Vehicle control method and device, vehicle and storage medium

Abstract

The embodiment of the invention provides a vehicle control method and device, a vehicle and a storage medium, and the method comprises the steps: when the vehicle is in an automatic driving mode, if an exit signal of the automatic driving mode is detected when the vehicle steers, obtaining steering wheel angle information and / or driver state information of the vehicle; and determining whether to delay response to an exit signal of the automatic driving mode based on the steering wheel angle information and / or the driver state information. According to the embodiment of the invention, under the condition that the exit signal of the automatic driving mode is detected during steering, whether the automatic driving mode exits in a delayed manner is determined based on the state of the driver and / or the vehicle, so that danger caused by the fact that all the automatic driving modes exit during steering is avoided; and the transverse stability and safety of vehicles running on the curve are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous driving control, and particularly to a vehicle control method, a vehicle control device, a vehicle, and a computer-readable storage medium. Background Art

[0002] With the improvement of the driving automation level, the autonomous driving system can perform operations including but not limited to vehicle longitudinal and lateral motion control, target and event detection and response, and driving decision-making. As one of the key steps to achieve autonomous driving, the current lateral control technology in the field of autonomous driving mainly focuses on lane keeping, lane departure warning / correction, and automatic lane change control under the normal activation state of the driving assistance function. When exiting the autonomous driving system due to exceeding the set operating conditions or other reasons, the lateral control function will also fail, thus ignoring the collision risk brought to the vehicle by directly exiting the lateral control under the steering condition. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a vehicle control method, a vehicle control device, a vehicle, and a computer-readable storage medium that overcome the above problems or at least partially solve the above problems.

[0004] To solve the above problems, in the first aspect of the present invention, embodiments of the present invention disclose a vehicle control method, including:

[0005] When the vehicle is in the autonomous driving mode, if an exit signal of the autonomous driving mode is detected during vehicle steering, obtain the steering wheel angle information and / or driver state information of the vehicle;

[0006] Based on the steering wheel angle information and / or the driver state information, determine whether to delay the response to the exit signal of the autonomous driving mode.

[0007] Optionally, the determining whether to delay the response to the exit signal of the autonomous driving mode based on the steering wheel angle information and / or the driver state information includes:

[0008] Determine the lateral operation information according to the steering wheel angle information;

[0009] Determine the driver abnormality information according to the driver state information;

[0010] Based on the lateral operation information, and / or the steering wheel angle, and / or the driver abnormality information, determine whether to delay the response to the exit signal of the autonomous driving mode.

[0011] Optionally, the steering wheel angle information includes the steering wheel hand torque and the vehicle speed. Determining the lateral operation information based on the steering wheel angle information includes:

[0012] Determining a hand torque threshold corresponding to the vehicle speed;

[0013] When the steering wheel hand torque is less than the hand torque threshold, determining that the lateral operation information is a non-lateral overtaking operation state;

[0014] When the steering wheel hand torque is not less than the hand torque threshold, determining that the lateral operation information is a lateral overtaking operation state.

[0015] Optionally, the steering wheel angle information further includes the steering wheel angle. Determining whether to delay the response to the exit signal of the autonomous driving mode based on the lateral operation information, and / or the steering wheel angle, and / or the driver abnormal information includes:

[0016] When the steering wheel angle is greater than a preset angle threshold, and the lateral operation information is a non-lateral overtaking operation state, and the driver abnormal information is a fatigue driving state, delaying the response to the exit signal of the autonomous driving mode;

[0017] When the steering wheel angle is not greater than the preset angle threshold, or the lateral operation information is a lateral overtaking operation state, or the driver abnormal information is a normal driving state, immediately responding to the exit signal of the autonomous driving mode.

[0018] Optionally, when the steering wheel angle is greater than a preset angle threshold, and the lateral operation information is a non-lateral overtaking operation state, and the driver abnormal information is a fatigue driving state, delaying the response to the exit signal of the autonomous driving mode includes:

[0019] When the steering wheel angle is greater than a preset angle threshold, and the lateral operation information is a non-lateral overtaking operation state, and the driver abnormal information is a fatigue driving state, keeping the vehicle in the autonomous driving mode until the steering is completed, and then exiting the autonomous driving mode.

[0020] Optionally, when the steering wheel angle is not greater than the preset angle threshold, or the lateral operation information is a lateral overtaking operation state, or the driver abnormal information is a normal driving state, immediately responding to the exit signal of the autonomous driving mode includes:

[0021] When the steering wheel angle is not greater than the preset angle threshold, or the lateral operation information is a lateral overtaking operation state, or the driver abnormal information is a normal driving state, exiting the autonomous driving mode.

[0022] Optionally, the method further includes:

[0023] Obtaining a steering request direction;

[0024] When the steering wheel hand torque is not less than the hand torque threshold and the direction of the steering wheel hand torque is opposite to the steering request direction, determining a driver takeover instruction;

[0025] In response to the driver takeover instruction, exiting the autonomous driving mode.

[0026] In a second aspect of the present invention, a vehicle control device is disclosed, including:

[0027] A first acquisition module, configured to, when the vehicle is in the autonomous driving mode, if an exit signal of the autonomous driving mode is detected during vehicle steering, acquire the steering wheel angle information and / or driver state information of the vehicle;

[0028] A control module, configured to determine whether to delay responding to the exit signal of the autonomous driving mode based on the steering wheel angle information and / or the driver state information.

[0029] In a third aspect of the present invention, an embodiment of the present invention discloses a vehicle, including a processor, a memory, and a computer program stored on the memory and capable of running on the processor. When the computer program is executed by the processor, the vehicle control method described above is implemented.

[0030] In a fourth aspect of the present invention, an embodiment of the present invention discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the vehicle control method described above is implemented.

[0031] The embodiments of the present invention include the following advantages:

[0032] In the embodiments of the present invention, when the vehicle is in the autonomous driving mode, if an exit signal of the autonomous driving mode is detected during vehicle steering, the steering wheel angle information and / or driver state information of the vehicle are acquired; based on the steering wheel angle information and / or the driver state information, it is determined whether to delay responding to the exit signal of the autonomous driving mode. When an exit signal of the autonomous driving mode is detected during vehicle steering, the state of the vehicle is determined based on the steering wheel angle information, and / or the state of the driver is determined through the driver state information, the intervention situation of the autonomous driving mode during the current steering process is determined, and then it is determined whether to delay exiting the autonomous driving mode; the phenomenon of blindly exiting all autonomous driving functions during steering and causing danger is avoided, and the lateral stability and safety of the vehicle driving on a curve are ensured. Description of the Drawings

[0033] Figure 1 is a flowchart of the steps of an embodiment of a vehicle control method of the present invention;

[0034] Figure 2 is a flowchart of the steps of another embodiment of a vehicle control method of the present invention;

[0035] Figure 3 is a state machine schematic diagram of an example of a vehicle control method of the present invention;

[0036] Figure 4 is a flowchart of the steps of an example of a vehicle control method of the present invention;

[0037] Figure 5 is a structural block diagram of an embodiment of a vehicle control device of the present invention;

[0038] Figure 6 is a structural block diagram of a vehicle provided by an embodiment of the present invention;

[0039] Figure 7 is a structural block diagram of a storage medium provided by an embodiment of the present invention. Detailed Embodiments

[0040] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] Referring to Figure 1 , a flowchart of the steps of an embodiment of a vehicle lateral control method of the present invention is shown. The vehicle control may specifically include the following steps:

[0042] Step 101, when the vehicle is in the autonomous driving mode, if an exit signal for the autonomous driving mode is detected during a vehicle turn, obtain the steering wheel angle information and / or driver state information of the vehicle;

[0043] When the vehicle is in the autonomous driving mode, the vehicle is controlled by the autonomous driving system. During a vehicle turn, the driver can send an exit signal for the autonomous driving mode through a specific operation. The exit signal for the autonomous driving mode is used to indicate that the user needs to exit the current vehicle from the autonomous driving mode, so that the user takes over for driving. The autonomous driving mode means that the vehicle continuously and automatically executes all dynamic driving tasks (DDT) on behalf of the driver based on road or vehicle information under operating conditions (ODC), including but not limited to specific functions such as vehicle lateral and longitudinal motion control, target and event detection and response, and driving decision-making. The driver can send the exit signal by operating the corresponding switch, control, etc.

[0044] When a signal to exit the autonomous driving function is detected, the steering wheel angle information and / or driver status information of the vehicle can be obtained from sensors. These sensors include, but are not limited to, cameras inside and outside the vehicle, lidar, speed sensors, gyroscopes, etc. Specifically, the type of sensor can be determined according to actual needs.

[0045] Step 102: Based on the steering wheel angle information and / or the driver status information, determine whether to delay the response to the signal to exit the autonomous driving mode.

[0046] According to the steering wheel angle information and / or the driver status information, determine the current running condition of the vehicle and the intention of the user, determine whether there is a danger in exiting the autonomous driving mode currently, and then determine whether to delay the response to the signal to exit the autonomous driving mode. Delaying the response to the signal to exit the autonomous driving mode means that the steering control in the autonomous driving mode needs to be delayed to exit. After the signal to exit the autonomous driving mode is issued, the steering of the vehicle is still mainly controlled by the steering control in the autonomous driving mode. Responding immediately to the signal to exit the autonomous driving mode means that the steering control in the autonomous driving function can be immediately exited, and the steering control is taken over entirely by the driver.

[0047] In an embodiment of the present invention, when the vehicle is in the autonomous driving mode, if a signal to exit the autonomous driving mode is detected during vehicle steering, the steering wheel angle information and / or driver status information of the vehicle are obtained; based on the steering wheel angle information and / or the driver status information, determine whether to delay the response to the signal to exit the autonomous driving mode. In the case where a signal to exit the autonomous driving mode is detected during vehicle steering, determine the state of the vehicle based on the steering wheel angle information and / or determine the state of the driver through the driver status information, determine the intervention situation of the autonomous driving mode during the current steering process, and then determine whether to delay exiting the autonomous driving mode; avoid the phenomenon of blindly exiting all autonomous driving functions during steering, which may cause danger, and ensure the lateral stability and safety of the vehicle during cornering.

[0048] Refer to Figure 2 , which shows a flowchart of the steps of another embodiment of the vehicle lateral control method of the present invention. The vehicle lateral control specifically may include the following steps:

[0049] Step 201: When the vehicle is in the autonomous driving mode, if a signal to exit the autonomous driving mode is detected during vehicle steering, obtain the steering wheel angle information and / or driver status information of the vehicle;

[0050] When the vehicle is in the autonomous driving mode, if an exit signal for the autonomous driving mode is detected during a vehicle turn, the steering wheel angle information and / or driver state information can be obtained from sensors. The steering wheel angle information is used to characterize various state data of the steering wheel rotation when the vehicle is turning; the driver state information is used to characterize the driving behavior and mental state of the driver.

[0051] Step 202: Based on the steering wheel angle information and / or the driver state information, determine whether to delay the response to the exit signal of the autonomous driving mode;

[0052] The steering wheel angle information and / or driver state information can be used to determine whether it is necessary to delay the exit of the autonomous driving mode. The lateral control delay of the autonomous driving mode exit means that after the driver issues an exit signal for exiting the autonomous driving mode, the autonomous driving function regarding the lateral control part is retained to continue the steering control of the vehicle.

[0053] In an alternative embodiment of the present invention, the determining whether to delay the response to the exit signal of the autonomous driving mode based on the steering wheel angle information and / or the driver state information includes:

[0054] Sub-step S2021: Determine the lateral operation information according to the steering wheel angle information;

[0055] The steering wheel angle information can be analyzed to determine the operation information of the driver for lateral control, that is, the lateral operation information can characterize the lateral operation intention of the driver. Among them, the steering wheel angle information may include the steering wheel hand torque and the vehicle speed. The steering wheel hand torque refers to the torque generated by the driver when turning the steering wheel. The generation and magnitude of the steering wheel hand torque are affected by multiple factors: the greater the force applied by the driver to the steering wheel, the greater the usually generated torque. The force arm of the steering wheel hand torque is the perpendicular distance from the rotation axis (i.e., the center of rotation of the steering wheel) to the line of action of the force. In the case of the steering wheel, this distance is approximately equal to the distance from the driver's hand to the rotation axis of the steering wheel. The longer the force arm, the greater the torque generated by the same magnitude of force. Therefore, by adjusting the position of the hand on the steering wheel (i.e., changing the length of the force arm), the driver can change the force and effect required to turn the steering wheel. Also, the direction of the force has a decisive influence on the effect of the torque. Applying a clockwise or counterclockwise force on the steering wheel will produce a corresponding rotational effect.

[0056] Specifically, the determining the lateral operation information according to the steering wheel angle information includes: determining the hand torque threshold corresponding to the vehicle speed; when the steering wheel hand torque is less than the hand torque threshold, determining the lateral operation information as a non-lateral overtaking operation state.

[0057] First, the hand torque threshold corresponding to the current vehicle speed can be determined. The higher the vehicle speed, the larger the hand torque threshold. The relationship between the vehicle speed and the hand torque threshold can be determined in advance based on the performance of the vehicle to generate a corresponding relationship, and then the corresponding hand torque threshold can be determined by linear interpolation according to the vehicle speed. For example, the relationship between the vehicle speed and the hand torque threshold can be as follows:

[0058]

[0059] Table 1

[0060] The corresponding hand torque threshold can be determined based on the vehicle speed through the relationship in Table 1.

[0061] Then, the relationship between the current driver's steering wheel hand torque and the hand torque threshold can be identified. When it is detected that the steering wheel hand torque is less than the hand torque threshold, the lateral operation information is determined to be in a non-lateral overtaking operation state. When it is detected that the steering wheel hand torque is not less than the hand torque threshold, the lateral operation information is determined to be in a lateral overtaking operation state. Among them, the non-lateral overtaking operation state means that the driver has no intention of lateral overtaking operation. The lateral overtaking operation state means that the driver has an intention of lateral overtaking operation.

[0062] Furthermore, in order to avoid false detection, the lateral operation information can also be determined by detecting the duration, so that the lateral operation information can be determined more accurately. For example, if the steering wheel hand torque is greater than the hand torque threshold and the direction is opposite to the requested angle for 0.2 s, it is determined that the user has a lateral overtaking behavior; if the steering wheel hand torque is less than the hand torque threshold for 1 s, the user's lateral overtaking behavior terminates or does not exist.

[0063] Sub-step S2022, determining driver abnormal information according to the driver state information;

[0064] Based on the driver state information, such as the driver's expression, posture, etc., it can be detected whether the driver has abnormal driving behaviors such as fatigue and distraction, and the driver abnormal information is determined. Among them, the driver state information includes driver posture data. The driver posture data can represent the current state of the driver, expression, etc. The driver abnormal information represents that the current mental state of the driver cannot drive the vehicle safely and cannot take over the vehicle, and the driver is in an abnormal state.

[0065] Specifically, the determining the driver abnormal information according to the driver state information includes: when the driver posture data meets the preset driving fatigue posture, determining the driver abnormal information as the fatigue driving state.

[0066] It is possible to determine whether there is a situation that meets the preset driving fatigue posture by comparing the driver's posture data with the corresponding preset driving fatigue postures. When the driver's posture data meets the preset driving fatigue posture, corresponding feature codes can be output, so that the driver abnormal information can be determined as the fatigue driving state. Among them, the fatigue driving state is the state in which the driver drives the vehicle in a fatigued or distracted state. For example, when the driver's posture data meets the preset driving fatigue posture, the output of the corresponding feature codes can refer to Table 2:

[0067]

[0068] Table 2

[0069] Sub-step S2023, based on the lateral operation information, and / or the steering wheel angle, and / or the driver abnormal information, determine whether to delay the response to the exit signal of the autonomous driving mode.

[0070] Based on at least one of the lateral operation information, the steering wheel angle, and the driver abnormal information, identify whether it is necessary to delay the response to the exit signal of the autonomous driving mode, so as to delay the exit from the autonomous driving mode.

[0071] Specifically, the steering wheel angle information further includes the steering wheel angle. Determining whether to delay the response to the exit signal of the autonomous driving mode based on the lateral operation information, and / or the steering wheel angle, and / or the driver abnormal information includes:

[0072] In the case where the steering wheel angle is greater than the preset angle threshold, and the lateral operation information is in a non-lateral overtaking operation state, and the driver abnormal information is in a fatigue driving state, delay the response to the exit signal of the autonomous driving mode;

[0073] In the case where the steering wheel angle is not greater than the preset angle threshold, or the lateral operation information is in a lateral overtaking operation state, or the driver abnormal information is in a normal driving state, immediately respond to the exit signal of the autonomous driving mode.

[0074] When the steering wheel angle is greater than the preset angle threshold, the lateral operation information is in a non-lateral overtaking operation state, and the driver abnormal information is in a fatigue driving state, it indicates that it is necessary to delay exiting the lateral control at present, and the exit signal of the delayed response to the autonomous driving mode can be determined. Further, that is, when the steering wheel angle is greater than the preset angle threshold, the lateral operation information is in a non-lateral overtaking operation state, and the driver abnormal information is in a fatigue driving state, the vehicle is kept in the autonomous driving mode until the steering is completed. The control part in the autonomous driving mode continuously controls the steering of the vehicle until the vehicle completes the steering. By always maintaining the autonomous driving mode until after the steering is completed and then exiting, the situation of steering failure caused by the sudden exit of the autonomous driving mode is avoided.

[0075] When the steering wheel angle is not greater than the preset angle threshold, or the lateral operation information is in a lateral overtaking operation state, or the driver status information is in a normal driving state, there is no need to perform the operation of delaying the exit of the lateral control, and the exit signal of the autonomous driving mode can be immediately responded to. Immediately exit the steering control part in the autonomous driving function. That is, when the steering wheel angle is not greater than the preset angle threshold, or the lateral operation information is in a lateral overtaking operation state, or the driver abnormal information is in a normal driving state, exit the autonomous driving mode, and the user immediately takes over the vehicle and controls the vehicle.

[0076] Step 203, obtain the steering request direction;

[0077] The steering request direction is the direction in which the user turns the steering wheel during steering, and the direction of turning the steering wheel can be left or right. It can be identified and obtained through sensors.

[0078] Step 204, determine the driver takeover command when the steering wheel hand torque is not less than the hand torque threshold and the direction of the steering wheel hand torque is opposite to the steering request direction;

[0079] When the steering wheel hand torque is not less than the hand torque threshold and the direction of the steering wheel hand torque is opposite to the steering request direction, it is required that the current user needs to overtake the vehicle laterally. At this time, the driver takeover command can be determined, and the driver takeover command is used to represent that the user needs to fully take over the vehicle.

[0080] Step 205, in response to the driver takeover command, exit the autonomous driving mode.

[0081] The autonomous driving mode can be exited in response to the driver takeover command. By executing the driver takeover command, the driver takes over the vehicle and performs relevant control on the vehicle.

[0082] In an embodiment of the present invention, when the vehicle is in the autonomous driving mode, if an exit signal of the autonomous driving mode is detected during vehicle steering, the steering wheel angle information and / or driver status information of the vehicle are obtained; based on the steering wheel angle information and / or the driver status information, it is determined whether to delay the response to the exit signal of the autonomous driving mode; the steering request direction is obtained; when the steering wheel hand torque is not less than the hand torque threshold and the direction of the steering wheel hand torque is opposite to the steering request direction, a driver takeover instruction is determined; in response to the driver takeover instruction, the autonomous driving mode is exited. When an exit signal of the autonomous driving mode is detected during steering in the autonomous driving mode, the states of the driver and the vehicle are determined based on the steering wheel angle information and the driver status information, the intervention of the autonomous driving function during the current steering process is determined, and it is determined whether to delay exiting the automatic timing mode, so that the autonomous driving mode can continue to be the main mode during steering, and the vehicle can be automatically controlled to steer until the vehicle completes the steering, or the driver can take over the vehicle when the driver can take over, avoiding the phenomenon of blindly exiting the autonomous driving mode during vehicle steering and causing danger, thereby preventing the control function of the autonomous driving mode in the curve from exiting and the steering wheel quickly returning to the center, resulting in the vehicle rushing out of the lane; and in the case where the vehicle itself is already at risk of collision, using the lateral control delay to exit can effectively reduce the risk and ensure the lateral stability and safety of the vehicle driving in the curve. Moreover, the autonomous driving mode can be completely exited immediately after the steering is completed, meeting the driver's needs, avoiding the phenomenon of the autonomous driving function competing with the driver's behavior for control, thereby improving the user experience and further enhancing the driving safety.

[0083] In order to enable those skilled in the art to clearly understand the implementation process of the embodiments of the present invention, the following is illustrated with an example: reference can be made to Figure 3 to determine the state machine of this example.

[0084] Step 301, real-time detection; it is determined whether the vehicle is steering by continuously detecting the steering wheel angle, steering control signal, etc.

[0085] Step 302, standby; when no steering is detected, the vehicle is kept in the standby state and real-time detection is continuously performed until vehicle steering is detected.

[0086] Step 303, activation state; activation processing is performed when an exit signal of the autonomous driving function is received.

[0087] Step 304, current state; determine the current state of the vehicle.

[0088] Step 305, Lateral overtaking and longitudinal overtaking; determine the situations of lateral overtaking and longitudinal overtaking based on vehicle state information and driver state information in the normal activation state, and determine the automatic driving exit state information based on vehicle state information and driver state information.

[0089] Step 306, Lateral control slow retreat state; based on the specific state in the automatic driving exit state information, when the automatic driving exit state information is a delayed exit state, it can be determined that the vehicle is in the lateral control slow retreat state and needs to delay exiting the automatic driving.

[0090] Step 307, Execution, execute the lateral slow retreat function. Control the vehicle to continue to perform steering control on the vehicle mainly with the automatic driving function.

[0091] Specific execution process can refer to Figure 4 . Step 401, Start; start to determine whether to execute the steering slow retreat when the vehicle is steering.

[0092] Step 402, It can be judged whether there are conditions that cause the automatic driving system to exit. If satisfied, continue to the next step; otherwise, re-detect.

[0093] Step 403, Receive the steering wheel angle signal requested by the system when the automatic driving system exits, and judge whether the current steering wheel angle exceeds 15°. If satisfied, continue to the next step; otherwise, end.

[0094] Step 404, Receive the current vehicle speed signal and the steering wheel hand torque signal, and judge whether there is a user's lateral overtaking behavior currently. If not satisfied, continue to the next step; if satisfied, end.

[0095] Step 405, Judge whether the current driver is in a fatigued / distracted state. If satisfied, continue to the next step; otherwise, end.

[0096] Step 406, When all three are satisfied, execute the lateral control slow retreat process: the system continuously requests lateral control to ensure that the vehicle travels within the lane until passing through the curve. After achieving this goal, the task can be ended and the function can be exited. When any condition is not satisfied, the user takes over, the lateral control slow retreat process is aborted, and the system exits.

[0097] Step 407, During the lateral slow retreat process, continuously judge whether there is a user's lateral overtaking.

[0098] Step 408, If there is a lateral overtaking behavior, the user takes over, the lateral control slow retreat process is aborted, and the system exits.

[0099] Step 409, If there is no lateral overtaking behavior, the lateral control slow retreat process continues until the task is completed and exited.

[0100] Step 410, end.

[0101] It should be noted that, for the method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the embodiments of the present invention are not limited by the described action sequences, because according to the embodiments of the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential for the embodiments of the present invention.

[0102] Referring to Figure 5 , a structural block diagram of an embodiment of a vehicle control device according to the present invention is shown. The vehicle lateral control device may specifically include the following modules:

[0103] The first acquisition module 501 is configured to, when the vehicle is in the autonomous driving mode, if an exit signal of the autonomous driving mode is detected during vehicle steering, acquire the steering wheel angle information and / or driver state information of the vehicle;

[0104] The control module 502 is configured to determine whether to delay the response to the exit signal of the autonomous driving mode based on the steering wheel angle information and / or the driver state information.

[0105] In an alternative embodiment of the present invention, the control module 502 includes:

[0106] The first determination sub-module is configured to determine the lateral operation information according to the steering wheel angle information;

[0107] The second determination sub-module is configured to determine the driver abnormality information according to the driver state information;

[0108] The control sub-module is configured to determine whether to delay the response to the exit signal of the autonomous driving mode based on the lateral operation information, and / or the steering wheel angle, and / or the driver abnormality information.

[0109] In an alternative embodiment of the present invention, the steering wheel angle information includes the steering wheel hand torque and the vehicle speed, and the first determination sub-module includes:

[0110] The first determination unit is configured to determine the hand torque threshold corresponding to the vehicle speed;

[0111] The second determination unit is configured to determine that the lateral operation information is a non-lateral overtaking operation state when the steering wheel hand torque is less than the hand torque threshold;

[0112] The third determination unit is configured to determine that the lateral operation information is a lateral overtaking operation state when the steering wheel hand torque is not less than the hand torque threshold.

[0113] In an alternative embodiment of the present invention, the steering wheel angle information further includes the steering wheel angle, and the control sub-module includes:

[0114] A first control unit, configured to delay responding to the exit signal of the autonomous driving mode when the steering wheel angle is greater than a preset angle threshold, the lateral operation information is in a non-lateral overtaking operation state, and the driver abnormal information is in a fatigued driving state;

[0115] A second control unit, configured to immediately respond to the exit signal of the autonomous driving mode when the steering wheel angle is not greater than the preset angle threshold, or the lateral operation information is in a lateral overtaking operation state, or the driver abnormal information is in a normal driving state.

[0116] In an alternative embodiment of the present invention, the first control unit includes:

[0117] A first control sub-unit, configured to keep the vehicle in the autonomous driving mode until the steering is completed and then exit the autonomous driving mode when the steering wheel angle is greater than the preset angle threshold, the lateral operation information is in a non-lateral overtaking operation state, and the driver abnormal information is in a fatigued driving state.

[0118] In an alternative embodiment of the present invention, the second control unit includes:

[0119] A second control sub-unit, configured to exit the autonomous driving mode when the steering wheel angle is not greater than the preset angle threshold, or the lateral operation information is in a lateral overtaking operation state, or the driver abnormal information is in a normal driving state.

[0120] In an alternative embodiment of the present invention, the device further includes:

[0121] A second acquisition module, configured to acquire the steering request direction;

[0122] An instruction generation module, configured to determine a driver takeover instruction when the steering wheel hand torque is not less than the hand torque threshold and the direction of the steering wheel hand torque is opposite to the steering request direction;

[0123] An exit module, configured to exit the autonomous driving mode in response to the driver takeover instruction.

[0124] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple. For related parts, please refer to the partial description of the method embodiment.

[0125] Refer to Figure 6, an embodiment of the present invention further provides a vehicle, including:

[0126] a processor 601 and a storage medium 602, where the storage medium 602 stores a computer program executable by the processor 601. When the vehicle is running, the processor 601 executes the computer program to implement the vehicle control method according to any one of the embodiments of the present invention. The vehicle control method includes:

[0127] When the vehicle is in the autonomous driving mode, if an exit signal of the autonomous driving mode is detected during vehicle steering, obtain the steering wheel angle information and / or driver status information of the vehicle;

[0128] Based on the steering wheel angle information and / or the driver status information, determine whether to delay responding to the exit signal of the autonomous driving mode.

[0129] Optionally, the determining whether to delay responding to the exit signal of the autonomous driving mode based on the steering wheel angle information and / or the driver status information includes:

[0130] Determine the lateral operation information according to the steering wheel angle information;

[0131] Determine the driver abnormality information according to the driver status information;

[0132] Based on the lateral operation information, and / or the steering wheel angle, and / or the driver abnormality information, determine whether to delay responding to the exit signal of the autonomous driving mode.

[0133] Optionally, the steering wheel angle information includes the steering wheel hand torque and the vehicle speed. The determining the lateral operation information according to the steering wheel angle information includes:

[0134] Determine the hand torque threshold corresponding to the vehicle speed;

[0135] When the steering wheel hand torque is less than the hand torque threshold, determine that the lateral operation information is a non-lateral overtaking operation state;

[0136] When the steering wheel hand torque is not less than the hand torque threshold, determine that the lateral operation information is a lateral overtaking operation state.

[0137] Optionally, the steering wheel angle information further includes the steering wheel angle. The determining whether to delay responding to the exit signal of the autonomous driving mode based on the lateral operation information, and / or the steering wheel angle, and / or the driver abnormality information includes:

[0138] When the steering wheel angle is greater than a preset angle threshold, and the lateral operation information is in a non-lateral overtaking operation state, and the driver abnormal information is in a fatigued driving state, the exit signal of the automatic driving mode is delayed in response.

[0139] When the steering wheel angle is not greater than the preset angle threshold, or the lateral operation information is in a lateral overtaking operation state, or the driver abnormal information is in a normal driving state, the exit signal of the automatic driving mode is immediately responded to.

[0140] Optionally, the delaying the response to the exit signal of the automatic driving mode when the steering wheel angle is greater than the preset angle threshold, and the lateral operation information is in a non-lateral overtaking operation state, and the driver abnormal information is in a fatigued driving state includes:

[0141] When the steering wheel angle is greater than the preset angle threshold, and the lateral operation information is in a non-lateral overtaking operation state, and the driver abnormal information is in a fatigued driving state, keep the vehicle in the automatic driving mode until the steering is completed, and then exit the automatic driving mode.

[0142] Optionally, the immediately responding to the exit signal of the automatic driving mode when the steering wheel angle is not greater than the preset angle threshold, or the lateral operation information is in a lateral overtaking operation state, or the driver abnormal information is in a normal driving state includes:

[0143] When the steering wheel angle is not greater than the preset angle threshold, or the lateral operation information is in a lateral overtaking operation state, or the driver abnormal information is in a normal driving state, exit the automatic driving mode.

[0144] Optionally, the method further includes:

[0145] Obtain the steering request direction;

[0146] When the steering wheel hand torque is not less than the hand torque threshold and the direction of the steering wheel hand torque is opposite to the steering request direction, determine the driver takeover instruction;

[0147] In response to the driver takeover instruction, exit the automatic driving mode.

[0148] Among them, the memory may include a random access memory (Random Access Memory, abbreviated as RAM), and may also include a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the aforementioned processor.

[0149] The above-mentioned processor may be a general-purpose processor, including a Central Processing Unit (CPU for short), a Network Processor (NP for short), etc.; it may also be a Digital Signal Processor (DSP for short), an Application Specific Integrated Circuit (ASIC for short), a Field-Programmable Gate Array (FPGA for short), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0150] Referring to Figure 7 , an embodiment of the present invention also provides a computer-readable storage medium 701. A computer program is stored on the storage medium 701. When the computer program is run by a processor, it executes the vehicle control method as described in any one of the embodiments of the present invention. The vehicle control method includes:

[0151] When the vehicle is in the autonomous driving mode, if an exit signal of the autonomous driving mode is detected during the vehicle's steering, obtain the steering wheel angle information and / or driver status information of the vehicle;

[0152] Based on the steering wheel angle information and / or the driver status information, determine whether to delay responding to the exit signal of the autonomous driving mode.

[0153] Optionally, the determining whether to delay responding to the exit signal of the autonomous driving mode based on the steering wheel angle information and / or the driver status information includes:

[0154] Determine the lateral operation information according to the steering wheel angle information;

[0155] Determine the driver abnormality information according to the driver status information;

[0156] Based on the lateral operation information, and / or the steering wheel angle, and / or the driver abnormality information, determine whether to delay responding to the exit signal of the autonomous driving mode.

[0157] Optionally, the steering wheel angle information includes the steering wheel hand torque and the vehicle speed. The determining the lateral operation information according to the steering wheel angle information includes:

[0158] Determine the hand torque threshold corresponding to the vehicle speed;

[0159] When the steering wheel hand torque is less than the hand torque threshold, determine that the lateral operation information is a non-lateral overtaking operation state;

[0160] When the steering wheel hand torque is not less than the hand torque threshold, determine that the lateral operation information is in a lateral overtaking operation state.

[0161] Optionally, the steering wheel angle information further includes the steering wheel angle. Determining whether to delay the response to the exit signal of the automatic driving mode based on the lateral operation information, and / or the steering wheel angle, and / or the driver abnormal information includes:

[0162] When the steering wheel angle is greater than a preset angle threshold, and the lateral operation information is in a non-lateral overtaking operation state, and the driver abnormal information is in a fatigued driving state, delay the response to the exit signal of the automatic driving mode;

[0163] When the steering wheel angle is not greater than the preset angle threshold, or the lateral operation information is in a lateral overtaking operation state, or the driver abnormal information is in a normal driving state, immediately respond to the exit signal of the automatic driving mode.

[0164] Optionally, when the steering wheel angle is greater than a preset angle threshold, and the lateral operation information is in a non-lateral overtaking operation state, and the driver abnormal information is in a fatigued driving state, delaying the response to the exit signal of the automatic driving mode includes:

[0165] When the steering wheel angle is greater than a preset angle threshold, and the lateral operation information is in a non-lateral overtaking operation state, and the driver abnormal information is in a fatigued driving state, keep the vehicle in the automatic driving mode until the steering is completed, and then exit the automatic driving mode.

[0166] Optionally, when the steering wheel angle is not greater than the preset angle threshold, or the lateral operation information is in a lateral overtaking operation state, or the driver abnormal information is in a normal driving state, immediately responding to the exit signal of the automatic driving mode includes:

[0167] When the steering wheel angle is not greater than the preset angle threshold, or the lateral operation information is in a lateral overtaking operation state, or the driver abnormal information is in a normal driving state, exit the automatic driving mode.

[0168] Optionally, the method further includes:

[0169] Obtain the steering request direction;

[0170] When the steering wheel hand torque is not less than the hand torque threshold and the direction of the steering wheel hand torque is opposite to the steering request direction, determine the driver takeover command;

[0171] In response to the driver takeover instruction, exit the autonomous driving mode.

[0172] Each embodiment in this specification is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other.

[0173] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a device, or a computer program product. Therefore, the embodiments of the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0174] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the flows and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal devices generate a device for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0175] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured product including an instruction device, and the instruction device implements the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0176] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, so that a series of operation steps are executed on the computer or other programmable terminal device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable terminal device provide steps for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0177] Although the preferred embodiments of the embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0178] Finally, it should also be noted that in this text, 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 such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising the element.

[0179] The above has introduced in detail a vehicle control method, a vehicle control device, a vehicle and a computer-readable storage medium provided by the present invention. Specific examples are used in this text to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A vehicle control method, characterized in that, Including: When the vehicle is in the autonomous driving mode, if an exit signal of the autonomous driving mode is detected during the vehicle's turning, obtain the steering wheel angle information and / or driver status information of the vehicle; Based on the steering wheel angle information and / or the driver status information, determine whether to delay responding to the exit signal of the autonomous driving mode.

2. The method according to claim 1, wherein The determining whether to delay responding to the exit signal of the autonomous driving mode based on the steering wheel angle information and / or the driver status information includes: Determine the lateral operation information according to the steering wheel angle information; Determine the driver abnormality information according to the driver status information; Based on the lateral operation information, and / or the steering wheel angle, and / or the driver abnormality information, determine whether to delay responding to the exit signal of the autonomous driving mode.

3. The method according to claim 2, wherein The steering wheel angle information includes the steering wheel hand torque and the vehicle speed. The determining the lateral operation information according to the steering wheel angle information includes: Determine the hand torque threshold corresponding to the vehicle speed; When the steering wheel hand torque is less than the hand torque threshold, determine that the lateral operation information is a non-lateral overtaking operation state; When the steering wheel hand torque is not less than the hand torque threshold, determine that the lateral operation information is a lateral overtaking operation state.

4. The method according to claim 3, wherein The steering wheel angle information further includes the steering wheel angle. The determining whether to delay responding to the exit signal of the autonomous driving mode based on the lateral operation information, and / or the steering wheel angle, and / or the driver abnormality information includes: When the steering wheel angle is greater than a preset angle threshold, and the lateral operation information is a non-lateral overtaking operation state, and the driver abnormality information is a fatigued driving state, delay responding to the exit signal of the autonomous driving mode; When the steering wheel angle is not greater than the preset angle threshold, or the lateral operation information is a lateral overtaking operation state, or the driver abnormality information is a normal driving state, immediately respond to the exit signal of the autonomous driving mode.

5. The method according to claim 3, characterized in that, The delaying responding to the exit signal of the autonomous driving mode when the steering wheel angle is greater than a preset angle threshold, and the lateral operation information is a non-lateral overtaking operation state, and the driver abnormality information is a fatigued driving state includes: When the steering wheel angle is greater than a preset angle threshold, and the lateral operation information is a non-lateral overtaking operation state, and the driver abnormality information is a fatigued driving state, keep the vehicle in the autonomous driving mode until the turning is completed, and then exit the autonomous driving mode.

6. The method according to claim 3, wherein The immediately responding to the exit signal of the autonomous driving mode when the steering wheel angle is not greater than the preset angle threshold, or the lateral operation information is a lateral overtaking operation state, or the driver abnormality information is a normal driving state includes: When the steering wheel angle is not greater than the preset angle threshold, or the lateral operation information is a lateral overtaking operation state, or the driver abnormality information is a normal driving state, exit the autonomous driving mode.

7. The method according to claim 3, characterized in that, The method further includes: Obtain the steering request direction; When the steering wheel hand torque is not less than the hand torque threshold and the direction of the steering wheel hand torque is opposite to the steering request direction, a driver takeover command is determined. In response to the driver takeover command, the autonomous driving mode is exited.

8. A vehicle control device, characterized in that, It includes: A first acquisition module, configured to, when the vehicle is in the autonomous driving mode, if an exit signal of the autonomous driving mode is detected during vehicle steering, acquire the steering wheel angle information and / or driver status information of the vehicle. A control module, configured to determine whether to delay the response to the exit signal of the autonomous driving mode based on the steering wheel angle information and / or the driver status information.

9. A vehicle, characterized in that, It includes a processor, a memory, and a computer program stored on the memory and capable of running on the processor. When the computer program is executed by the processor, the steps of the vehicle control method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium. When the computer program is executed by the processor, the steps of the vehicle control method according to any one of claims 1 to 7 are implemented.

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