand force, rotation speed) of the user on the steering wheel through the in-vehicle communication network (CAN bus, gateway), and sends the corresponding decision results to the lower computer (steering controller 42), so that the steering controller controls the steering motor based on the decision results of the upper computer to make the vehicle perform a steering action.

[0065] It can be understood that the human-machine co-driving control method provided by the embodiments of the present disclosure can also be applied in other scenarios.

[0066] Next, the Figure 3 shown human-machine co-driving control method will be introduced. The specific steps included in this method are as follows:

[0067] S301. Obtain the steering wheel control parameters of the user on the steering wheel.

[0068] The steering wheel control parameters refer to the physical quantities applied by the driver to the steering wheel, such as hand torque and steering wheel rotation speed.

[0069] Optionally, obtain the driver's hand torque through the torque sensor of the steering wheel system, and collect the steering wheel rotation speed through an angle encoder or a Hall sensor.

[0070] After collecting the steering wheel control parameters, transmit them to the host computer in real time through the vehicle CAN bus.

[0071] S302. Control the host computer to make a user takeover intention decision based on the steering wheel control parameters, and obtain a driving assistance control coefficient corresponding to the user takeover intention. The driving assistance control coefficient is inversely proportional to the intensity of the user takeover intention.

[0072] As the decision-making layer of the driving assistance function, the host computer makes a user takeover intention decision and outputs a driving assistance control coefficient based on the steering wheel control parameters. Specifically, the host computer determines whether the driver has the intention to take over the steering control according to the steering wheel control parameters, and measures the intensity of the user takeover intention according to the steering wheel control parameters, and then outputs the corresponding driving assistance control coefficient.

[0073] The user takeover intention depends on the magnitude of the steering wheel control parameters. For example, the greater the hand torque, the stronger the user takeover intention; the smaller the hand torque, the weaker the user takeover intention. And / or, the higher the steering wheel rotation speed, the stronger the user takeover intention; the lower the steering wheel rotation speed, the weaker the user takeover intention.

[0074] The driving assistance control coefficient determines the influence degree of the driving assistance steering request parameters output by the driving assistance system on the steering control of the steering system finally. The higher the driving assistance control coefficient, the higher the influence degree of the driving assistance steering request parameters on the steering control of the steering system finally; correspondingly, the lower the driving assistance control coefficient, the lower the influence degree of the driving assistance steering request parameters on the steering control of the steering system finally.

[0075] Combined with the corresponding relationship between the user takeover intention and the driving assistance control coefficient, when the user takeover intention is stronger, the influence degree of the driving assistance steering request parameters on the steering control of the steering system finally is lower, and at this time, the manual steering control effect of the user is more obvious; correspondingly, the weaker the user takeover intention, the higher the influence degree of the driving assistance steering request parameters on the steering control of the steering system finally, and at this time, the steering control effect of the driving assistance system is more obvious.

[0076] Optionally, the driving assistance control coefficient is any number between 0 and 1. When the driving assistance control coefficient is 0, it means that the driving assistance control does not work and the steering is completely manually controlled by the user; when the driving assistance control coefficient is 1, it means that the steering is completely controlled by the driving assistance system.

[0077] S303. Control the host computer to obtain the driving assistance steering request parameters based on the road condition information.

[0078] The steering control parameters calculated by the host computer based on road condition information during intelligent driving steering requests are used to control the steering system to reach the target steering angle or target torque.

[0079] Road condition information of the vehicle's environment is obtained through environmental perception devices such as cameras and lidar. The host computer generates corresponding lateral control instructions based on the road condition information, such as parameters like the target steering angle, and converts them into physical quantities compatible with the lower computer, such as special control parameters like motor current and torque.

[0080] S304. Send the intelligent driving control coefficient and the intelligent driving steering request parameters to the lower computer.

[0081] The lower computer is the execution layer of the intelligent driving function and performs specific control actions according to the decision results of the host computer.

[0082] In this step, the host computer sends the intelligent driving control coefficient and the intelligent driving steering request to the steering controller as the lower computer through the vehicle communication network.

[0083] S305. Control the lower computer to compensate the steering wheel control parameters based on the intelligent driving control coefficient and the intelligent driving steering request parameters to obtain the target control parameters.

[0084] The lower computer compensates the manual torque according to the intelligent driving control coefficient and the intelligent driving steering request parameters, and generates the target control parameters finally applied to the steering motor, such as torque or current.

[0085] Specifically, calculate the product of the intelligent driving control coefficient and the intelligent driving steering request parameters to obtain the intelligent driving assistance parameter; calculate the sum of the intelligent driving assistance parameter and the manual torque to obtain the target control parameters.

[0086] The specific calculation formula is as follows:

[0087] F final =F hands +F machine ×Factor

[0088] Where, F final is the target control parameter, F hands is the manual torque in the steering wheel control parameters, F machine is the intelligent driving steering request parameter output by the intelligent driving system (host computer), and Factor is the intelligent driving control coefficient.

[0089] The product of the intelligent driving control coefficient and the intelligent driving steering request parameters jointly determines the control amount of the intelligent driving system for the target control parameters, and is superimposed with the manual torque of the user manually controlling the steering wheel to obtain the target control parameters for finally controlling the steering system.

[0090] S306. The lower computer controls the vehicle steering system to perform a steering action based on the target control parameter.

[0091] The lower computer performs torque or current control on the steering motor according to the target control parameter, so that the vehicle completes a steering action that conforms to the user's intention.

[0092] In the embodiment of the present disclosure, the steering wheel control parameter of the user on the steering wheel is obtained; the upper computer is controlled to make a decision on the user takeover intention based on the steering wheel control parameter, and the intelligent driving control coefficient corresponding to the user takeover intention is obtained, and the intelligent driving control coefficient is inversely proportional to the intensity of the user takeover intention; the upper computer is controlled to obtain an intelligent driving steering request parameter based on the road condition information; the intelligent driving control coefficient and the intelligent driving steering request parameter are sent to the lower computer; the lower computer is controlled to compensate the steering wheel control parameter based on the intelligent driving control coefficient and the intelligent driving steering request parameter to obtain a target control parameter; the lower computer is used to control the vehicle steering system to perform a steering action based on the target control parameter. By predicting the user takeover intention based on the steering wheel control parameter, the corresponding intelligent driving control coefficient is obtained, and the intelligent driving control coefficient is involved in generating the final target control parameter for controlling the vehicle steering system, so that the control degree of the intelligent driving steering request parameter output by the intelligent driving in the target control parameter conforms to the user's takeover intention, solving the problem that the intelligent driving system grabs the steering wheel with the driver, and at the same time taking into account safety, comfort and compliance, and combining the upper and lower computers to cooperate to realize the intelligent distribution of torque for human-machine co-driving, improving the flexibility of intelligent driving.

[0093] At the same time, in the embodiment of the present disclosure, the driver's takeover intention is quantified as an intelligent driving control coefficient, and the coherence of the intelligent driving control coefficient is used to avoid the sudden change of the steering wheel feel during the switch between pure manual driving and intelligent driving, realizing seamless switching of the driving mode and reducing the driver's control boundary feeling.

[0094] On the basis of the above embodiment, the steering wheel control parameter includes hand torque, and the upper computer is controlled to make a decision on the user takeover intention based on the steering wheel control parameter, and obtain the intelligent driving control coefficient corresponding to the user takeover intention, including: when the hand torque is greater than the lowest value of the preset torque range and less than the highest value of the preset torque range, the hand torque is normalized based on the preset torque range to obtain the intelligent driving control coefficient.

[0095] The hand torque refers to the steering torque applied by the driver to the steering wheel with both hands, reflecting the intensity of the driver's intention to intervene in the steering system. The larger the hand torque value, the stronger the driver's takeover intention.

[0096] The preset torque range includes a lowest value and a highest value, where the lowest value of the preset torque range is the torque lower limit for triggering the human-machine co-driving mode; the highest value of the preset torque range is the torque upper limit for triggering the exit of intelligent driving.

[0097] When the manual torque is greater than the lowest value of the preset torque range and less than the highest value of the preset torque range, it is in a state where user manual driving and intelligent driving control coexist, and the intelligent driving control coefficient is determined according to the magnitude of the manual torque. The specific calculation formula of the intelligent driving control coefficient is as follows:

[0098]

[0099] Among them, T hands is the manual torque, T lowerthreshold is the lowest value of the preset torque range, and T upperthreshold is the highest value of the preset torque range.

[0100] In the embodiments of the present disclosure, when the manual torque changes within the preset torque range, the intelligent driving control coefficient changes continuously, ensuring a smooth driving feel. For example, within the preset torque range, when the driver gradually increases the torque, the corresponding intelligent driving control coefficient gradually decreases, and the intelligent driving control weight gradually decreases, and the steering wheel feel changes smoothly during this process.

[0101] In some embodiments, the control host computer makes a decision on the user takeover intention based on the steering wheel control parameters, and obtains the intelligent driving control coefficient corresponding to the user takeover intention. It further includes: when the manual torque is less than or equal to the lowest value of the preset torque range, determining the intelligent driving control coefficient as the preset maximum coefficient; or when the manual torque is greater than or equal to the highest value of the preset torque range, determining the intelligent driving control coefficient as the preset minimum coefficient.

[0102] Among them, the preset maximum coefficient of the intelligent driving control coefficient is 1, indicating that the intelligent driving system completely controls the steering; the preset minimum coefficient of the intelligent driving control coefficient is 0, indicating that the intelligent driving system completely exits the control and the driver completely takes over the control.

[0103] When the manual torque is less than or equal to the lowest value of the preset torque range, it indicates that the driver currently has almost no control intention for the vehicle, and the intelligent driving system completely controls the vehicle steering. For example, in the high-speed cruise scenario, the intelligent driving system controls the vehicle to stay in the center of the lane, and the driver only gently places his hand on the steering wheel without applying a steering force.

[0104] On this basis, when the manual torque is less than or equal to the lowest value of the preset torque range, determining the intelligent driving control coefficient as the preset maximum coefficient includes: calculating the coefficient increasing speed based on the steering wheel rotation speed, the preset rotation speed threshold, and the preset increment step; when the manual torque jumps from the preset torque range to less than or equal to the lowest value of the preset torque range, outputting the intelligent driving control coefficient according to the coefficient increasing speed until the intelligent driving control coefficient reaches the preset maximum coefficient or the manual torque is greater than the lowest value of the preset torque range.

[0105] When the manual torque jumps from greater than the lowest value of the preset torque range to less than or equal to the lowest value of the preset torque range, the vehicle steering will be switched from being jointly controlled by the driver and the intelligent driving system to being completely controlled by the intelligent driving system. During this process, to prevent the intelligent driving control coefficient from surging due to the jump of the manual torque, the intelligent driving control coefficient is gradually increased based on the coefficient increasing speed until it reaches the preset maximum coefficient or the manual torque is greater than the preset torque range again.

[0106] For example, when the user just turns on the intelligent driving function, the manual torque may jump from the preset torque range to less than or equal to the lowest value of the preset torque range. Or, during the intelligent driving process, when the user controls the steering wheel to turn and then immediately relaxes the control of the steering wheel, the manual torque may jump from the preset torque range to less than or equal to the lowest value of the preset torque range.

[0107] The calculation process of the coefficient increasing speed can be expressed as:

[0108]

[0109] where Ramp up is the coefficient increasing speed, step up is the preset increasing step, V speed is the steering wheel rotation speed at the moment when the manual torque jumps, and V threshold is the preset rotation speed threshold.

[0110] The preset increasing step determines the preset rate at which the intelligent driving control coefficient increases. In the same time, the larger the preset increasing step, the higher the preset rate at which the intelligent driving control coefficient increases, and the more the intelligent driving control coefficient increases; correspondingly, the smaller the preset increasing step, the slower the preset rate at which the intelligent driving control coefficient increases, and the less the intelligent driving control coefficient increases.

[0111] The preset rotation speed threshold is the threshold for exiting the intelligent driving function. During the intelligent driving process, when the steering wheel rotation speed is less than or equal to the preset rotation speed threshold, the intelligent driving remains effective.

[0112] When the manual torque jumps from the preset torque range to less than or equal to the lowest value of the preset torque range, the higher the steering wheel rotation speed, the greater the coefficient increasing speed, the faster the intelligent driving control coefficient increases to the preset maximum coefficient, and the shorter the required time, which can quickly take over the vehicle when the user suddenly gives up the effective control of the steering wheel. For example, when the driver suddenly stops applying rotational force to the steering wheel due to fatigue, distraction, etc. in the autonomous driving mode, the steering wheel still has a certain rotation speed due to inertia and other reasons, and the intelligent driving system can quickly take over the vehicle to avoid vehicle out of control.

[0113] Correspondingly, when the manual torque jumps from the preset torque range to a value less than or equal to the minimum value of the preset torque range, the lower the steering wheel speed, the smaller the coefficient increase rate, and the slower the intelligent driving control coefficient increases to the preset maximum coefficient. The longer the time, the smoother the transition from human-machine co-driving to fully intelligent driving can be achieved in a relatively stable driving environment.

[0114] Based on the gradually changing coefficient increase rate described above, output the intelligent driving control coefficient until the intelligent driving control coefficient reaches the preset maximum coefficient, and then participate in the vehicle steering control with the preset maximum coefficient; or, based on the gradually changing coefficient increase rate described above, when the intelligent driving control coefficient has not yet reached the preset maximum coefficient and the manual torque is greater than the minimum value of the preset torque range, output the intelligent driving control coefficient according to the strategy when the manual torque is within the preset torque range or greater than or equal to the maximum value of the preset torque range.

[0115] In the embodiments of the present disclosure, when the manual torque jumps from a value greater than the minimum value of the preset torque range to a value less than or equal to the minimum value of the preset torque range, the growth rate of the intelligent driving control coefficient is dynamically determined based on the steering wheel speed. When the manual torque jumps, a smooth transition of the steering control right from human-machine co-driving to fully intelligent driving can still be achieved. On the one hand, the risk caused by radical control is avoided, and on the other hand, the operation inertia of the driver is matched, improving the safety and comfort of driving.

[0116] In some other embodiments, the steering wheel control parameter includes the steering wheel speed. When the manual torque is greater than or equal to the maximum value of the preset torque range, determining the intelligent driving control coefficient as the preset minimum coefficient includes: calculating the coefficient decay rate based on the steering wheel speed, the preset speed threshold, and the preset attenuation step size; when the manual torque jumps from the preset torque range to a value greater than or equal to the maximum value of the preset torque range, output the intelligent driving control coefficient according to the coefficient decay rate until the intelligent driving control coefficient reaches the preset minimum coefficient or the manual torque is less than the maximum value of the preset torque range.

[0117] When the manual torque jumps from the preset torque range to a value exceeding the maximum value of the preset torque range, it means that the driver applies a large steering force to the steering wheel in a short time, and it is necessary to promptly exit the intelligent driving and hand over the steering control right to the driver.

[0118] For example, during driving on a highway, when the driver suddenly jerks the steering wheel due to an obstacle ahead, the manual torque jumps from the preset torque range to a value exceeding the maximum value of the preset torque range, triggering the handover of driving control rights.

[0119] The calculation process of the coefficient decay rate can be expressed as:

[0120]

[0121] where, Ramp downis the coefficient decay rate, step down is the preset decay step, V speed is the steering wheel rotation speed at the moment when the manual torque jumps, V threshold is the preset rotation speed threshold.

[0122] The preset decay step determines the preset rate of decay of the intelligent driving control coefficient. In the same time, the larger the preset decay step, the higher the preset rate of decay of the intelligent driving control coefficient, and the more the intelligent driving control coefficient decays; correspondingly, the smaller the preset decay step, the slower the preset rate of decay of the intelligent driving control coefficient, and the less the intelligent driving control coefficient decays.

[0123] When the manual torque jumps from the preset torque range to greater than or equal to the highest value of the preset torque range, the higher the steering wheel rotation speed, the greater the coefficient decay rate, the faster the intelligent driving control coefficient decays to the preset minimum coefficient, and the shorter the required time, which can transfer the control right in time when the user needs to control the vehicle steering and facilitate the user to quickly take over the vehicle.

[0124] Correspondingly, when the manual torque jumps from the preset torque range to greater than or equal to the highest value of the preset torque range, the lower the steering wheel rotation speed, the smaller the coefficient decay rate, the slower the intelligent driving control coefficient decays to the preset minimum coefficient, and the longer the required time. When the steering wheel rotation speed is relatively low, although the manual torque jumps from the preset torque range to greater than or equal to the highest value of the preset torque range, relatively speaking, the driver's operation is relatively gentle. At this time, reducing the coefficient decay rate of the intelligent driving control is beneficial to the smooth connection with the user's steering operation.

[0125] Further, when the manual torque jumps from the preset torque range to greater than or equal to the highest value of the preset torque range, the control host computer takes the current target control parameter as the intelligent driving steering request parameter.

[0126] When the manual torque jumps from the preset torque range to greater than or equal to the highest value of the preset torque range, it involves the disappearance of the control of the intelligent driving system over the vehicle steering system. If the control of the intelligent driving system over the vehicle steering system is directly removed, it will cause a sudden change in the steering wheel resistance felt by the driver and create an obvious sense of boundary. Therefore, when the manual torque jumps from the preset torque range to greater than or equal to the highest value of the preset torque range, making the intelligent driving steering request parameter output by the host computer follow the target control parameter of the slave computer at this time plays a role of "holding" the steering system briefly to relieve the sense of boundary of the driver's steering wheel feel caused by the withdrawal of the intelligent driving system from control.

[0127] Gradually output the intelligent driving control coefficient based on the above coefficient decay rate until the intelligent driving control coefficient reaches the preset minimum coefficient, and then completely transfer the vehicle steering control right to the user; or, gradually output the intelligent driving control coefficient based on the above coefficient decay rate. When the preset minimum coefficient is not reached and the manual torque is less than the lowest value of the preset torque range, output the intelligent driving control coefficient according to the strategy when the manual torque is within the preset torque range or less than or equal to the lowest value of the preset torque range.

[0128] In the embodiment of the present disclosure, when the manual torque jumps from the preset torque range to greater than or equal to the highest value of the preset torque range, the decay rate of the intelligent driving control coefficient is dynamically determined based on the steering wheel rotation speed, and the control right handover speed is adjusted in real time according to the driver's operation urgency, so as to avoid the lagging exit of intelligent driving control, and at the same time make the resistance change perceived by the driver continuous and natural, avoiding the sense of jamming or out of control.

[0129] In some embodiments, the lower computer controls the vehicle steering system to perform a steering action based on the target control parameter, including: when the intelligent driving control coefficient is less than the preset coefficient threshold, determining an integral output contribution degree based on the intelligent driving control coefficient, and the integral output contribution degree is proportional to the intelligent driving control coefficient; restricting the integral output of the target control parameter to the vehicle steering system according to the integral output contribution degree.

[0130] The integral output is the cumulative error term used to eliminate the steady-state error in PID control. Since the driver turning the steering wheel by hand will cause a deviation between the intelligent driving steering request parameter output by the upper computer and the intelligent driving assistance parameter responded by the lower computer, although the intelligent driving control coefficient decreases as the driver's manual torque increases, the intelligent driving assistance parameter responded by the lower computer will increase as the deviation increases. At this time, it is necessary to restrict the integral output in the PID of the lower computer, and output the restricted target control parameter to the steering motor through the lower computer to perform the steering action.

[0131] The dynamic adjustment of the integral output contribution degree directly affects the steady-state performance of the control system. When the intelligent driving control parameter is low, the integral action is suppressed to avoid output oscillation caused by error accumulation due to partial exit of the intelligent driving function.

[0132] Specifically, when the intelligent driving control coefficient is less than the preset coefficient threshold, the lower the preset coefficient threshold, the lower the integral output contribution degree, so as to gradually reduce the control of the integral output on the vehicle steering system.

[0133] Optionally, the preset integral threshold is 0.95.

[0134] In the embodiments of the present disclosure, by dynamically controlling the integral output of the lower computer, when the intelligent driving control coefficient is relatively high, the integral output participates in the control to a high degree, which can eliminate small deviations during lane keeping; when the intelligent driving control coefficient decreases, it can avoid the overshoot of the steering motor caused by too fast error accumulation, and further improve the reliability of intelligent driving.

[0135] In some embodiments, the method further includes: when the intelligent driving function exits unexpectedly, obtaining the intelligent driving control coefficient at the moment before the unexpected exit of the intelligent driving function; determining the intelligent driving transition speed according to the vehicle driving style mode; controlling the upper computer to perform a decreasing output of the intelligent driving control coefficient at the moment before the unexpected exit of the intelligent driving function based on the intelligent driving transition speed until the intelligent driving control coefficient reaches a preset minimum coefficient.

[0136] Optionally, the vehicle driving style mode includes a comfort mode, a sport mode, and a light mode.

[0137] The unexpected exit of the intelligent driving function refers to the interruption of intelligent driving control not starting from the driver. For example, the road conditions ahead are poor and no longer meet the road conditions for intelligent driving; or the intelligent driving is interrupted due to failures such as sensor failures, etc.

[0138] When the intelligent driving function exits unexpectedly, obtain and record the last valid intelligent driving control coefficient before the intelligent driving exit as the initial value in the transition stage.

[0139] The driving style mode is a mode that can be set by the user, such as a comfort mode, a sport mode, and a light mode. Among them, in the comfort mode, the vehicle turns smoothly and accelerates and decelerates gently; in the sport mode, the vehicle turns sensitively and responds aggressively; in the light mode, the vehicle's steering response degree is moderate.

[0140] The intelligent driving transition speed is the rate at which the intelligent driving control coefficient decreases from the initial value in the transition stage before the intelligent driving exit to the preset minimum coefficient (usually 0).

[0141] For the comfort mode, the intelligent driving transition speed is set to a low speed, such as a first transition speed; for the sport mode, the intelligent driving transition speed is set to a high speed, such as a second transition speed; for the light mode, the intelligent driving transition speed is set to a moderate speed, such as a third transition speed. That is, the first transition speed is less than the third transition speed, and the third transition speed is less than the second transition speed.

[0142] The lower computer executes the corresponding intelligent driving transition speed according to the preset vehicle driving style mode until the intelligent driving control coefficient is reduced to the preset minimum coefficient, completely turning off the intelligent driving output, and the steering system is fully controlled by the driver.

[0143] In the embodiments of the present disclosure, through the transition speed regulation of driving style adaptation, the safe and smooth downgrading when the intelligent driving function accidentally exits is achieved. By matching different user groups' driving habits through mode selection, the user preferences are integrated with the driving control feeling, avoiding the problem of the steering wheel feel discontinuity caused by the sudden change of the intelligent driving control coefficient when the intelligent driving system accidentally exits, and further improving the driving experience.

[0144] Figure 5 It is a schematic diagram of the host computer algorithm provided by the embodiments of the present disclosure. As Figure 5 shown, the host computer obtains the steering wheel control parameters in real time, including the hand driving torque and the steering wheel rotation speed. Based on the comparison of the steering wheel control parameters with the preset torque range and the preset rotation speed threshold, when the hand driving torque is within the preset torque range, human-machine co-driving is performed, and the intelligent driving control coefficient and the intelligent driving steering request parameters are output to the lower computer (steering controller) in real time based on the steering wheel control parameters.

[0145] If the hand driving torque does not reach within the preset torque range, the intelligent driving system can completely control the vehicle steering, and the intelligent driving control coefficient is assigned as the preset maximum coefficient; if during the human-machine co-driving process, the collected steering wheel control parameters reach the intelligent driving system exit condition, or the hand driving torque exceeds the preset torque range, the user needs to completely control the vehicle steering, cancel the handshake with the steering controller, assign the intelligent driving control coefficient as the preset minimum coefficient, and at the same time control the intelligent driving steering request parameters output by the host computer to follow the current target control parameters of the lower computer.

[0146] Among them, the intelligent driving system exit conditions include that the hand driving torque is greater than the preset torque threshold and the steering wheel rotation speed is greater than the preset rotation speed threshold.

[0147] Figure 6 It is a schematic diagram of the lower computer algorithm provided by the embodiments of the present disclosure. As Figure 6 shown, it is judged whether to enter the human-machine co-driving mode according to the intelligent driving control coefficient sent by the host computer. When the intelligent driving control coefficient is the preset maximum coefficient, it means that the vehicle is completely controlled by intelligent driving. When the intelligent driving control coefficient is between the preset maximum coefficient and the preset minimum coefficient, it means entering the human-machine co-driving mode. When the intelligent driving control coefficient is the preset minimum coefficient, it means that the vehicle is controlled by the driver. When the intelligent driving is not enabled, the default value of the intelligent driving control coefficient is the preset minimum coefficient. When the intelligent driving takes effect, the intelligent driving control coefficient rises from the preset minimum coefficient to the preset maximum coefficient according to the coefficient increasing speed.

[0148] When the intelligent driving control coefficient is the preset maximum coefficient, the lower computer fully responds to the intelligent driving steering request parameters of the host computer.

[0149] When the intelligent driving control coefficient is not the preset maximum coefficient, if the upper and lower computers are in a handshake state, the lower computer compensates the steering wheel control parameter based on the intelligent driving control coefficient and the intelligent driving steering request parameter to obtain a target control parameter, which specifically includes: calculating the product of the intelligent driving control coefficient and the intelligent driving steering request parameter to obtain an intelligent driving assistance parameter; calculating the sum of the intelligent driving assistance parameter and the hand torque to obtain a target control parameter, and when the intelligent driving control coefficient is less than the preset coefficient threshold, limiting the integral output of the target control parameter to the vehicle steering system based on the integral output contribution degree, and finally inputting the limited target control parameter into the steering motor to achieve a steering action.

[0150] If the upper and lower computers are not in a handshake state, then according to the vehicle driving style mode, an intelligent driving transition speed is determined, and the intelligent driving control coefficient is controlled to decrease until the intelligent driving control coefficient reaches the preset minimum coefficient, and the vehicle successfully transitions to the preset vehicle driving style mode.

[0151] In the embodiments of the present disclosure, through the close algorithm cooperation between the upper computer and the lower computer, the smooth connection of human-machine co-driving is achieved. By using the existing vehicle-mounted sensors, without increasing the hardware cost, the driving experience of the driver is improved. At the same time, combined with multiple adjustable thresholds, it can be debugged based on the actual vehicle conditions, further improving the flexibility.

[0152] Figure 7 It is a schematic structural diagram of the human-machine co-driving control device provided by the embodiments of the present disclosure. The human-machine co-driving control device provided by the embodiments of the present disclosure can execute the processing flow provided by the embodiments of the human-machine co-driving control method, as Figure 7 shown, the human-machine co-driving control device 70 includes: an acquisition module 71, a first control module 72, a second control module 73, a sending module 74, a third control module 75, and a fourth control module 76; the acquisition module 71 is used to acquire the steering wheel control parameter of the user on the steering wheel; the first control module 72 is used to control the upper computer to make a user takeover intention decision based on the steering wheel control parameter to obtain an intelligent driving control coefficient corresponding to the user takeover intention, and the intelligent driving control coefficient is inversely proportional to the intensity of the user takeover intention; the second control module 73 is used to control the upper computer to obtain an intelligent driving steering request parameter based on the road condition information; the sending module 74 is used to send the intelligent driving control coefficient and the intelligent driving steering request parameter to the lower computer; the third control module 75 is used to control the lower computer to compensate the steering wheel control parameter based on the intelligent driving control coefficient and the intelligent driving steering request parameter to obtain a target control parameter; the fourth control module 76 is used to control the vehicle steering system to perform a steering action based on the target control parameter through the lower computer.

[0153] Optionally, the steering wheel control parameter includes hand driving torque. The first control module 72 is configured to normalize the hand driving torque based on a preset torque range to obtain an intelligent driving control coefficient when the hand driving torque is greater than the lowest value of the preset torque range and less than the highest value of the preset torque range; or determine the intelligent driving control coefficient as a preset maximum coefficient when the hand driving torque is less than or equal to the lowest value of the preset torque range; or determine the intelligent driving control coefficient as a preset minimum coefficient when the hand driving torque is greater than or equal to the highest value of the preset torque range.

[0154] Optionally, the first control module 72 is further configured to calculate a coefficient increase rate based on the steering wheel rotation speed, a preset rotation speed threshold, and a preset increment step; when the hand driving torque jumps from the preset torque range to be less than or equal to the lowest value of the preset torque range, output the intelligent driving control coefficient according to the coefficient increase rate until the intelligent driving control coefficient reaches the preset maximum coefficient or the hand driving torque is greater than the lowest value of the preset torque range.

[0155] Optionally, the first control module 72 is further configured to calculate a coefficient decay rate based on the steering wheel rotation speed, a preset rotation speed threshold, and a preset decay step; when the hand driving torque jumps from the preset torque range to be greater than or equal to the highest value of the preset torque range, output the intelligent driving control coefficient according to the coefficient decay rate until the intelligent driving control coefficient reaches the preset minimum coefficient or the hand driving torque is less than the highest value of the preset torque range.

[0156] Optionally, the first control module 72 is further configured to control the host computer to use the target control parameter at the current moment as an intelligent driving steering request parameter when the hand driving torque jumps from the preset torque range to be greater than or equal to the highest value of the preset torque range.

[0157] Optionally, the third control module 75 is configured to calculate the product of the intelligent driving control coefficient and the intelligent driving steering request parameter to obtain an intelligent driving assistance parameter; calculate the sum of the intelligent driving assistance parameter and the hand driving torque to obtain a target control parameter.

[0158] Optionally, the fourth control module 76 is further configured to determine an integral output contribution degree based on the intelligent driving control coefficient when the intelligent driving control coefficient is less than a preset coefficient threshold, and the integral output contribution degree is proportional to the intelligent driving control coefficient; limit the integral output of the target control parameter to the vehicle steering system according to the integral output contribution degree.

[0159] Optionally, the human-machine co-driving control device 70 further includes a transition module 77, configured to obtain the intelligent driving control coefficient at the moment immediately before the unexpected exit of the intelligent driving function; determine the intelligent driving transition speed according to the vehicle driving style mode; control the host computer to output the intelligent driving control coefficient at the moment immediately before the unexpected exit of the intelligent driving function in a decreasing manner based on the intelligent driving transition speed until the intelligent driving control coefficient reaches a preset minimum coefficient.

[0160] Figure 7 The human-machine co-driving control device in the illustrated embodiment can be used to implement the technical solution of the above method embodiment. The implementation principle and technical effect are similar and will not be elaborated here.

[0161] Figure 8 The following is a schematic structural diagram of a vehicle provided by an embodiment of the present disclosure. Exemplarily, as Figure 8 shown, the vehicle 800 includes: a memory 801 and a processor 802. Among them, an executable program code 8011 is stored in the memory 801, and the processor 802 is configured to call and execute the executable program code 8011 to execute the human-machine co-driving control method.

[0162] In this embodiment, the vehicle can be divided into functional modules according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0163] In the case of dividing each functional module corresponding to each function, the vehicle can include: an acquisition module, a first control module, a second control module, a sending module, a third control module, and a fourth control module.

[0164] The vehicle provided in this embodiment is used to execute the above human-machine co-driving control method, and thus can achieve the same effect as the above implementation method.

[0165] In the case of adopting an integrated unit, the vehicle can include a processing module and a storage module. Among them, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute mutual program codes and data, etc.

[0166] Among them, the processing module can be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits described in connection with the disclosure of the present application. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module can be a memory.

[0167] Figure 9 The structural schematic diagram of the electronic device provided by the embodiment of the present disclosure. The electronic device provided by the embodiment of the present disclosure can execute the processing flow provided by the embodiment of the human-machine co-driving control method, as Figure 9 shown, the electronic device 90 includes: a memory 91, a processor 92, a computer program, and a communication interface 93; among them, the computer program is stored in the memory 91 and is configured to be executed by the processor 92 to perform the human-machine co-driving control method as described above.

[0168] The memory 91, as a non-transitory readable storage medium, can be used to store software programs, vehicle-executable instructions, and modules, such as the program instructions / modules corresponding to the human-machine co-driving control method in the embodiment of the present disclosure. The processor 92 executes various functional applications and data processing of the server by running the software programs, instructions, and modules stored in the memory 91, that is, implements the human-machine co-driving control method in the above method embodiment.

[0169] The memory 91 can include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the vehicle, etc. In addition, the memory 91 can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory 91 can optionally include a memory remotely set relative to the processor 92, and these remote memories can be connected to the terminal device through a network. Examples of the above networks include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0170] This embodiment also provides a computer-readable storage medium. The computer-readable storage medium (including, but not limited to, a disk memory, a CD-ROM, an optical memory, etc.) stores computer program code. When the computer program code runs on a computer, the computer is caused to execute the above-related method steps to implement a human-machine co-driving control method provided by the above embodiment.

[0171] This embodiment also provides a computer program product. When the computer program product runs on a computer, it causes the computer to execute the above-related steps to implement a human-machine co-driving control method provided by the above embodiment.

[0172] From the description of the above embodiments, those skilled in the art can understand that for the convenience and brevity of description, only the division of the above functional modules is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0173] In the embodiments provided in the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling, direct coupling, or communication connection can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical, mechanical, or other form.

[0174] In the description of the present disclosure, it should be understood that if terms such as "upper", "lower", "front", "rear", "left", and "right" are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated position or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure.

[0175] The above description is only a preferred embodiment of the present disclosure and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solution formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosure concept. For example, the technical solutions formed by mutually replacing the above features with the (but not limited to) technical features with similar functions disclosed in the present disclosure.

[0176] In addition, although the operations are depicted in a particular order, this should not be construed as requiring that the operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although several specific implementation details are included in the foregoing discussion, these should not be construed as limitations on the scope of the present disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented separately or in any suitable sub-combination in multiple embodiments.

[0177] Although the subject matter has been described in language specific to structural features and / or methodological acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms of implementing the claims.

[0178] The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a segment of code, or a portion thereof that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions noted in the blocks may occur in a different order than noted in the figures. For example, two consecutive blocks shown may actually be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functionality involved. It should also be noted that each block of the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or by a combination of dedicated hardware and computer instructions.

[0179] The units involved in the embodiments described in the present disclosure can be implemented in software or in hardware. In this regard, the name of the unit does not in some cases constitute a limitation on the unit itself.

[0180] It should be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, commodity or device comprising the element.

[0181] The above are only embodiments of the present disclosure and are not intended to limit the present disclosure. For those skilled in the art, various changes and modifications can be made to the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included within the scope of the claims of the present disclosure.

Claims

1. A human-machine co-driving control method, characterized in that: The method comprises: Get the user's steering wheel control parameters for the steering wheel; Controlling the host computer to make a user takeover intention decision based on the steering wheel control parameter, and obtaining an intelligent driving control coefficient corresponding to the user takeover intention, wherein the intelligent driving control coefficient is inversely proportional to the intensity of the user takeover intention; Control the host computer to obtain intelligent driving steering request parameters based on road condition information; Sending the intelligent driving control coefficient and the intelligent driving steering request parameter to the lower computer; Controlling the lower computer to compensate the steering wheel control parameter based on the intelligent driving control coefficient and the intelligent driving steering request parameter to obtain a target control parameter; The lower computer controls the vehicle steering system to perform steering action based on the target control parameter.

2. The method according to claim 1, characterized in that The steering wheel control parameter includes a manual torque. The control host computer makes a user takeover intention decision based on the steering wheel control parameter to obtain an intelligent driving control coefficient corresponding to the user takeover intention, including: When the manual torque is greater than the lowest value of the preset torque interval and less than the highest value of the preset torque interval, the manual torque is normalized based on the preset torque interval to obtain the intelligent driving control coefficient; or, When the manual torque is less than or equal to the lowest value of the preset torque range, the intelligent driving control coefficient is determined to be a preset maximum coefficient; or, When the manual torque is greater than or equal to the maximum value of the preset torque range, the intelligent driving control coefficient is determined to be the preset minimum coefficient.

3. The method according to claim 2, characterized in that The steering wheel control parameter includes a steering wheel speed. When the manual torque is less than or equal to a minimum value of a preset torque range, determining the intelligent driving control coefficient to be a preset maximum coefficient includes: The coefficient increasing speed is calculated based on the steering wheel speed, the preset speed threshold and the preset increasing step size; When the manual torque jumps from the preset torque range to less than or equal to the minimum value of the preset torque range, the intelligent driving control coefficient is output according to the coefficient increasing speed until the intelligent driving control coefficient reaches the preset maximum coefficient, or the manual torque is greater than the minimum value of the preset torque range.

4. The method according to claim 2, characterized in that: The steering wheel control parameter includes a steering wheel speed. When the manual torque is greater than or equal to a maximum value of a preset torque range, determining the intelligent driving control coefficient to be a preset minimum coefficient includes: The coefficient attenuation speed is calculated based on the steering wheel speed, the preset speed threshold and the preset attenuation step size; When the manual torque jumps from the preset torque range to a value greater than or equal to the maximum value of the preset torque range, the intelligent driving control coefficient is output according to the coefficient attenuation speed until the intelligent driving control coefficient reaches the preset minimum coefficient, or the manual torque is less than the maximum value of the preset torque range.

5. The method according to claim 4, characterized in that The method further comprises: When the manual torque jumps from the preset torque range to a value greater than or equal to the maximum value of the preset torque range, the host computer is controlled to use the target control parameter at the current moment as the intelligent driving steering request parameter.

6. The method according to claim 1, characterized in that The steering wheel control parameter includes a manual torque, and the control lower computer compensates the steering wheel control parameter based on the intelligent driving control coefficient and the intelligent driving steering request parameter to obtain a target control parameter, including: Calculate the product of the intelligent driving control coefficient and the intelligent driving steering request parameter to obtain an intelligent driving power assist parameter; The sum of the intelligent driving assistance parameter and the manual torque is calculated to obtain the target control parameter.

7. The method according to claim 1, characterized in that The controlling the vehicle steering system to perform a steering action based on the target control parameter by the lower computer includes: When the intelligent driving control coefficient is less than a preset coefficient threshold, determining an integral output contribution based on the intelligent driving control coefficient, the integral output contribution is proportional to the intelligent driving control coefficient; The integral output of the target control parameter to the vehicle steering system is limited according to the integral output contribution.

8. The method according to claim 1, characterized in that The method further comprises: When the intelligent driving function is unexpectedly exited, the intelligent driving control coefficient at the moment before the intelligent driving function is unexpectedly exited is obtained; Determine the intelligent driving transition speed based on the vehicle's driving style pattern; The control host computer decreases and outputs the intelligent driving control coefficient at a moment before the intelligent driving function unexpectedly exits based on the intelligent driving transition speed until the intelligent driving control coefficient reaches a preset minimum coefficient.

9. A human-machine co-driving control device, characterized in that: include: An acquisition module, used to acquire the steering wheel control parameters of the user on the steering wheel; A first control module is used to control the host computer to make a user takeover intention decision based on the steering wheel control parameters, and obtain an intelligent driving control coefficient corresponding to the user takeover intention, wherein the intelligent driving control coefficient is inversely proportional to the intensity of the user takeover intention; The second control module is used to control the host computer to obtain intelligent driving steering request parameters based on road condition information; A sending module, used for sending the intelligent driving control coefficient and the intelligent driving steering request parameter to a lower computer; A third control module is used to control the lower computer to compensate the steering wheel control parameter based on the intelligent driving control coefficient and the intelligent driving steering request parameter to obtain a target control parameter; The fourth control module is used to control the vehicle steering system to perform steering action based on the target control parameter through the lower computer.

10. A vehicle, characterized in that: include: Memory; processor; The memory stores executable program code, and the processor is used to call and execute the executable program code to perform the method as described in any one of claims 1-8.

Images