Bus multi-drive-by-wire driving mode arbitration method and device, electronic equipment and medium

Abstract

The invention provides a minibus multi-drive-by-wire driving mode arbitration method and device, electronic equipment and a medium. The minibus multi-drive-by-wire driving mode arbitration method comprises the steps that an access multi-drive-by-wire driving mode and a current driving mode are acquired and recognized; establishing communication connection with a controller according to the multi-line driving mode; detecting the activation state of the control unit of the controller in the normal state, wherein each controller comprises at least one control unit; according to the distance between the controller and the small bus and the danger degree, the priority of a multi-line driving mode is determined, and an access driving mode is determined according to the priority; and executing driving mode switching protection of the small bus according to the last-moment driving mode, the current driving mode, the access driving mode, the current vehicle speed and the safety protection speed of the small bus. The method has the beneficial effects that the running safety of the vehicle under the condition of multiple control signals is guaranteed, and the safety and the stability of communication between the drive-by-wire arbitration system and each driving mode are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent vehicles, and particularly to an arbitration method, device, electronic device and medium for multi-wire control driving modes of a minibus. Background Art

[0002] With the development of intelligent driving, cloud platforms and Internet of Things technologies, it has become possible to control vehicles by different terminals, and the technology of wire-controlled chassis has become more and more mature. With the support of autonomous driving technology, cars are no longer limited to being manually started by drivers. Various levels of autonomous driving can be achieved through an autonomous driving system. Some vehicle models even cancel the design of the vehicle steering wheel and use methods such as mobile phone apps, gamepads, and remote cockpits to control the vehicle. However, the multi-signal driving switching method in the prior art makes driving unsafe and unstable. Summary of the Invention

[0003] The main purpose of the embodiments of the present invention is to provide an arbitration method, device, electronic device and medium for multi-wire control driving modes of a minibus, which improves the safety and stability of the multi-wire control driving modes of the minibus.

[0004] One aspect of the present invention provides an arbitration method for multi-wire control driving modes of a minibus, including:

[0005] Obtaining and identifying an access multi-wire control driving mode and a current driving mode according to an arbitration request for multi-wire control driving modes of a minibus, where the multi-wire control driving mode and the current driving mode include at least one of proximal driving, remote driving and autonomous driving;

[0006] Establishing a communication connection with a controller according to the multi-wire control driving mode, and detecting the communication state of the communication connection, where the communication state is one of a normal state and an abnormal state;

[0007] Detecting the activation state of a control unit of the controller in the normal state, and each controller includes at least one control unit;

[0008] Determining the priority of the multi-wire control driving mode according to the distance and danger level between the controller and the minibus, and determining the access driving mode according to the priority;

[0009] Performing driving mode switching protection of the minibus according to the previous driving mode, the current driving mode, the access driving mode, the current vehicle speed and the safety protection speed of the minibus.

[0010] According to the arbitration method for multi-wire control driving modes of the minibus, where according to the multi-wire control driving mode includes:

[0011] Among them, the autonomous driving includes path planning and driving control of the minibus based on integrated environmental information and map information;

[0012] Among them, the proximal driving includes proximal control of the minibus through proximal communication means;

[0013] Among them, the remote driving includes remote control of the minibus through remote communication means.

[0014] According to the arbitration method for the multi-wire control driving mode of the minibus, establishing a communication connection with the controller according to the multi-wire driving mode and detecting the communication state of the communication connection includes:

[0015] When the multi-wire driving mode is autonomous driving, connect to the vehicle wire control arbitration through the controller;

[0016] When the multi-wire driving mode is one of proximal driving or remote driving, send a handshake request to the controller, calculate the key according to the random seed returned by the controller, and send the key to the controller. When the key calculated by the controller is the same as the received key, the communication is in a normal state and a communication connection is established; otherwise, it is in an abnormal state and communication is refused.

[0017] According to the arbitration method for the multi-wire control driving mode of the minibus, detecting the activation state of the control unit of the controller in the normal state includes:

[0018] Obtain the first heartbeat value of all control units in the controller during communication at the previous moment, compare it with the second heartbeat value collected at the current moment. If the first heartbeat value and the second heartbeat value are the same, the communication is normal; otherwise, the communication is abnormal.

[0019] According to the arbitration method for the multi-wire control driving mode of the minibus, determining the priority of the multi-wire driving mode according to the distance and danger level between the controller and the minibus, and determining the access driving mode according to the priority includes:

[0020] Determine one of invalid, proximal driving, remote driving, and autonomous driving according to the distance and danger level between the controller and the minibus. Determine the priority of invalid, proximal driving, remote driving, and autonomous driving according to the takeover distance of the driver for the minibus, and control the minibus according to the driving mode with the highest priority.

[0021] According to the arbitration method for the multi-wire control driving mode of the minibus, performing driving mode switching protection for the minibus according to the previous driving mode, the current driving mode, the access driving mode, the current vehicle speed, and the safety protection speed of the minibus includes:

[0022] When the current vehicle speed is 0, identify the priority of the access driving mode, and select the access driving mode with the highest priority to control the minibus;

[0023] When the current vehicle speed is greater than 0, obtain the previous driving mode and the access driving mode, and perform driving mode switching protection processing: if the priority of the previous driving mode is higher than that of the access driving mode, change the current driving mode to invalid and decelerate the minibus to a stop; if the priority of the previous driving mode is lower than that of the access driving mode, change the current driving mode to the access driving mode;

[0024] When switching the mode of the minibus, detect the current vehicle speed. If the current vehicle speed is greater than the safety protection speed, decelerate to the safety protection speed and then perform the switching of the driving mode.

[0025] According to the minibus multi-wire control driving mode arbitration method described above, the method further includes:

[0026] The deceleration of the minibus adopts PID control processing, including

[0027]

[0028] where a(t) is the deceleration of the vehicle, e(t) is the speed error, e(t) represents the difference between the desired speed and the current speed, K p 、K i 、K d are the proportional gain, integral gain and differential gain respectively, and K p 、K i 、K d are the parameters for the error of the controller.

[0029] Another aspect of the embodiments of the present invention provides a minibus multi-wire control driving mode arbitration device, including:

[0030] The first module is used to obtain and identify the access multi-wire driving mode and the current driving mode according to the multi-wire control driving mode arbitration request of the minibus. The multi-wire driving mode and the current driving mode include at least one of proximal driving, remote driving and autonomous driving;

[0031] The second module is used to establish a communication connection with the controller according to the multi-wire driving mode and detect the communication state of the communication connection, where the communication state is one of the normal state and the abnormal state;

[0032] The third module is used to detect the activation state of the control unit of the controller in the normal state. Each controller includes at least one control unit;

[0033] The fourth module is configured to determine the priority of the multi-line driving mode according to the distance and the degree of danger between the controller and the minibus, and determine the access driving mode according to the priority.

[0034] The fifth module is configured to perform driving mode switching protection for the minibus according to the previous driving mode of the minibus, the current driving mode, the access driving mode, the current vehicle speed, and the safety protection speed.

[0035] Another aspect of the embodiments of the present invention provides an electronic device, including a processor and a memory;

[0036] The memory is used to store programs;

[0037] The processor executes the program to implement the method described above.

[0038] The embodiments of the present invention also disclose a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method described above.

[0039] The beneficial effects of the present invention are as follows: The intelligent minibus multi-mode by-wire arbitration method can ensure that there is only one signal source for the execution of the by-wire chassis, prevent the situation of multiple signal sources competing for the actuator, and ensure the safety of vehicle operation; by using the handshake mechanism and the determination of the heartbeat value, the safety and stability of the communication between the by-wire arbitration system and each driving mode subsystem are ensured; according to the different driving states and speeds of the vehicle, a protection logic for driving mode switching is established. At the same time, the effectiveness of the emergency stop button independent of various driving modes is set, which can realize the stability and safety of by-wire arbitration in special extreme scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and / or additional aspects and advantages of the present invention will become apparent and easy to understand from the following description of the embodiments in conjunction with the accompanying drawings, where:

[0041] Figure 1 is a schematic diagram of a minibus multi-by-wire driving mode arbitration system according to an embodiment of the present invention.

[0042] Figure 2 is a schematic diagram of a minibus multi-by-wire driving mode arbitration process according to an embodiment of the present invention.

[0043] Figure 3 is a flowchart of a minibus multi-by-wire driving mode switching arbitration according to an embodiment of the present invention.

[0044] Figure 4Schematic diagram of the arbitration device for the multi-wire control driving mode of small buses implemented in the present invention Specific implementation manners

[0045] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. In the subsequent description, the suffixes such as "module", "component", or "unit" used to represent elements are only for the convenience of the description of the present invention, and they have no specific meaning by themselves. Therefore, "module", "component", or "unit" can be used interchangeably. "First", "second", etc. are only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence of the indicated technical features. In the subsequent description of the present invention, the consecutive numbering of the method steps is for the convenience of review and understanding. Combining the overall technical solution of the present invention and the logical relationship between each step, adjusting the implementation order between the steps will not affect the technical effect achieved by the technical solution of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0046] Refer to Figure 1 , Figure 1 is a schematic diagram of the arbitration system for the multi-wire control driving mode of small buses implemented in the present invention. The multi-wire driving modes are respectively autonomous driving, proximal driving, and remote driving. The autonomous driving module is the general term for the perception, decision-making, planning, and control modules of the intelligent vehicle. The autonomous driving controller performs path planning and control by integrating the perceived environmental information and map information, and transmits the output downward to the wire control arbitration module for arbitration. Proximal control refers to a driving method in which the vehicle is controlled near the vehicle through a peripheral device such as an app or a handle by means of proximal communication methods such as Bluetooth and wifi. Remote driving is to operate the vehicle through a remote driving cockpit, and realize the remote operation of the vehicle through the linkage of the in-vehicle remote OBU, the cloud, and the remote driving cockpit.

[0047] After the wire control arbitration module obtains the driving states of the three modes, it needs to arbitrate the signals in a certain way to prevent them from competing for the actuator, and establish protection strategies for the stability and security of the signal sources and the switching of the wire control driving modes.

[0048] In some embodiments, the controllers therein also correspond differently according to different driving modes. For example, the controller for proximal control is a handle, and the controller for remote driving is a cockpit, etc.

[0049] Refer to Figure 2 , where Figure 2It is a schematic diagram of the arbitration process for the multi-wire control driving mode of a minibus implemented in the present invention, which includes but is not limited to steps S100 to S500:

[0050] S100. According to the arbitration request for the multi-wire control driving mode of the minibus, obtain and identify the access multi-wire driving mode and the current driving mode, where the multi-wire driving mode and the current driving mode include at least one of proximal driving, remote driving, and autonomous driving.

[0051] In some embodiments, autonomous driving includes path planning and driving control of the minibus according to the integrated environmental information and map information; proximal driving includes proximal control of the minibus through proximal communication methods such as Bluetooth and Wi-Fi; remote driving includes remote control of the minibus through remote communication methods such as remote OBU, cloud, and remote cockpit.

[0052] S200. Establish a communication connection with the controller according to the multi-wire driving mode, and detect the communication state of the communication connection, where the communication state is one of the normal state and the abnormal state.

[0053] In some embodiments, corresponding communication checks are performed according to the accessed multi-wire driving mode:

[0054] When the multi-wire driving mode is autonomous driving, connect to the vehicle wire control arbitration through the controller; when the multi-wire driving mode is one of proximal driving or remote driving, send a handshake request to the controller, calculate the key according to the random seed returned by the controller, and send the key to the controller. When the key calculated by the controller is the same as the received key, the communication is in the normal state and a communication connection is established; otherwise, it is in the abnormal state and the communication is refused.

[0055] Exemplarily, when connecting to the controller, it is first necessary to ensure its normal and stable communication, Figure 1 Establish a communication connection with each sub-module according to the system architecture as a reference. To ensure safety, when establishing a connection, except for the controller of the autonomous driving module which is installed on the vehicle, the proximal driving and remote driving are both movable devices and need to handshake with the wire control arbitration module. The main steps include:

[0056] (1) The proximal control and remote driving controllers send handshake requests;

[0057] (2) After the MCU (minibus) receives the handshake request, it feeds back the random seed, and the proximal driving and remote driving controllers calculate the key and send it to the MCU;

[0058] (3) The MCU calculates whether the calculated key and the received key are the same. If they are the same, the handshake is successful, and a handshake success signal is fed back;

[0059] (4) For proximal control, when the remote driving controller receives the handshake success signal, it can send commands to control the vehicle.

[0060] S300. Detect the activation status of the control unit of the controller in the normal state. Each controller includes at least one control unit.

[0061] In some embodiments, by obtaining the first heartbeat value when all control units in the controller communicated at the previous moment and comparing it with the second heartbeat value collected at the current moment, if the first heartbeat value and the second heartbeat value are the same, the communication is normal; otherwise, the communication is abnormal.

[0062] It can be understood that when the slave control unit of the controller communicates with the small bus MCU, it is necessary to check the current heartbeat value and the heartbeat value at the previous moment. If the check fails, the communication is abnormal.

[0063] S400. Determine the priority of the multi-line driving mode according to the distance and danger level between the controller and the small bus, and determine the access driving mode according to the priority.

[0064] In some embodiments, one of invalid, proximal driving, remote driving, and autonomous driving is determined according to the distance and danger level between the controller and the small bus. According to the distance at which the driver takes over the small bus, the priorities of invalid, proximal driving, remote driving, and autonomous driving are determined, and the small bus is controlled according to the driving mode with the highest priority.

[0065] Exemplarily, for example, the priorities are sorted according to the distance and danger level between the terminal and the vehicle. The priorities from high to low are invalid, proximal driving, remote driving, and autonomous driving, and their priority levels are defined as 0, 1, 2, and 3 respectively. This is determined according to the distance that a human can take over and the space. When connections are established and activated simultaneously, the final driving mode is the one with the highest priority.

[0066] In some embodiments, the access driving mode with abnormal communication is processed as an invalid mode.

[0067] S500. Execute the driving mode switching protection of the small bus according to the previous driving mode, current driving mode, access driving mode, current vehicle speed, and safety protection speed of the small bus.

[0068] In some embodiments, when the current vehicle speed is 0, the priorities of the access driving modes are identified, and the access driving mode with the highest priority is selected to control the minibus; when the current vehicle speed is greater than 0, the driving mode at the previous moment and the access driving mode are obtained, and a driving mode switching protection process is performed: if the priority of the driving mode at the previous moment is higher than that of the access driving mode, the current driving mode is changed to invalid, and the minibus is decelerated to a stop; if the priority of the driving mode at the previous moment is lower than that of the access driving mode, the current driving mode is changed to the access driving mode; when the driving mode of the minibus is switched, the current vehicle speed is detected. If the current vehicle speed is greater than the safety protection speed, it is decelerated to the safety protection speed, and then the driving mode is switched.

[0069] Exemplarily, referring to Figure 3 the arbitration process schematic diagram shown, set the current mode as Mode current , the mode at the previous moment as Mode last , set the current vehicle speed as v current , the safety protection speed as v safe , when the vehicle is in a stopped state, that is, v current = 0, the mode can be freely switched, and the specific process can be referred to Figure 2 . That is, when there are high-priority and low-priority connections at the same time, if the high-priority connection is disconnected, the mode becomes low-priority, and then it can be started; when it is in the low-priority state and a high-priority connection comes up, the mode becomes high-priority, and then it can be started; when the vehicle is in a running state, that is, v current > 0, when there are high-priority and low-priority connections at the same time, if the high-priority connection is disconnected, the mode becomes low-priority, that is, Mode current > Mode last , then the state becomes invalid, and it is decelerated to a stop. When it is in the low-priority state and a high-priority connection comes up, that is, Mode current < Mode last , it can be taken over by the high-level driving mode; but to prevent misoperations and avoid potential safety hazards caused by the operator's untimely response, the concept of a safety speed is introduced; then a reaction is made according to the speed. When v current > v safe , it will be decelerated to v safe ; when v current < v safe , it will be directly taken over, and directly taken over by the driving mode of Mode current . The automatic deceleration model adopts PID control, and the following specific implementation parts need to flexibly adjust the parameters.

[0070]

[0071] where a(t) is the deceleration of the vehicle, e(t) is the speed error, which is the difference between the desired speed and the current speed, and K p , K i , K d are the proportional gain, integral gain, and derivative gain respectively, which are parameters used to adjust the error of the controller.

[0072] In some embodiments, it further includes an emergency braking protection logic, which is triggered by an emergency braking button or key, independent of the driving mode. Regardless of whether the handshake is successful and what kind of driving mode it is, it is effective.

[0073] Figure 4 is a diagram of the multi-wire control driving mode arbitration device for a minibus according to an embodiment of the present invention. The device includes a first module 410, a second module 420, a third module 430, and a fourth module 440.

[0074] Among them, the first module is used to obtain and identify the access multi-line driving mode and the current driving mode according to the multi-wire control driving mode arbitration request of the minibus. The multi-line driving mode and the current driving mode include at least one of proximal driving, remote driving, and autonomous driving; the second module is used to establish a communication connection with the controller according to the multi-line driving mode and detect the communication state of the communication connection, where the communication state is one of a normal state and an abnormal state; the third module is used to detect the activation state of the control unit of the controller in the normal state. Each controller includes at least one control unit; the fourth module is used to determine the priority of the multi-line driving mode according to the distance and danger level between the controller and the minibus, and determine the access driving mode according to the priority; the fifth module is used to perform driving mode switching protection for the minibus according to the previous driving mode, current driving mode, access driving mode, current vehicle speed, and safety protection speed of the minibus.

[0075] Exemplarily, with the cooperation of the first module, the second module, the third module, and the fourth module in the device, the exemplary device can implement any one of the foregoing arbitration methods for multi-wire control driving modes of small buses, that is, according to the arbitration request for multi-wire control driving modes of small buses, obtain and identify the access multi-wire driving mode and the current driving mode, where the multi-wire driving mode and the current driving mode include at least one of proximal driving, remote driving, and autonomous driving; establish a communication connection with the controller according to the multi-wire driving mode, and detect the communication state of the communication connection, where the communication state is one of a normal state and an abnormal state; detect the activation state of the control unit of the controller in the normal state, and each controller includes at least one control unit; determine the priority of the multi-wire driving mode according to the distance and danger level of the controller from the small bus, and determine the access driving mode according to the priority; perform the driving mode switching protection of the small bus according to the driving mode at the previous moment, the current driving mode, the access driving mode, the current vehicle speed, and the safety protection speed of the small bus. The beneficial effects of the present invention are as follows: The intelligent small bus multi-mode wire control arbitration method can ensure that there is only one signal source for the execution of the wire-controlled chassis, prevent the situation of multiple signal sources competing for the actuator, and ensure the safety of vehicle operation; by using the handshake mechanism and the determination of the heartbeat value, the safety and stability of the communication between the wire control arbitration system and each driving mode subsystem are ensured; according to the different driving states and speeds of the vehicle, a protection logic for driving mode switching is established. At the same time, the effectiveness of the emergency stop button independent of various driving modes is set, and the stability and safety of wire control arbitration in special extreme scenarios can be achieved.

[0076] An embodiment of the present invention further provides an electronic device, which includes a processor and a memory;

[0077] The memory stores a program;

[0078] The processor executes the program to execute the foregoing arbitration method for multi-wire control driving modes of small buses; this electronic device has the function of carrying and running the software system for the arbitration of multi-wire control driving modes of small buses provided by the embodiment of the present invention. For example, a personal computer, a minicomputer, a mainframe, a workstation, a network or a distributed computing environment, a separate or integrated computer platform, or communicating with charged particle tools or other imaging devices, etc.

[0079] An embodiment of the present invention further provides a computer-readable storage medium, where the storage medium stores a program, and the program is executed by a processor to implement the arbitration method for multi-wire control driving modes of small buses as described above.

[0080] In some alternative embodiments, the functions / operations recited in the block diagrams may not occur in the order presented in the operational illustrations. For example, depending on the functions / operations involved, two consecutive blocks shown may actually be executed substantially simultaneously or the blocks may sometimes be executed in the reverse order. Additionally, the embodiments presented and described in the flowcharts of the present invention are provided by way of example for the purpose of providing a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logical flows presented herein. Alternative embodiments are contemplated in which the order of various operations is altered and in which sub-operations described as part of a larger operation are executed independently.

[0081] Embodiments of the present invention also disclose a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of the computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to execute the aforementioned arbitration method for the small bus multi-wire control driving mode.

[0082] Furthermore, although the present invention has been described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the functions and / or features described may be integrated in a single physical device and / or software module, or one or more functions and / or features may be implemented in separate physical devices or software modules. It should also be understood that a detailed discussion of the actual implementation of each module is not necessary for understanding the present invention. Rather, given the attributes, functions, and internal relationships of the various functional modules in the devices disclosed herein, the actual implementation of the modules will be understood within the ordinary skill of an engineer. Thus, those skilled in the art can implement the present invention as set forth in the claims without undue experimentation. It should also be understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0083] When the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs, Read-Only Memories), random access memories (RAMs, Random Access Memories), magnetic disks, or optical discs.

[0084] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in conjunction with these instruction execution systems, apparatuses, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0085] More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection part (electronic device) having one or more wirings, a portable computer disk cartridge (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, then editing, interpreting, or otherwise processing it as appropriate, and then storing it in a computer memory.

[0086] It should be understood that various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above embodiments, multiple 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, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0087] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0088] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

[0089] The above has specifically described the preferred embodiments of the present invention, but the present invention is not limited to the described embodiments. Those skilled in the art can also make various equivalent deformations or substitutions without departing from the spirit of the present invention, and these equivalent deformations or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A method for arbitrating multi-wire control driving modes of a minibus, characterized in that, it includes: According to the arbitration request of the multi-wire control driving mode of the minibus, obtain and identify the access multi-wire driving mode and the current driving mode, where the multi-wire driving mode and the current driving mode include at least one of proximal driving, remote driving, and autonomous driving; Establish a communication connection with the controller according to the multi-wire driving mode, and detect the communication state of the communication connection, where the communication state is one of a normal state and an abnormal state; Detect the activation state of the control unit of the controller in the normal state, and each controller includes at least one control unit; Determine the priority of the multi-wire driving mode according to the distance and danger level of the controller from the minibus, and determine the access driving mode according to the priority; Execute the driving mode switching protection of the minibus according to the previous driving mode of the minibus, the current driving mode, the access driving mode, the current vehicle speed, and the safety protection speed.

2. The method for arbitrating multi-wire control driving modes of a minibus according to claim 1, characterized in that, The according to the multi-wire driving mode includes: Wherein the autonomous driving includes path planning and driving control of the minibus according to the integrated environmental information and map information; Wherein the proximal driving includes proximal control of the minibus through proximal communication; Wherein the remote driving includes remote control of the minibus through remote communication.

3. The method for arbitrating multi-wire control driving modes of a minibus according to claim 1, characterized in that, The establishing a communication connection with the controller according to the multi-wire driving mode and detecting the communication state of the communication connection includes: When the multi-wire driving mode is autonomous driving, connect to the vehicle wire control arbitration through the controller; When the multi-wire driving mode is one of proximal driving or remote driving, send a handshake request to the controller, calculate the key according to the random seed returned by the controller, and send the key to the controller. When the key calculated by the controller is the same as the received key, the communication is in the normal state and a communication connection is established, otherwise it is in the abnormal state and the communication is refused.

4. The method for arbitrating multi-wire control driving modes of a minibus according to claim 3, characterized in that, The detecting the activation state of the control unit of the controller in the normal state includes: Obtain the first heartbeat value of all control units in the controller during communication at the previous moment, and compare it with the second heartbeat value collected at the current moment. If the first heartbeat value and the second heartbeat value are the same, the communication is normal, otherwise, the communication is abnormal.

5. The method for arbitrating multi-wire control driving modes of a minibus according to claim 1, characterized in that, The determining the priority of the multi-wire driving mode according to the distance and danger level of the controller from the minibus and determining the access driving mode according to the priority includes: Determine one of invalid, proximal driving, remote driving, and autonomous driving based on the distance and degree of danger between the controller and the minibus. Determine the priorities of invalid, proximal driving, remote driving, and autonomous driving according to the distance at which the driver takes over the minibus, and control the minibus according to the driving mode with the highest priority.

6. The arbitration method for multi-wire control driving modes of a minibus according to claim 5, characterized in that the execution of the driving mode switching protection of the minibus according to the previous driving mode, the current driving mode, the access driving mode, the current vehicle speed, and the safety protection speed of the minibus includes: When the current vehicle speed is 0, identify the priorities of the access driving modes, and select the access driving mode with the highest priority to control the minibus; When the current vehicle speed is greater than 0, obtain the previous driving mode and the access driving mode, and perform driving mode switching protection processing: if the priority of the previous driving mode is higher than that of the access driving mode, change the current driving mode to invalid and decelerate the minibus to a stop; if the priority of the previous driving mode is lower than that of the access driving mode, change the current driving mode to the access driving mode; When performing mode switching on the minibus, detect the current vehicle speed. If the current vehicle speed is greater than the safety protection speed, decelerate to the safety protection speed and then perform the driving mode switching.

7. The arbitration method for multi-wire control driving modes of a minibus according to claim 6, characterized in that the method further includes: Performing PID control processing on the deceleration of the minibus, including Among them, a(t) is the deceleration of the vehicle, e(t) is the speed error, and e(t) represents the difference between the expected speed and the current speed. K p , K i , K d are the proportional gain, integral gain, and derivative gain respectively. K p , K i , K d are the parameters for the error of the controller.

8. An arbitration device for multi-wire control driving modes of a minibus, characterized in that it includes: A first module for obtaining and identifying the access multi-wire driving mode and the current driving mode according to the arbitration request for the multi-wire control driving mode of the minibus, where the multi-wire driving mode and the current driving mode include at least one of proximal driving, remote driving, and autonomous driving; A second module for establishing a communication connection with the controller according to the multi-wire driving mode and detecting the communication state of the communication connection, where the communication state is one of a normal state and an abnormal state; A third module for detecting the activation state of the control unit of the controller in the normal state, and each controller includes at least one control unit; A fourth module for determining the priorities of the multi-wire driving modes according to the distance and degree of danger between the controller and the minibus, and determining the access driving mode according to the priorities; A fifth module for performing driving mode switching protection on the minibus according to the previous driving mode, the current driving mode, the access driving mode, the current vehicle speed, and the safety protection speed of the minibus.

9. An electronic device, characterized in that it includes a processor and a memory; The memory is used to store programs; The processor executes the program to implement the arbitration method for multi-wire control driving modes of a minibus according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that The storage medium stores a program, and the program is executed by a processor to implement the arbitration method for the multi-wire control driving mode of the minibus according to any one of claims 1-7.

Images