Redundant man-machine interaction system and method for automatic driving vehicle

Abstract

The invention relates to a redundant man-machine interaction system and method of an automatic driving vehicle, and relates to the technical field of automatic driving, the system comprises a main intelligent driving controller and an auxiliary intelligent driving controller; the cabin controller is connected with the main intelligent driving controller and the auxiliary intelligent driving controller through a first communication link; the vehicle body controller is connected with the main intelligent driving controller and the auxiliary intelligent driving controller through a second communication link; the first display device is connected with the cabin controller; the second display device is connected with the vehicle body controller; wherein the main intelligent driving controller or the auxiliary intelligent driving controller is used for sending interaction requests to the cabin controller and the vehicle body controller, the cabin controller is used for controlling the first display device to display interaction information, and the vehicle body controller is used for controlling the second display device to display interaction information. According to the invention, the problem of interactive display failure caused by a single-point fault is solved, and the safety of automatic driving is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous driving, and particularly to a redundant human-machine interaction system and method for an autonomous vehicle. Background Art

[0002] Compared with the L2-level assisted driving system, the L3-level autonomous driving technology has made significant progress and can completely control the vehicle under specific conditions. To ensure safety, the L3 autonomous driving system is usually equipped with redundant key components such as intelligent driving controllers, steering controllers, and braking controllers. When the system needs to exit the autonomous driving mode, the driver needs to take over the vehicle control in a timely manner. Currently, the L3 autonomous driving system usually sends takeover requests and other important information to the driver through a human-machine interaction interface.

[0003] However, during the operation of an autonomous vehicle, the human-machine interaction interface may fail due to software failures, communication interruptions, etc., resulting in the inability to timely transmit key information such as takeover requests to the driver. Especially in the L3 autonomous driving mode, if the interactive display system fails and the driver cannot take over the vehicle in a timely manner, it may pose a safety hazard. In addition, the existing interaction systems often rely on a single display device and controller, presenting a single-point failure risk. These problems not only affect the reliability and safety of the autonomous driving system but may also lead to disputes over accident liability. Therefore, it is necessary to develop a more reliable redundant human-machine interaction system to improve the overall safety of L3 autonomous vehicles. Summary of the Invention

[0004] In view of the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide a redundant human-machine interaction system and method for an autonomous vehicle. By means of the redundant interaction system, the problem of interactive display failure caused by single-point failure is solved, and the safety of L3 autonomous driving is improved.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions.

[0006] In a first aspect, the redundant human-machine interaction system for an autonomous vehicle provided by the present invention adopts the following technical solutions: A main intelligent driving controller and a secondary intelligent driving controller; A cockpit controller connected to the main intelligent driving controller and the secondary intelligent driving controller through a first communication link; A body controller connected to the main intelligent driving controller and the secondary intelligent driving controller through a second communication link; A first display device connected to the cockpit controller; and A second display device connected to the body controller; Among them, the main intelligent driving controller or the auxiliary intelligent driving controller is used to send an interaction request to the cockpit controller and the body controller. The cockpit controller is used to control the first display device to display interaction information, and the body controller is used to control the second display device to display interaction information.

[0007] In a possible implementation manner, the first display device is an instrument panel screen, and the second display device is a steering wheel light strip.

[0008] In a possible implementation manner, the instrument panel screen is connected to the cockpit controller through an LVDS interface, and the steering wheel light strip is connected to the body controller through a LIN bus.

[0009] In a possible implementation manner, the interaction information includes the status of the automatic driving system, a takeover request, and warning information.

[0010] In a possible implementation manner, the steering wheel light strip displays different interaction information through different colors, and the instrument panel screen displays different interaction information through status lights and text prompts.

[0011] In a second aspect, a redundant human-machine interaction method for an autonomous vehicle provided by the present invention is applied to the system according to any one of the above first aspects, and adopts the following technical solutions: Judge whether the main intelligent driving controller is running normally; If the main intelligent driving controller is running normally, the main intelligent driving controller is used to implement vehicle control and interactive display control. Otherwise, the auxiliary intelligent driving controller is used to implement vehicle control and interactive display control; Send the interaction request to the cockpit controller through the first communication link and send it to the body controller through the second communication link; Control the first display device to display interaction information and control the second display device to display interaction information.

[0012] In a possible implementation manner, the first display device is an instrument panel screen, and the second display device is a steering wheel light strip; the interaction information includes the status of the automatic driving system, a takeover request, and warning information. The steering wheel light strip displays different interaction information through different colors, and the instrument panel screen displays different interaction information through status lights and text prompts.

[0013] In a possible implementation manner, the method further includes: Real-time diagnose the operating status of the intelligent driving control system and the interaction system; When a fault of a non-main intelligent driving controller is detected, maintain the control right of the main intelligent driving controller and send a takeover request; When a fault of the main intelligent driving controller is detected, transfer the control right to the auxiliary intelligent driving controller and send a takeover request.

[0014] In a possible implementation manner, the takeover request includes simultaneously displaying a takeover prompt message through the first display device and the second display device, and the takeover prompt message at least includes a non-activated state, an activated state, and a state requesting the driver to take over.

[0015] In a third aspect, an electronic device provided by the present invention adopts the following technical solution: At least one processor; and at least one memory communicatively connected to the processor, wherein: the memory stores program instructions executable by the processor, and the processor can execute the redundant human-machine interaction method for an autonomous driving vehicle as described in any one of the second aspects above by invoking the program instructions.

[0016] In a fourth aspect, a readable storage medium provided by the present invention adopts the following technical solution: A readable storage medium stores computer instructions, and when the computer instructions are executed by a processor, the redundant human-machine interaction method for an autonomous driving vehicle as described in any one of the second aspects above is implemented.

[0017] In summary, compared with the prior art, the present invention includes at least one of the following beneficial technical effects: By adding an interactive display control link, an interactive display controller, and an interactive display device to the primary and secondary intelligent driving controllers, the problem that interactive display cannot be triggered when a single controller or a single link fails in the traditional architecture is solved; the interactive system of the present invention only needs to arbitrate and judge whether the primary intelligent driving controller fails and then switch to the secondary controller for control, and the control links, corresponding controllers, and interactive execution units of the two-way interactive display system are not coupled. Therefore, when a certain link of the two-way interactive display system fails, it does not affect the normal interaction of the other party, and there is no need for arbitration and switching, and the system complexity is low and it is easy to implement; the present invention can ensure that when the L3 system requests the driver to take over the vehicle, the driver can obtain the takeover request information, prevent the L3 system from continuously running within the non-operating condition range, reduce the safety risk, and clarify the responsibility determination between the autonomous driving system and the driver during the L3 autonomous driving process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application, and those skilled in the art can obtain other drawings without creative efforts based on these drawings.

[0019] Figure 1 It is a schematic structural diagram of a specific embodiment of the redundant human-machine interaction system for an autonomous driving vehicle of the present invention.

[0020] Figure 2 It is a flowchart of a specific embodiment of the redundant human - machine interaction method for an autonomous driving vehicle of the present invention. Specific Embodiments

[0021] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application. In addition, it should be understood that the specific embodiments described herein are only for the purpose of illustrating and explaining the present application, and are not used to limit the present application.

[0022] It should be noted that the description order of the following embodiments does not limit the preferred order of the embodiments of the present application. And in the following embodiments, each embodiment has its own emphasis. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0023] For the method steps described in the embodiments of the present invention, their execution order can be the order described in the specific embodiments, or can be adjusted according to actual needs on the premise of being able to solve the technical problems. The execution orders are not listed one by one here.

[0024] Referring to Figure 1 , an embodiment of the present invention provides a redundant human - machine interaction system for an autonomous driving vehicle, which includes a main intelligent driving controller and a secondary intelligent driving controller. The system further includes a cockpit controller, which is connected to the main intelligent driving controller and the secondary intelligent driving controller through a first communication link. In some embodiments, the first communication link is a CAN1 bus. The system also includes a body controller, which is connected to the main intelligent driving controller and the secondary intelligent driving controller through a second communication link. In some embodiments, the second communication link is a CAN2 bus.

[0025] The human - machine interaction system further includes a first display device, which is connected to the cockpit controller. A second display device is connected to the body controller. The main intelligent driving controller or the secondary intelligent driving controller sends an interaction request to the cockpit controller and the body controller. The cockpit controller controls the first display device to display interaction information. The body controller controls the second display device to display interaction information.

[0026] In some embodiments, the first display device is an instrument panel, and the second display device is a steering wheel light strip. The instrument panel is connected to the cockpit controller through an LVDS interface, and the steering wheel light strip is connected to the body controller through a LIN bus. The interaction information includes the status of the autonomous driving system, takeover requests, and warning information. The steering wheel light strip displays different interaction information in different colors, and the instrument panel displays different interaction information through status lights and text prompts.

[0027] In some other embodiments, the redundant human-machine interaction system may need to support more complex interaction forms to meet different driving scenarios and user needs. To this end, the second display device can be set as other redundant interaction display devices and LIN links to provide a richer and more flexible interaction experience.

[0028] Exemplarily, the upgraded second display device can be set as the following interaction display devices.

[0029] A head-up display (HUD) can directly project key information, such as vehicle speed, navigation instructions, and warning information, within the driver's line of sight. The HUD can be connected to the cockpit controller through an LVDS or HDMI interface to provide high-definition image display.

[0030] The center console screen, as the main interaction interface, can display more detailed system status, map information, and multimedia content, etc. The center console screen can adopt a high-resolution touch screen and be connected to the cockpit controller through an Ethernet or PCIe interface, supporting complex graphics rendering and fast response.

[0031] A configurable digital instrument cluster, compared with a traditional instrument panel, can dynamically adjust the display content and layout according to different driving modes and user preferences. Such an instrument cluster can be connected to the cockpit controller through a high-speed interface such as LVDS or eDP.

[0032] A steering wheel multi-function display screen. In addition to the LED light strip, a small OLED display screen can be integrated on the steering wheel to display richer information and interaction options. Such a display screen can communicate with the body controller through a CAN or FlexRay bus.

[0033] Ambient lighting. The ambient lighting in the vehicle can be used as an auxiliary display device to transmit system status and warning information through color changes and light effects. The ambient lighting system can be connected to the body controller through an upgraded LIN bus or CAN-FD bus to achieve more precise control.

[0034] Based on any of the above embodiments, the redundant human-machine interaction system improves the reliability of the interaction system through two independent display devices and control links. Even if one of the links or display devices fails, the other link can still ensure the normal display of interaction information, ensuring that the driver can obtain key information such as the status of the autonomous driving system and takeover requests in a timely manner.

[0035] In some embodiments, the first display device is an instrument panel screen, and the second display device is a steering wheel light strip. The instrument panel screen is located on the instrument panel directly in front of the driver and is used to display conventional driving information such as vehicle speed and engine speed, as well as interaction information such as the status of the autonomous driving system and takeover requests. The steering wheel light strip is installed on the steering wheel and displays interaction information through lights of different colors.

[0036] The steering wheel light strip can be installed on the outer circle of the steering wheel or near the multifunctional buttons. When installed on the outer circle, the light strip surrounds the entire steering wheel, facilitating the driver to observe the light information in any gripping position. When installed near the multifunctional buttons, the light strip is within the driver's line of sight and does not affect normal driving operations.

[0037] The instrument panel screen and the steering wheel light strip, as two independent display devices, are respectively controlled by the cockpit controller and the body controller. This redundant design improves the reliability of the interaction system. Even if one of the display devices or controllers fails, the other can still work normally, ensuring that the driver can obtain key information such as the status of the autonomous driving system and takeover requests in a timely manner.

[0038] In some embodiments, the instrument panel screen is connected to the cockpit controller through an LVDS (Low Voltage Differential Signaling) interface. LVDS is a high-speed digital interface technology with the characteristics of low power consumption, low electromagnetic interference, and high data transmission rate. Through the LVDS interface, the cockpit controller can send high-quality image and video signals to the instrument panel screen to achieve rich display of interaction information.

[0039] The steering wheel light strip is connected to the body controller through a LIN (Local Interconnect Network) bus. The LIN bus is a low-cost, low-speed serial communication protocol suitable for simple control applications inside the vehicle. Through the LIN bus, the body controller can precisely control the on / off and color change of the steering wheel light strip to achieve the display of different interaction information.

[0040] Refer to Figure 1, The instrument panel is connected to the cockpit controller through the LVDS interface, and the steering wheel light strip is connected to the body controller through the LIN bus. This connection method enables the two display devices to be independently controlled by different controllers, forming a redundant interactive display system. Even if one of the connection links or controllers fails, the other link can still ensure the normal display of interactive information, improving the reliability of the system.

[0041] The selection of the LVDS interface and the LIN bus takes into account the characteristics and requirements of different display devices. The instrument panel needs to display complex graphics and text information, so a high-bandwidth LVDS interface is selected. The steering wheel light strip mainly displays simple color information, and the low-cost and easy-to-implement LIN bus can meet the requirements. This design not only ensures the realization of functions but also takes into account cost control.

[0042] In some embodiments, the interactive information includes the status of the autonomous driving system, takeover requests, and warning messages. The status of the autonomous driving system reflects the current operating conditions of the autonomous driving function, such as whether it is activated, the current operating mode, etc. The takeover request is used to prompt the driver when the driver needs to take over the vehicle control. The warning message is used to prompt the driver to pay attention to potential dangerous situations or system abnormalities.

[0043] The status information of the autonomous driving system includes whether the system is activated, the current operating mode (such as highway mode, urban road mode, etc.), system function limitations, etc. This information helps the driver understand the working status of the autonomous driving system so as to make corresponding driving decisions.

[0044] The takeover request information is sent when the autonomous driving system is about to exit or encounters situations that cannot be handled, prompting the driver that they need to take over the vehicle control. The takeover request can include a countdown, a sound prompt, etc. to ensure that the driver notices the takeover requirement in time.

[0045] The warning message is used to prompt the driver to pay attention to potential dangerous situations, such as obstacles ahead, lane departure, etc. The warning message also includes prompts for system abnormalities such as system failures and sensor abnormalities to ensure driving safety.

[0046] Refer to Figure 1 , The main intelligent driving controller or the auxiliary intelligent driving controller generates the interactive information and sends it to the cockpit controller and the body controller through the CAN1 and CAN2 buses respectively. After receiving the interactive information, the cockpit controller transmits the information to the instrument panel for display through the LVDS interface. After receiving the interactive information, the body controller controls the steering wheel light strip to display the corresponding color information through the LIN bus.

[0047] The instrument panel can display detailed interaction information in ways such as graphics, text, and status lights. For example, status lights of different colors are used to indicate the activation status of the autonomous driving system, text and graphics are used to display the current operating mode and function limitations, and prominent graphics and text are used to display takeover requests and warning messages.

[0048] The steering wheel light strip indicates different types of interaction information through different colors and flashing patterns. For example, green indicates that the autonomous driving system is operating normally, yellow indicates that attention is needed, and red indicates a warning or takeover request. By changing the brightness and flashing frequency of the light strip, different levels of information can be further distinguished.

[0049] This redundant display method of interaction information ensures that the driver can obtain important information of the autonomous driving system in a timely and accurate manner, improving the safety and reliability during the autonomous driving process. Even if one of the display devices fails, the other can still work properly to ensure the transmission of key information.

[0050] In some embodiments, the steering wheel light strip displays different interaction information through different colors. For example, green indicates that the autonomous driving system is operating normally, yellow indicates that the driver's attention is needed, and red indicates a warning or takeover request. By changing the brightness and flashing frequency of the light strip, different levels of information can be further distinguished. For example, a steady green light indicates that the autonomous driving system is in standby mode, and a flashing green light indicates that the system has been activated and is operating normally. A slowly flashing yellow light may indicate that the system is about to exit the autonomous driving mode, while a rapidly flashing yellow light indicates that the system has detected a potential risk. A steady red light indicates a system failure and requires immediate takeover, while a flashing red light indicates an emergency situation and requires the driver to take immediate action.

[0051] The instrument panel displays different interaction information through status lights and text prompts. The status lights are usually located in prominent positions on the instrument panel and use different colors and on / off states to indicate the system status. For example, a green status light indicates that the autonomous driving system is operating normally, yellow indicates a warning, and red indicates a failure or the need for takeover. The text prompts display detailed interaction information on the instrument panel, including system status, warning content, takeover requests, etc. The text prompts can use different font sizes, colors, and positions to highlight important information. For example, a takeover request may be displayed in a large red font in the center of the screen and accompanied by a countdown display.

[0052] Refer to Figure 2 This embodiment of the present invention also discloses a redundant human-machine interaction method for an autonomous vehicle, including the following steps.

[0053] S1. Determine whether the main intelligent driving controller is operating normally. In some embodiments, the operating state of the main intelligent driving controller is determined by monitoring parameters such as its output signals and internal states. If abnormalities are detected, such as signal loss, data errors, etc., it is determined that the main intelligent driving controller is not operating properly.

[0054] S2. Determine the implementation methods of vehicle control and interactive display control according to the judgment result. When the main intelligent driving controller is operating normally, the main intelligent driving controller implements vehicle control and interactive display control. The main intelligent driving controller receives various sensor data, performs environmental perception and path planning, and outputs control instructions to implement vehicle control. At the same time, the main intelligent driving controller generates interactive information according to the system state for display control.

[0055] When the main intelligent driving controller is not operating properly, the auxiliary intelligent driving controller implements vehicle control and interactive display control. The auxiliary intelligent driving controller takes over the functions of the main intelligent driving controller and performs the same control and interactive tasks. This redundant design ensures that the system can still maintain basic functions even if the main controller fails.

[0056] S3. Send the interaction request to the cockpit controller through the first communication link and to the body controller through the second communication link. In some embodiments, the first communication link is the CAN1 bus and the second communication link is the CAN2 bus. Using two independent communication links improves the reliability of the system. Even if one link fails, the other can still ensure information transmission.

[0057] S4. Control the first display device to display the interaction information and control the second display device to display the interaction information. After receiving the interaction request, the cockpit controller controls the first display device (such as the instrument panel) to display the corresponding interaction information. After receiving the interaction request, the body controller controls the second display device (such as the steering wheel light strip) to display the corresponding interaction information. The two display devices display the interaction information simultaneously, forming a redundant display, which improves the reliability of information transmission.

[0058] Throughout the process, continuously monitor the state of the main intelligent driving controller. If it is detected that the main intelligent driving controller has recovered from the fault state to normal, the system will switch the control right back to the main intelligent driving controller again. This dynamic switching mechanism ensures that the system always operates with the most reliable controller.

[0059] In some embodiments, the instrument panel and the steering wheel light strip display the autonomous driving system state, takeover requests, and warning information respectively. The instrument panel displays detailed interaction information through graphics, text, and status lights, etc. The steering wheel light strip represents different types of interaction information through different colors and flashing modes.

[0060] When the instrument panel displays the status of the autonomous driving system, status lights of different colors are used to indicate the system activation status, and text and graphics are used to display the current operating mode and functional limitations. For example, a green status light indicates normal system operation, yellow indicates a warning, and red indicates a fault. The text information can display specific statuses such as "Autopilot activated" and "Highway mode".

[0061] When the instrument panel displays a takeover request, prominent graphics and text are used, along with a countdown display. For example, large red text "Please take over the vehicle" is displayed in the center of the screen, and a countdown "Exit autopilot in 10 seconds" is also shown.

[0062] When the instrument panel displays a warning message, prominent graphics and text are used to prompt potential dangers or system abnormalities. For example, specific warning contents such as "Obstacle ahead" and "Lane departure" are displayed.

[0063] When the steering wheel light strip displays the status of the autonomous driving system, different colors are used. Green indicates normal system operation, yellow indicates attention required, and red indicates a warning or fault.

[0064] When the steering wheel light strip displays a takeover request, it uses a rapid red flashing method. This display method can quickly attract the driver's attention and prompt the need to immediately take over the vehicle.

[0065] When the steering wheel light strip displays a warning message, it uses a yellow flashing method. The flashing frequency can be adjusted according to the warning level, and the faster the frequency, the higher the warning level.

[0066] In some embodiments, the operating status of the intelligent driving control system and the interaction system is diagnosed in real time. The diagnosis process includes monitoring the working status of the main intelligent driving controller, auxiliary intelligent driving controller, cockpit controller, body controller, instrument panel, steering wheel light strip, CAN1 link, CAN2 link, LVDS link, and LIN link. By detecting the output signals and internal state parameters of each component, it is determined whether they are operating normally.

[0067] When a fault of a non-main intelligent driving controller is detected, the control right of the main intelligent driving controller is maintained and a takeover request is sent. For example, if the cockpit controller or instrument panel fails, a takeover request is sent through the body controller and the steering wheel light strip. At the same time, an attempt is made to temporarily repair the display problem by automatically restarting the interaction interface.

[0068] When a fault of the main intelligent driving controller is detected, the control right is transferred to the auxiliary intelligent driving controller and a takeover request is sent. The auxiliary intelligent driving controller takes over the vehicle control and interaction display control functions, and sends interaction requests to the cockpit controller and the body controller through the CAN1 and CAN2 links. At the same time, a takeover request is displayed through the instrument panel and the steering wheel light strip to ensure that the driver can obtain information in a timely manner.

[0069] During the transfer of control, the system outputs control information. The cockpit controller and the body controller make decisions on whether to respond to the main road or auxiliary road interaction requests based on this control information. This design ensures that when the control is transferred, the interaction system can promptly switch to the correct control source, guaranteeing the continuity and accuracy of the interaction information.

[0070] This real-time diagnosis and control transfer mechanism improves the reliability and safety of the system. By promptly detecting faults, switching control, and sending takeover requests, the system can maintain basic functions under various abnormal conditions and ensure that the driver obtains the necessary interaction information.

[0071] In some embodiments, the takeover request simultaneously displays takeover prompt information on the first display device and the second display device. The first display device is the instrument panel screen, and the second display device is the steering wheel light strip. This redundant display design ensures that the driver can promptly obtain takeover request information, improving the reliability and safety of the system.

[0072] The takeover prompt information at least includes an inactive state, an active state, and a state requesting the driver to take over. In the inactive state, the instrument panel screen displays a text prompt of "Autopilot not activated", and the steering wheel light strip remains off. In the active state, the instrument panel screen displays a text prompt of "Autopilot activated" and shows the current operating mode, such as "Highway mode", etc., and the steering wheel light strip shows a stable green light. In the state requesting the driver to take over, the instrument panel screen displays prominent red text "Please take over the vehicle" and shows a countdown, such as "Exit autopilot in 10 seconds", and the steering wheel light strip shows a rapidly flashing red light.

[0073] Refer to Figure 1 , the main intelligent driving controller or the auxiliary intelligent driving controller generates takeover request information and sends it to the cockpit controller and the body controller respectively through the CAN1 and CAN2 buses. After receiving the takeover request, the cockpit controller controls the instrument panel screen to display the takeover prompt information through the LVDS interface. After receiving the takeover request, the body controller controls the steering wheel light strip to display the corresponding color and flashing mode through the LIN bus.

[0074] Refer to Figure 2 , during the activation process of the autopilot, the state of the main intelligent driving controller is continuously monitored. When a situation requiring the driver to take over is detected, the system simultaneously issues a takeover request through the instrument panel screen and the steering wheel light strip. This redundant display mechanism ensures that even if one of the display devices fails, the other can still work properly, guaranteeing that the driver can promptly obtain takeover request information.

[0075] In some embodiments, the redundant display control is carried by an existing body controller. In addition to controlling the steering wheel light strip, the body controller is also responsible for processing other body-related functions. This design makes full use of existing hardware resources, reduces system costs, and improves the integration and reliability of the system.

[0076] An embodiment of the present invention also discloses an electronic device.

[0077] In some embodiments, the electronic device includes at least one processor and at least one memory. The memory is communicatively connected to the processor. The memory stores program instructions executable by the processor. The processor invokes the program instructions to execute the redundant human-machine interaction method for autonomous vehicles.

[0078] The processor of the electronic device includes a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), etc. The processor has data processing capabilities and instruction execution capabilities for executing the program instructions stored in the memory.

[0079] The memory of the electronic device includes a random access memory (RAM), a read-only memory (ROM), a flash memory, etc. The memory is used to store information such as an operating system, application programs, and data. The memory stores program instructions for implementing the redundant human-machine interaction method for autonomous vehicles.

[0080] When the electronic device is running, the processor reads the program instructions from the memory and executes them. The redundant human-machine interaction method executed by the processor includes: determining whether the main intelligent driving controller is running normally; determining the implementation method of vehicle control and interaction display control according to the judgment result; sending the interaction request to the cockpit controller through the first communication link and sending it to the body controller through the second communication link; controlling the first display device to display the interaction information and controlling the second display device to display the interaction information.

[0081] An embodiment of the present invention also discloses a readable storage medium.

[0082] A readable storage medium stores a computer program. When the computer program is executed by a processor, it implements the steps of the redundant human-machine interaction method for an autonomous vehicle described in any one of the above embodiments. The computer-readable storage medium may include: any entity or device capable of carrying the computer program, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disc, a computer memory, a read-only memory (ROM), a random access memory (RAM), and a software distribution medium, etc. The computer program includes computer program code. The computer program code may be in the form of source code, object code, an executable file, or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disc, a computer memory, a read-only memory (ROM), a random access memory (RAM), and a software distribution medium, etc.

[0083] Any process or method description represented in a flowchart or described in other ways herein can be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a specific logical function or process. And the scope of the preferred embodiments of the present invention includes additional implementations, where the functions may be executed in a substantially simultaneous manner or in an order opposite to that shown or discussed, according to the functions involved, which should be understood by those skilled in the technical field to which the embodiments of the present invention belong.

[0084] The logic and / or steps represented in a flowchart or described in other ways herein, for example, can be considered as a sequenced list of executable instructions for implementing a logical function, 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 processing module, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in combination with these instruction execution systems, apparatuses, or devices.

[0085] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A redundant human-machine interaction system for an autonomous vehicle, characterized in that, Comprising: A main intelligent driving controller and a secondary intelligent driving controller; A cockpit controller connected to the main intelligent driving controller and the secondary intelligent driving controller through a first communication link; A body controller connected to the main intelligent driving controller and the secondary intelligent driving controller through a second communication link; A first display device connected to the cockpit controller; And, A second display device connected to the body controller; Wherein, the main intelligent driving controller or the secondary intelligent driving controller is used to send an interaction request to the cockpit controller and the body controller, the cockpit controller is used to control the first display device to display interaction information, and the body controller is used to control the second display device to display interaction information.

2. The system according to claim 1, wherein The first display device is an instrument panel, and the second display device is a steering wheel light strip.

3. The system according to claim 2, wherein The instrument panel is connected to the cockpit controller through an LVDS interface, and the steering wheel light strip is connected to the body controller through a LIN bus.

4. The system according to claim 2, characterized in that The interaction information includes the state of the automatic driving system, a takeover request, and warning information.

5. The system according to claim 4, wherein The steering wheel light strip displays different interaction information through different colors, and the instrument panel displays different interaction information through status lights and text prompts.

6. A redundant human-machine interaction method for an autonomous vehicle, applied to the system according to any one of claims 1-5, characterized in that, Comprising: Judging whether the main intelligent driving controller is operating normally; If the main intelligent driving controller is operating normally, the main intelligent driving controller realizes vehicle control and interactive display control, otherwise the secondary intelligent driving controller realizes vehicle control and interactive display control; Sending the interaction request to the cockpit controller through the first communication link and sending it to the body controller through the second communication link; Controlling the first display device to display interaction information and controlling the second display device to display interaction information.

7. The method according to claim 6, characterized in that, The first display device is an instrument panel, and the second display device is a steering wheel light strip; the interaction information includes the state of the automatic driving system, a takeover request, and warning information, the steering wheel light strip displays different interaction information through different colors, and the instrument panel displays different interaction information through status lights and text prompts.

8. The method according to claim 6, wherein Further comprising: Real-time diagnosing the operating states of the intelligent driving control system and the interaction system; When a fault of a non-main intelligent driving controller is detected, maintaining the control right of the main intelligent driving controller and sending a takeover request; When a fault of the main intelligent driving controller is detected, transferring the control right to the secondary intelligent driving controller and sending a takeover request.

9. The method according to claim 8, characterized in that, The takeover request includes simultaneously displaying a takeover prompt message through the first display device and the second display device, and the takeover prompt message at least includes a non-activated state, an activated state, and a state requesting the driver to take over.

10. An electronic device, characterized in that, Comprising: At least one processor; And at least one memory communicatively connected to the processor, wherein: the memory stores program instructions executable by the processor, and the processor can execute the program instructions to perform the redundant human-machine interaction method for an autonomous vehicle as described in any one of claims 6 to 9.

11. A readable storage medium, characterized in that, The readable storage medium stores computer instructions, and when the computer instructions are executed by the processor, the redundant human-machine interaction method for an autonomous vehicle as described in any one of claims 6 to 9 is implemented.

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