Man-machine co-driving control method, device and equipment and storage medium

Abstract

The invention discloses a man-machine co-driving control method and device, equipment and a storage medium. The method comprises the following steps: a main LIN interface periodically obtains first instruction messages of different LIN nodes according to a preset query frequency, and sends the first instruction messages to a micro-processing module; the at least one CAN interface receives a second instruction message sent by the intelligent driving control system and sends the second instruction message to the micro-processing module; the micro-processing module receives the first instruction message and the second instruction message, and selects a control instruction in the first instruction message or a control instruction in the second instruction message as a decision control signal according to a preset strategy; and the decision control signal is sent to the vehicle control module from the LIN interface, so that corresponding driving control can be performed on the target vehicle. According to the invention, man-machine co-driving control compatible with multiple scenes can be realized by adopting a lower cost and more flexible form under the condition of not influencing the performance of the original vehicle.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, specifically to the fields of human-machine co-driving and vehicle control, and particularly to a control method, device, equipment and storage medium for human-machine co-driving. Background Art

[0002] Currently, autonomous driving technology has a wide range of application scenarios. The development of this technology can not only improve driving efficiency but also help enterprises significantly reduce operating costs.

[0003] The autonomous driving system for specific L4 scenarios realizes complete unmanned operation of the vehicle. In this scenario, for traditional vehicles that rely on the driver to control the vehicle, for example, turn signals, hazard lights, low beam lights, passing lights, windshield wipers, etc. need to be controlled by the intelligent driving system. Generally, wire-controlled vehicles choose to increase the output link through a parallel wiring harness, which has some disadvantages: 1. The original vehicle's power system needs to perform signal isolation to prevent signal backfeed; 2. After manually turning on the switch, it cannot be forcibly turned off by the intelligent driving system, resulting in an uncontrollable scenario.

[0004] It can be seen that the existing human-machine co-driving control has a high cost, a high failure rate, and poor versatility and compatibility. Summary of the Invention

[0005] This application provides a control method, device, equipment and storage medium for human-machine co-driving to solve the problem of vehicle body control in the scenarios of human-machine co-driving and full-autonomous driving of autonomous vehicles, and realizes multi-scenario control compatibility at a lower cost and in a more flexible form without affecting the performance of the original vehicle.

[0006] The technical solutions are as follows:

[0007] In a first aspect, a control device for human-machine co-driving is provided, including: two LIN interfaces, at least one CAN interface, and a microprocessing module; wherein, the two LIN interfaces include: a main LIN interface and a slave LIN interface; the main LIN interface is connected to multiple LIN nodes of the target vehicle through a LIN link, and each LIN node maintains multiple vehicle component switches; the slave LIN interface is connected to the vehicle control module of the target vehicle through a LIN link; the at least one CAN interface is connected to the autonomous driving control system;

[0008] The main LIN interface is configured to periodically obtain first instruction messages of different LIN nodes according to a preset query frequency and send the first instruction messages to the microprocessing module; wherein, the first instruction messages are one or more control instructions generated in response to the operation of the driver on the corresponding vehicle component switches on the target vehicle;

[0009] The at least one CAN interface is configured to receive a second instruction message sent by the intelligent driving control system and send the second instruction message to the microprocessing module; wherein, the second instruction message is one or more control instructions determined by the intelligent driving control system for the target vehicle according to the current vehicle behavior and driving environment.

[0010] The microprocessing module is configured to receive the first instruction message and the second instruction message, and select, according to a preset policy, the control instruction in the first instruction message and / or the control instruction in the second instruction message as a decision control signal.

[0011] The slave LIN interface is configured to send the decision control signal to the vehicle control module, so as to perform corresponding driving control on the target vehicle.

[0012] In a possible implementation, the preset policy includes some or all of the following control instructions: preferably execute the control instruction in the first instruction message corresponding to manual control, preferably execute the control instruction in the second instruction message corresponding to intelligent driving control, and preferably execute the control instruction that changed last time.

[0013] In a possible implementation, the same preset policy is configured for all driving controls of the target vehicle.

[0014] When the microprocessing module selects, according to the preset policy, the control instruction in the first instruction message and / or the control instruction in the second instruction message as a decision control signal, it specifically is configured to:

[0015] If the preset policy is to preferably execute the control instruction in the first instruction message corresponding to manual control, then select, according to this preset policy, the control instruction in the first instruction message as a decision control signal for all driving controls.

[0016] If the preset policy is to preferably execute the control instruction in the second instruction message corresponding to intelligent driving control, then select, according to this preset policy, the control instruction in the second instruction message as a decision control signal for all driving controls.

[0017] If the preset policy is to preferably execute the control instruction that changed last time, then select, according to this preset policy, the control instruction that changed last time for the corresponding driving control as a decision control signal for all driving controls.

[0018] In a possible implementation, multiple different preset policies are configured for the driving controls of the target vehicle.

[0019] When the microprocessing module selects the control instruction in the first instruction message and / or the control instruction in the second instruction message as the decision control signal according to the preset policy, it is specifically used for:

[0020] For each driving control, according to the preset policy corresponding to the driving control, select the control instruction in the first instruction message or the control instruction in the second instruction message as the decision control signal for the driving control.

[0021] In a possible implementation manner, the main LIN interface and the slave LIN interface adopt a pluggable plug - independent structure and are butt - connected to the original vehicle wiring harness end of the target vehicle through a short - circuit cap without damage.

[0022] In a second aspect, a human - machine co - driving control method is provided, which is applied to the human - machine co - driving control device according to any one of claims 1 - 5. The human - machine co - driving control device includes: two LIN interfaces, at least one CAN interface, and a microprocessing module; wherein, the two LIN interfaces include: a main LIN interface and a slave LIN interface; the main LIN interface is connected to multiple LIN nodes of the target vehicle through a LIN link, and each LIN node maintains multiple vehicle component switches; the slave LIN interface is connected to the vehicle control module of the target vehicle through a LIN link; the at least one CAN interface is connected to the autonomous driving control system;

[0023] The human - machine co - driving control method includes:

[0024] The main LIN interface periodically obtains the first instruction messages of different LIN nodes according to a preset query frequency and sends the first instruction messages to the microprocessing module; wherein, the first instruction message is one or more control instructions generated in response to the operation of the driver on the corresponding vehicle component switch on the target vehicle;

[0025] The at least one CAN interface receives the second instruction message sent by the intelligent driving control system and sends the second instruction message to the microprocessing module; wherein, the second instruction message is one or more control instructions determined by the intelligent driving control system for the target vehicle according to the current vehicle behavior and driving environment;

[0026] The microprocessing module receives the first instruction message and the second instruction message and selects the control instruction in the first instruction message or the control instruction in the second instruction message as the decision control signal according to the preset policy;

[0027] The slave LIN interface sends the decision control signal to the vehicle control module to facilitate corresponding driving control of the target vehicle.

[0028] In a third aspect, a computer-readable storage medium is provided, in which at least one instruction is stored, and the at least one instruction is loaded and executed by a processor to implement the method of the above-described aspect and any possible implementation manner.

[0029] In a fourth aspect, an electronic device is provided, including:

[0030] at least one processor; and

[0031] a memory communicatively connected to the at least one processor; wherein,

[0032] the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method of the above-described aspect and any possible implementation manner.

[0033] In a fifth aspect, an autonomous vehicle is provided, including the above-described electronic device.

[0034] The beneficial effects of the technical solution provided by this application at least include:

[0035] As can be seen from the above technical solution, in the embodiment of this application, the main LIN interface can periodically obtain the first instruction messages of different LIN nodes according to a preset query frequency and send the first instruction messages to the microprocessing module; at least one CAN interface receives the second instruction messages sent by the intelligent driving control system and sends the second instruction messages to the microprocessing module; the microprocessing module receives the first instruction messages and the second instruction messages, and selects the control instruction in the first instruction message or the control instruction in the second instruction message as the decision control signal according to a preset policy; and sends the decision control signal from the LIN interface to the vehicle control module to facilitate corresponding driving control of the target vehicle. Thus, both manual driving and autonomous driving can control the signals of the vehicle body, and the priority can be adjusted through the policy, which well adapts to the current scenario where autonomous driving and manual driving coexist; moreover, there is no need to change the original vehicle structure and signals, and the compatibility is very strong and can be compatible with vehicles in different states. It can be implemented in a lower cost and more flexible form without affecting the performance of the original vehicle and realizes the compatible human-machine co-driving control for multiple scenarios.

[0036] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of this application, nor is it used to limit the scope of this application. Other features of this application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0038] Figure 1 It is a schematic diagram of the system architecture of a human-machine co-driving control solution provided by an embodiment of the present application.

[0039] Figure 2 It is a schematic diagram of the steps of a human-machine co-driving control method provided by an embodiment of the present application.

[0040] Figure 3 It is a schematic diagram of the control process of human-machine co-driving provided by an embodiment of the present application.

[0041] Figure 4 It is a block diagram of the structure of a human-machine co-driving control device provided by another embodiment of the present application.

[0042] Figure 5 It is a block diagram of an electronic device provided by an embodiment of the present application. Detailed Embodiments

[0043] The following describes exemplary embodiments of the present application with reference to the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding. It should be considered that they are merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, the description below omits the description of well-known functions and structures.

[0044] Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application.

[0045] It should be noted that the terminal devices involved in the embodiments of the present application may include, but are not limited to, intelligent devices such as mobile phones, personal digital assistants (PDAs), wireless handheld devices, and tablet computers; display devices may include, but are not limited to, devices with display functions such as personal computers and televisions.

[0046] In addition, the term "and / or" in this text is merely a description of the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this text generally indicates that the associated objects before and after are in an "or" relationship.

[0047] Currently, for the human-machine co-driving scenario of autonomous vehicles, especially the L4-level driverless scenario, due to the structural limitations of the vehicle itself, it is still impossible to achieve flexible and reliable vehicle body control. In view of this, the present application proposes a control scheme for human-machine co-driving, which can achieve the control of the vehicle body by humans and the autonomous driving controller without changing the original vehicle BCM body controller, DCM door and window controller, etc., so as to reduce the failure rate and the investment of time and money costs. At the same time, it can match the solutions of different vehicle body host manufacturers and reduce the matching difficulty.

[0048] Refer to Figure 1 As shown, it is a schematic diagram of the system architecture of a human-machine co-driving control scheme provided by an embodiment of the present application. As shown in the figure, a control device 101 for human-machine co-driving, a vehicle control module 102, an autonomous driving control system 103, and a plurality of vehicle switch elements 104 are shown in the system. Among them, the control device 101 for human-machine co-driving includes: two LIN interfaces, at least one CAN interface 1013, and a microprocessing module 1014.

[0049] Among them, the two LIN interfaces include: a main LIN interface 1011 and a slave LIN interface 1012; the main LIN interface 1011 is connected to a plurality of LIN nodes N of the target vehicle through a LIN link, and each LIN node N maintains a plurality of vehicle component switches 104, that is, each LIN node N is connected to one or more vehicle component switches 104. For example, assuming that there are 10 component switches 104 on the vehicle control interface, then 5 of the component switches 104 can be connected to the first LIN node N, and the other 5 component switches 104 can be connected to the second LIN node N. Another example, assuming that there are 10 component switches 104 on the vehicle control interface, 1-4 of the component switches 104 can be connected to the first LIN node N, 5-8 of the component switches 104 can be connected to the second LIN node N, and 9-10 of the component switches 104 can be connected to the third LIN node N. It can be seen that the number of LIN nodes N here is not limited and can be flexibly adjusted according to the vehicle hardware configuration and the control line requirements, that is, in the case of tightened control lines, as many component switches 104 as possible can be maintained under limited LIN nodes N, and in the case of loose control lines, as many component switches 104 as possible can be dispersed and maintained under multiple LIN nodes N.

[0050] The above-mentioned LIN interface 1012 is connected to the vehicle control module (i.e., vehicle controller) 102 of the target vehicle through a LIN link. The at least one CAN interface 1013 is connected to the autonomous driving control system 103. Specifically, the human-machine co-driving control device 101 can be connected to the autonomous driving control system 103 through two CAN interfaces 1013. One is used as the main CAN interface to ensure normal data transmission, and the other is used as the slave CAN interface. When the main CAN interface fails or is blocked, it serves as an alternative interface to take over the main CAN interface to complete data transmission, so as to ensure that the second instruction message of the autonomous driving control system 103 can be transmitted to the human-machine co-driving control device 101 in time for decision-making.

[0051] It should be noted that, under the condition that the vehicle body hardware permits, in the solution of this application, the LIN link can be replaced by a CAN bus, or the CAN bus link can be replaced by a LIN link. As long as the normal and timely transmission of messages can be ensured, this application does not limit this.

[0052] The main LIN interface 1011 is used to periodically obtain the first instruction messages of different LIN nodes according to a preset query frequency, and send the first instruction messages to the microprocessing module; wherein, the first instruction messages are one or more control instructions generated in response to the operation of the driver on the corresponding vehicle component switch on the target vehicle.

[0053] The at least one CAN interface 1013 is used to receive the second instruction messages sent by the intelligent driving control system, and send the second instruction messages to the microprocessing module; wherein, the second instruction messages are one or more control instructions determined by the intelligent driving control system for the target vehicle according to the current vehicle behavior and driving environment.

[0054] The microprocessing module 1014 is used to receive the first instruction messages and the second instruction messages, and select the control instructions in the first instruction messages and / or the control instructions in the second instruction messages as decision-making control signals according to a preset strategy.

[0055] Optionally, in the solution of this application, the preset strategy includes some or all of the following control instructions: preferably execute the control instructions in the first instruction messages corresponding to manual control, preferably execute the control instructions in the second instruction messages corresponding to intelligent driving control, and preferably execute the control instructions that changed last time.

[0056] An implementable solution is that all driving controls of the target vehicle are configured with the same preset strategy. When the microprocessing module 1014 selects the control instruction in the first instruction message and / or the control instruction in the second instruction message as the decision control signal according to the preset strategy, it specifically is used for: if the preset strategy is to preferably execute the control instruction in the first instruction message corresponding to manual control, then according to this preset strategy, select the control instruction in the first instruction message as the decision control signal for all driving controls; if the preset strategy is to preferably execute the control instruction in the second instruction message corresponding to intelligent driving control, then according to this preset strategy, select the control instruction in the second instruction message as the decision control signal for all driving controls; if the preset strategy is to preferably execute the control instruction that changed last time, then according to this preset strategy, select the control instruction that the corresponding driving control executed when it changed last time as the decision control signal for all driving controls.

[0057] Another implementable solution is that the driving controls of the target vehicle are configured with multiple different preset strategies. When the microprocessing module 1014 selects the control instruction in the first instruction message and / or the control instruction in the second instruction message as the decision control signal according to the preset strategy, it specifically is used for: for each driving control, according to the preset strategy corresponding to this driving control, select the control instruction in the first instruction message or the control instruction in the second instruction message as the decision control signal for this driving control.

[0058] In other words, the driving control configuration of the target vehicle can flexibly set the preset strategy according to the user's needs. For example, all instructions select and determine the decision control signal according to a unified preset strategy, or different instructions are set with different preset strategies to select and determine the decision control signal. Thereby, the flexibility of the driving control configuration can be improved.

[0059] The slave LIN interface 1012 is used to send the decision control signal to the vehicle control module, so as to perform corresponding driving control on the target vehicle.

[0060] Optionally, the main LIN interface 1011 and the slave LIN interface 1012 in this application can adopt a pluggable plug - independent structure and be butt - jointed with the original vehicle wiring harness end of the target vehicle through a short - circuit cap without damage. In this way, when this control device is damaged or unavailable, the plug can be directly unplugged for replacement, which is convenient and simple.

[0061] In the solution of this application, the control device can monitor its own status and send it out through the bus, reporting in real time its own status and whether the executed signal command comes from manual operation or intelligent driving. Further, it can also have working indicators for the LED lights, including a green system working indicator light and a red fault indicator light; when the automatic driving control system 103 is activated through dual verification (identity verification and security verification), the green indicator light will turn into a flashing state.

[0062] Referring to Figure 2 As shown, it is a schematic diagram of the steps of a human-machine co-driving control method provided by an embodiment of this application. This method is applied to Figure 1 the human-machine co-driving control device as shown. The human-machine co-driving control device includes: two LIN interfaces, at least one CAN interface, and a microprocessing module; wherein, the two LIN interfaces include: a main LIN interface and a slave LIN interface; the main LIN interface is connected to multiple LIN nodes of the target vehicle through a LIN link, and each LIN node maintains multiple vehicle component switches; the slave LIN interface is connected to the vehicle control module of the target vehicle through a LIN link; the at least one CAN interface is connected to the automatic driving control system.

[0063] As Figure 2 shown, the human-machine co-driving control method includes the following steps:

[0064] Step 202: The main LIN interface periodically obtains first instruction messages of different LIN nodes according to a preset query frequency, and sends the first instruction messages to the microprocessing module; wherein, the first instruction messages are one or more control instructions generated in response to the operation of the corresponding vehicle component switches by the driver on the target vehicle.

[0065] Step 204: The at least one CAN interface receives second instruction messages sent by the intelligent driving control system, and sends the second instruction messages to the microprocessing module; wherein, the second instruction messages are one or more control instructions determined by the intelligent driving control system for the target vehicle according to the current vehicle behavior and driving environment.

[0066] Step 206: The microprocessing module receives the first instruction messages and the second instruction messages, and selects a control instruction in the first instruction messages or a control instruction in the second instruction messages as a decision control signal according to a preset policy.

[0067] Step 208: The slave LIN interface sends the decision control signal to the vehicle control module to facilitate corresponding driving control of the target vehicle.

[0068] Optionally, the preset policy includes some or all of the following control instructions: preferably execute the control instruction in the first instruction message corresponding to manual control, preferably execute the control instruction in the second instruction message corresponding to intelligent driving control, and preferably execute the control instruction that changed last time.

[0069] Optionally, in a possible implementation manner of this embodiment, the same preset policy is configured for all driving controls of the target vehicle; then when the microprocessing module selects the control instruction in the first instruction message and / or the control instruction in the second instruction message as the decision control signal according to the preset policy, if the preset policy is to preferably execute the control instruction in the first instruction message corresponding to manual control, then according to this preset policy, select the control instruction in the first instruction message as the decision control signal for all driving controls; if the preset policy is to preferably execute the control instruction in the second instruction message corresponding to intelligent driving control, then according to this preset policy, select the control instruction in the second instruction message as the decision control signal for all driving controls; if the preset policy is to preferably execute the control instruction that changed last time, then according to this preset policy, select the control instruction of the corresponding driving control when it changed last time as the decision control signal for all driving controls.

[0070] Optionally, in a possible implementation manner of this embodiment, multiple different preset policies are configured for the driving controls of the target vehicle; then when the microprocessing module selects the control instruction in the first instruction message and / or the control instruction in the second instruction message as the decision control signal according to the preset policy, for each driving control, select the control instruction in the first instruction message or the control instruction in the second instruction message as the decision control signal of this driving control according to the preset policy corresponding to this driving control.

[0071] Optionally, in a possible implementation manner of this embodiment, the main LIN interface and the slave LIN interface adopt a pluggable plug - independent structure and are butt - connected to the original vehicle wiring harness end of the target vehicle through a short - circuit cap without damage.

[0072] Refer to Figure 3 As shown, it is a schematic diagram of the control flow of human - machine co - driving provided by the embodiment of the present application. In this control flow, if the preset policy is to preferably execute the control instruction that changed last time, then for any control related to the vehicle component switch, it can be referred to Figure 3 As shown.

[0073] After the vehicle is powered on, determine whether autonomous driving is enabled. If it is enabled, then respond to the autonomous driving control signal; otherwise, respond to the manual control signal.

[0074] In response to the automatic driving control signal, it is determined whether the subsequent manual control signal changes. If the manual control signal changes, the manual control signal is responded to; otherwise, the automatic driving control signal is responded to. After responding to the manual control signal, it is determined whether the subsequent automatic driving control signal changes. If the automatic driving control signal changes, the automatic driving control signal is responded to; otherwise, the manual control signal is responded to.

[0075] After the response timeouts, this human-machine co-driving control is ended.

[0076] Through this solution, both human driving and automatic driving can control the signals of the vehicle body, and the priority can be adjusted through strategies, which well adapts to the current scenario where automatic driving and manual driving coexist; this solution does not require changes to the original vehicle structure and signals, and has strong compatibility and can be compatible with the whole vehicle in different states.

[0077] It should be noted that for the foregoing 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 this application is not limited by the described action sequence, because according to this application, 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 and modules involved are not necessarily essential to this application.

[0078] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0079] Figure 4 The structural block diagram of the human-machine co-driving device provided by an embodiment of this application is shown, as Figure 4As shown in the figure. The human-machine co-driving device 400 of this embodiment may include a main LIN interface 401, a slave LIN interface 402, at least one CAN interface 403, and a microprocessing module 404. The main LIN interface 401 is connected to multiple LIN nodes of the target vehicle through a LIN link, and each LIN node maintains multiple vehicle component switches; the slave LIN interface 402 is connected to the vehicle control module of the target vehicle through a LIN link; the at least one CAN interface 403 is connected to the autonomous driving control system. Among them, the main LIN interface 401 is used to periodically obtain the first instruction messages of different LIN nodes according to a preset query frequency, and send the first instruction messages to the microprocessing module; among them, the first instruction messages are one or more control instructions generated in response to the operation of the driver on the corresponding vehicle component switches on the target vehicle. The at least one CAN interface 403 is used to receive the second instruction messages sent by the intelligent driving control system, and send the second instruction messages to the microprocessing module; among them, the second instruction messages are one or more control instructions determined by the intelligent driving control system for the target vehicle according to the current vehicle behavior and driving environment. The microprocessing module 404 is used to receive the first instruction messages and the second instruction messages, and select the control instructions in the first instruction messages and / or the control instructions in the second instruction messages as decision control signals according to a preset policy. The slave LIN interface 402 is used to send the decision control signals to the vehicle control module, so as to perform corresponding driving control on the target vehicle.

[0080] It should be noted that part or all of the human-machine co-driving device of this embodiment may be an application located on the local terminal, or may also be a functional unit such as a plug-in or software development kit (SDK) set in the application located on the local terminal, or may also be a processing engine located in the network-side server, or may also be a distributed system located on the network side. For example, the processing engine or distributed system in the autonomous driving platform on the network side, etc. This embodiment does not make special limitations on this.

[0081] It can be understood that the application may be a native app installed on the local terminal, or may also be a web app of a browser on the local terminal. This embodiment does not make limitations on this.

[0082] Optionally, in a possible implementation of this embodiment, the preset policy includes some or all of the following control instructions: preferably execute the control instruction in the first instruction message corresponding to manual control, preferably execute the control instruction in the second instruction message corresponding to intelligent driving control, and preferably execute the control instruction that changed last time.

[0083] Optionally, in a possible implementation of this embodiment, all driving controls of the target vehicle are configured with the same preset policy; then when the microprocessing module 404 selects the control instruction in the first instruction message and / or the control instruction in the second instruction message as the decision control signal according to the preset policy, it specifically is used for: if the preset policy is to preferably execute the control instruction in the first instruction message corresponding to manual control, then select the control instruction in the first instruction message as the decision control signal for all driving controls according to this preset policy; if the preset policy is to preferably execute the control instruction in the second instruction message corresponding to intelligent driving control, then select the control instruction in the second instruction message as the decision control signal for all driving controls according to this preset policy; if the preset policy is to preferably execute the control instruction that changed last time, then select the control instruction that the corresponding driving control executed when it changed last time as the decision control signal for all driving controls according to this preset policy.

[0084] Optionally, in a possible implementation of this embodiment, the driving controls of the target vehicle are configured with multiple different preset policies; then when the microprocessing module 404 selects the control instruction in the first instruction message and / or the control instruction in the second instruction message as the decision control signal according to the preset policy, it specifically is used for: for each driving control, select the control instruction in the first instruction message or the control instruction in the second instruction message as the decision control signal for this driving control according to the preset policy corresponding to this driving control.

[0085] Optionally, in a possible implementation of this embodiment, the main LIN interface 401 and the slave LIN interface 402 adopt a pluggable and detachable plug - independent structure and are butt - connected to the original vehicle wiring harness end of the target vehicle without damage through a short - circuit cap.

[0086] In this embodiment, the main LIN interface can periodically obtain the first instruction messages of different LIN nodes according to a preset query frequency and send the first instruction messages to the microprocessing module; at least one CAN interface receives the second instruction messages sent by the intelligent driving control system and sends the second instruction messages to the microprocessing module; the microprocessing module receives the first instruction messages and the second instruction messages, and selects the control instruction in the first instruction message or the control instruction in the second instruction message as the decision control signal according to a preset policy; the decision control signal is sent from the LIN interface to the vehicle control module to facilitate corresponding driving control of the target vehicle. Thus, both manual driving and autonomous driving can control the signals of the vehicle body, and the priority can be adjusted through the policy, which well adapts to the scenario where autonomous driving and manual driving coexist at the present stage; moreover, there is no need to change the original vehicle structure and signals, and the compatibility is very strong, which can be compatible with the whole vehicle in different states. It can achieve the human-machine co-driving control compatible with multiple scenarios at a lower cost and in a more flexible form without affecting the performance of the original vehicle.

[0087] An embodiment of the present application provides a computer-readable storage medium, in which at least one instruction is stored, and the at least one instruction is loaded and executed by a processor to implement the human-machine co-driving method as described above.

[0088] An embodiment of the present application provides an electronic device, which includes a processor and a memory, and at least one instruction is stored in the memory, and the instruction is loaded and executed by the processor to implement the human-machine co-driving method as described above.

[0089] An embodiment of the present application provides an autonomous vehicle, including the above-mentioned electronic device. Specifically, the autonomous vehicle can be a vehicle at L2 level or above.

[0090] In the technical solution of the present application, the collection, storage, use, processing, transmission, provision and disclosure of the user's personal information involved all comply with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0091] Figure 5 FIG. shows a schematic block diagram of an example electronic device 500 that can be used to implement the embodiments of the present application. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present application described herein and / or claimed.

[0092] As shown Figure 5 in FIG. 1, the electronic device 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 502 or a computer program loaded from a storage unit 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic device 500 can also be stored. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0093] Multiple components in the electronic device 500 are connected to the I / O interface 505, including: an input unit 506, such as a keyboard, a mouse, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a magnetic disk, an optical disc, etc.; and a communication unit 509, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 509 allows the electronic device 500 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0094] The computing unit 501 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 501 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 501 executes the various methods and processes described above, such as the method of human-machine co-driving. For example, in some embodiments, the method of human-machine co-driving can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as the storage unit 508. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 500 via the ROM 502 and / or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the computing unit 501, one or more steps of the method of human-machine co-driving described above can be executed. Alternatively, in other embodiments, the computing unit 501 can be configured to execute the method of human-machine co-driving in any other appropriate manner (e.g., by means of firmware).

[0095] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0096] The program code for implementing the methods of the present application can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing device, such that the program codes, when executed by the processor or controller, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine, or entirely on the remote machine or server.

[0097] In the context of this application, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0098] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the computer. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0099] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), and the Internet.

[0100] A computer system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The relationship between the client and the server is generated by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, or a server of a distributed system, or a server incorporating a blockchain.

[0101] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the disclosure of this application can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution disclosed in this application can be achieved, and no limitation is imposed herein.

[0102] The above specific embodiments do not constitute a limitation on the protection scope of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims

1. A control device for human-machine co-driving, characterized in that, Including: Two LIN interfaces, at least one CAN interface and a microprocessing module; wherein, the two LIN interfaces include: a main LIN interface and a slave LIN interface; the main LIN interface is connected to multiple LIN nodes of a target vehicle through a LIN link, and each LIN node maintains multiple vehicle component switches; the slave LIN interface is connected to the vehicle control module of the target vehicle through a LIN link; the at least one CAN interface is connected to an autonomous driving control system; The main LIN interface is configured to periodically obtain first instruction messages of different LIN nodes according to a preset query frequency, and send the first instruction messages to the microprocessing module; wherein, the first instruction messages are one or more control instructions generated in response to an operation of a driver on a corresponding vehicle component switch on the target vehicle; The at least one CAN interface is configured to receive second instruction messages sent by the intelligent driving control system, and send the second instruction messages to the microprocessing module; wherein, the second instruction messages are one or more control instructions determined by the intelligent driving control system for the target vehicle according to the current vehicle behavior and driving environment; The microprocessing module is configured to receive the first instruction messages and the second instruction messages, and select, according to a preset policy, control instructions in the first instruction messages and / or control instructions in the second instruction messages as decision control signals; The slave LIN interface is configured to send the decision control signals to the vehicle control module, so as to perform corresponding driving control on the target vehicle.

2. The device according to claim 1, wherein The preset policy includes some or all of the following control instructions: preferably execute the control instructions in the first instruction messages corresponding to manual control, preferably execute the control instructions in the second instruction messages corresponding to intelligent driving control, and preferably execute the control instructions that changed last time.

3. The device according to claim 2, characterized in that, The same preset policy is configured for all driving controls of the target vehicle; Then when the microprocessing module selects, according to the preset policy, control instructions in the first instruction messages and / or control instructions in the second instruction messages as decision control signals, it specifically is configured to: If the preset policy is to preferably execute the control instructions in the first instruction messages corresponding to manual control, then select, according to this preset policy, the control instructions in the first instruction messages as decision control signals for all driving controls; If the preset policy is to preferably execute the control instructions in the second instruction messages corresponding to intelligent driving control, then select, according to this preset policy, the control instructions in the second instruction messages as decision control signals for all driving controls; If the preset policy is to preferably execute the control instructions that changed last time, then select, according to this preset policy, the control instructions that changed last time for the corresponding driving controls as decision control signals for all driving controls.

4. The device according to claim 2, wherein Multiple different preset policies are configured for the driving control of the target vehicle; Then when the microprocessing module selects, according to the preset policy, control instructions in the first instruction messages and / or control instructions in the second instruction messages as decision control signals, it specifically is configured to: For each driving control, according to the preset policy corresponding to the driving control, select the control instruction in the first instruction message or the control instruction in the second instruction message as the decision control signal for the driving control.

5. The device according to any one of claims 1 to 4, characterized in that The main LIN interface and the slave LIN interface adopt a pluggable and independent structure, and are losslessly docked with the original vehicle wiring harness end of the target vehicle through a short wire cap.

6. A control method for human-machine co-driving, characterized in that, Applied to the human-machine co-driving control device according to any one of claims 1-5, the human-machine co-driving control device includes: two LIN interfaces, at least one CAN interface, and a microprocessing module; wherein, the two LIN interfaces include: a main LIN interface and a slave LIN interface; the main LIN interface is connected to multiple LIN nodes of the target vehicle through a LIN link, and each LIN node maintains multiple vehicle component switches; the slave LIN interface is connected to the vehicle control module of the target vehicle through a LIN link; the at least one CAN interface is connected to the autonomous driving control system; The human-machine co-driving control method includes: The main LIN interface periodically obtains the first instruction messages of different LIN nodes according to a preset query frequency, and sends the first instruction messages to the microprocessing module; wherein, the first instruction message is one or more control instructions generated in response to the operation of the driver on the corresponding vehicle component switch on the target vehicle. The at least one CAN interface receives the second instruction message sent by the intelligent driving control system, and sends the second instruction message to the microprocessing module; wherein, the second instruction message is one or more control instructions determined by the intelligent driving control system for the target vehicle according to the current vehicle behavior and driving environment. The microprocessing module receives the first instruction message and the second instruction message, and selects the control instruction in the first instruction message or the control instruction in the second instruction message as the decision control signal according to the preset policy. The slave LIN interface sends the decision control signal to the vehicle control module to facilitate corresponding driving control of the target vehicle.

7. An electronic device, comprising: At least one processor; And A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method according to claim 1.

8. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to execute the method according to claim 1.

9. A computer program product, comprising a computer program which, when executed by a processor, implements the method according to claim 1.

10. An autonomous driving vehicle, comprising the electronic device according to claim 7.

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