Steering wheel auxiliary control recovery method and device and electronic equipment

Abstract

The invention relates to a steering wheel auxiliary control recovery method and device and electronic equipment, and relates to the technical field of automatic driving. The method specifically comprises the following steps: monitoring the state of a vehicle when identifying that steering wheel auxiliary control is in a suppression state; judging whether the current state of the vehicle meets a judgment condition for recovering steering wheel auxiliary control or not; and if the current state meets the judgment condition, steering wheel auxiliary control of the vehicle is recovered. Therefore, when it is recognized that the steering wheel auxiliary control is in the suppression state and the current state of the vehicle meets the judgment condition for recovering the steering wheel auxiliary control, the steering wheel auxiliary control of the vehicle is recovered, and the phenomenon that the steering wheel auxiliary control is frequently recovered from the suppression state to the suppression state of the steering wheel auxiliary control is avoided; the frequency from the moment that the steering wheel auxiliary control is in the restraining state to the moment that the steering wheel auxiliary control of the vehicle is recovered is reduced, the safety and reliability of automatic driving are improved, and the experience feeling of a user is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and in particular to a method, device, and electronic device for restoring steering wheel auxiliary control. Background Art

[0002] In the existing technology, in order to maintain the continuity of the assisted driving function, when the steering wheel assisted control is in the inhibited state, the assisted driving function is not exited, and the vehicle speed is still automatically controlled. When the lane line is recaptured, the steering wheel assisted control of the vehicle is automatically activated, resulting in frequent switching from the steering wheel assisted control being in the inhibited state to the steering wheel assisted control of the vehicle being restored, resulting in a poor user experience. Therefore, how to reduce the frequency of restoring the steering wheel assisted control of the vehicle and improve the user experience has become an urgent problem to be solved. Summary of the Invention

[0003] The present disclosure provides a method, device and electronic device for restoring steering wheel assisted control. Therefore, the present disclosure restores the steering wheel assisted control of the vehicle when it is identified that the steering wheel assisted control is in an inhibited state and the current state of the vehicle meets the judgment conditions for restoring the steering wheel assisted control, thereby avoiding the phenomenon of frequently restoring the steering wheel assisted control of the vehicle from being in an inhibited state, reducing the frequency of restoring the steering wheel assisted control of the vehicle from being in an inhibited state, improving the safety and reliability of autonomous driving, and enhancing the user experience.

[0004] The technical solutions disclosed in this disclosure are as follows:

[0005] According to a first aspect of an embodiment of the present disclosure, a method for restoring steering wheel assist control is provided, the method comprising: identifying that the steering wheel assist control is in an inhibited state, and then monitoring the state of the vehicle; judging whether the current state of the vehicle meets the determination conditions for restoring the steering wheel assist control; if the current state meets the determination conditions, restoring the steering wheel assist control of the vehicle.

[0006] According to a second aspect of an embodiment of the present disclosure, a device for restoring steering wheel assist control is provided, the device comprising: an identification module for identifying that the steering wheel assist control is in an inhibited state, and then monitoring the state of the vehicle; a judgment module for judging whether the current state of the vehicle meets the determination conditions for restoring the steering wheel assist control; and a recovery module for restoring the steering wheel assist control of the vehicle if the current state meets the determination conditions.

[0007] According to a third aspect of an embodiment of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement a steering wheel assisted control recovery method as provided in an embodiment of the first aspect of the present disclosure.

[0008] According to the fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the steering wheel assisted control recovery method provided in the embodiment of the first aspect of the present disclosure.

[0009] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the steering wheel auxiliary control recovery method provided in the first aspect of the present disclosure.

[0010] The technical solutions provided by the embodiments of the present disclosure bring at least the following beneficial effects:

[0011] A method for restoring steering wheel assist control in an embodiment of the present disclosure monitors the state of the vehicle by identifying that the steering wheel assist control is in an inhibited state, and determines whether the current state of the vehicle satisfies the determination conditions for restoring the steering wheel assist control. If the current state satisfies the determination conditions, the steering wheel assist control of the vehicle is restored. Thus, the present disclosure restores the steering wheel assist control of the vehicle upon identifying that the steering wheel assist control is in an inhibited state and the current state of the vehicle satisfies the determination conditions for restoring the steering wheel assist control, thereby avoiding the phenomenon of frequently restoring the steering wheel assist control of the vehicle from an inhibited state, reducing the frequency of restoring the steering wheel assist control of the vehicle from an inhibited state, improving the safety and reliability of autonomous driving, and enhancing the user experience.

[0012] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute an improper limitation of the present disclosure.

[0014] Figure 1 The figure is a flow chart of a method for restoring steering wheel auxiliary control according to an exemplary embodiment.

[0015] Figure 2 The figure is a flow chart of another method for restoring steering wheel auxiliary control according to an exemplary embodiment.

[0016] Figure 3 The present invention is a schematic diagram showing a method for obtaining a lateral distance between a lane centerline of a road on which a vehicle is located and a vehicle centerline according to an exemplary embodiment.

[0017] Figure 4 A schematic diagram illustrating a method for obtaining an angle between a lane line of a road on which a vehicle is located and a center line of the vehicle is shown according to an exemplary embodiment.

[0018] Figure 5 A schematic flow chart of a method for restoring steering wheel auxiliary control is shown according to an exemplary embodiment.

[0019] Figure 6 A block diagram of a device for restoring steering wheel auxiliary control is shown according to an exemplary embodiment.

[0020] Figure 7 This is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0021] In order to enable ordinary persons in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0022] It should be noted that the terms "first," "second," and the like in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the numbers used in this manner are interchangeable where appropriate so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure as detailed in the appended claims.

[0023] Figure 1 A flowchart of a method for restoring steering wheel auxiliary control provided in an embodiment of the present disclosure.

[0024] like Figure 1 As shown, the steering wheel auxiliary control recovery method includes the following steps:

[0025] S101, identifying that the steering wheel auxiliary control is in an inhibited state, and then monitoring the state of the vehicle.

[0026] It should be noted that the vehicle's assisted driving function can be divided into two dimensions, namely the longitudinal dimension and the lateral dimension. The longitudinal dimension is to automatically control the vehicle's speed to achieve control of the vehicle's speed, and the lateral dimension is to automatically control the vehicle's steering wheel rotation to stabilize the vehicle's driving direction.

[0027] It should be noted that in the lateral dimension, in order to keep the vehicle centered in the lane, it relies on capturing the lane lines to control the turning of the steering wheel. When the lane lines cannot be captured, the vehicle's lateral control is lost, that is, the steering wheel auxiliary control is in an inhibited state.

[0028] For example, in various scenarios such as temporary lane selection, temporary detour around obstacles, and temporary route selection, the lane lines may not be captured, that is, lateral control is lost and steering wheel auxiliary control is inhibited.

[0029] It should be noted that the present disclosure does not limit the specific method for identifying that the steering wheel auxiliary control is in the inhibited state, and it can be selected according to actual circumstances.

[0030] Optionally, the lane line of the road on which the vehicle is traveling may be detected, and if no lane line is identified within a first set time period, it is determined that the steering wheel assist control of the vehicle is in an inhibited state.

[0031] S102: Determine whether the current state of the vehicle satisfies a determination condition for resuming steering wheel auxiliary control.

[0032] It should be noted that in the related art, when the vehicle's lateral control is lost, that is, the steering wheel assist control is in an inhibited state, the steering wheel assist control is quickly restored after the lane line is recaptured, causing the vehicle to frequently switch from the steering wheel assist control being in an inhibited state to the steering wheel assist control being restored, resulting in a poor user experience.

[0033] The present disclosure proposes a method for restoring steering wheel assisted control. When it is identified that the steering wheel assisted control is in an inhibited state, the state of the vehicle is monitored. When the current state of the vehicle meets the judgment conditions for restoring the steering wheel assisted control, the steering wheel assisted control of the vehicle is restored, thereby reducing the frequency of restoring the steering wheel assisted control of the vehicle and avoiding the phenomenon of frequently restoring the steering wheel assisted control of the vehicle from a suppressed state.

[0034] It should be noted that the present disclosure does not limit the specific method for determining whether the current state of the vehicle meets the determination conditions for resuming steering wheel auxiliary control, and the method can be selected according to actual conditions.

[0035] Optionally, the detection signal of the steering wheel torque sensor can be obtained, the lane lines on both sides of the road where the vehicle is located are continuously identified, the lateral distance between the lane center line of the road where the vehicle is located and the vehicle center line is obtained, and the angle between the lane line of the road where the vehicle is located and the vehicle center line is obtained. Based on the detection signal, the identification results of the lane lines on both sides, the lateral distance and the angle, it is determined whether the current state meets the judgment conditions for restoring steering wheel auxiliary control.

[0036] S103: If the current state satisfies the determination condition, the steering wheel auxiliary control of the vehicle is restored.

[0037] In an embodiment of the present disclosure, in response to the detection signal, the recognition results of the lane lines on both sides, the lateral distance and the angle all satisfying their respective corresponding judgment conditions for resuming the steering wheel assist control, it is determined that the current state satisfies the judgment conditions for resuming the steering wheel assist control.

[0038] Optionally, if it is determined that the current state meets the judgment conditions for resuming steering wheel assisted control, that is, it is determined that the detection signal meets the first judgment condition for resuming steering wheel assisted control, it is determined that the recognition result of the lane lines on both sides meets the second judgment condition for resuming steering wheel assisted control, it is determined that the lateral distance meets the third judgment condition for resuming steering wheel assisted control, and it is determined that the angle meets the fourth judgment condition for resuming steering wheel assisted control, then the steering wheel assisted control of the vehicle is restored.

[0039] In the embodiment of the present disclosure, if the current state does not meet the determination conditions, the steering wheel assist control of the vehicle is maintained in an inhibited state, that is, if the first determination condition, the second determination condition, the third determination condition and the fourth determination condition for restoring the steering wheel assist control are not met at the same time, the steering wheel assist control of the vehicle is maintained in an inhibited state.

[0040] According to a method for restoring steering wheel assisted control of an embodiment of the present disclosure, by identifying that the steering wheel assisted control is in an inhibited state, the state of the vehicle is monitored, and it is determined whether the current state of the vehicle meets the determination conditions for restoring the steering wheel assisted control. If the current state meets the determination conditions, the steering wheel assisted control of the vehicle is restored. Therefore, the present disclosure restores the steering wheel assisted control of the vehicle when it identifies that the steering wheel assisted control is in an inhibited state and the current state of the vehicle meets the determination conditions for restoring the steering wheel assisted control, thereby avoiding the phenomenon of frequently restoring the steering wheel assisted control of the vehicle from being in an inhibited state, reducing the frequency of restoring the steering wheel assisted control of the vehicle from being in an inhibited state, improving the safety and reliability of autonomous driving, and improving the user experience.

[0041] Figure 2 This is a flowchart of a method for restoring steering wheel auxiliary control according to an embodiment of the present disclosure. Based on the above embodiment, further combined with Figure 2 The specific process of determining whether the current state of the vehicle satisfies the conditions for resuming the steering wheel auxiliary control is explained, including the following steps:

[0042] S201, obtaining a detection signal from a steering wheel torque sensor.

[0043] Optionally, signal detection may be performed based on a steering wheel torque sensor of the vehicle to obtain a detection signal of the steering wheel torque sensor, wherein the detection signal at least includes a torque value A of the steering wheel.

[0044] S202: Continuously identify lane markings on both sides of the road where the vehicle is located.

[0045] It should be noted that the present disclosure does not limit the specific method of continuously identifying the lane lines on both sides of the road where the vehicle is located, and can be selected according to actual conditions.

[0046] Optionally, the vehicle can be positioned using a high-precision map and high-precision positioning system pre-installed in the vehicle to continuously identify the lane lines on both sides of the road where the vehicle is located.

[0047] Optionally, during the driving process of the vehicle, if the high-precision positioning signal is unavailable, the lane lines on both sides of the road where the vehicle is located can be continuously identified through the on-board camera.

[0048] S203: Obtain a lateral distance between a lane centerline of the road where the vehicle is located and a centerline of the vehicle.

[0049] It should be noted that the present disclosure does not limit the specific method of obtaining the lateral distance between the lane centerline of the road where the vehicle is located and the vehicle centerline, and can be selected according to actual circumstances.

[0050] Optionally, the vehicle can be positioned using a high-precision map and a high-precision positioning system pre-installed in the vehicle to obtain the lateral distance between the lane centerline of the road on which the vehicle is located and the vehicle centerline.

[0051] For example, the vehicle can be positioned using a high-precision map and high-precision positioning system pre-installed in the vehicle to obtain first position information of the vehicle's centerline and second position information of the vehicle's centerline. Based on the first position information and the second position information, the lateral distance between the lane centerline of the road where the vehicle is located and the vehicle's centerline can be obtained.

[0052] Optionally, the lateral distance D between the center line of the lane of the road where the vehicle is located and the center line of the vehicle can be obtained by using an on-board camera.

[0053] For example, if Figure 3As shown, a road image can be captured by a vehicle-mounted camera, and the position information of the lane centerline can be obtained based on the captured road image. Based on the position information of the lane centerline and the position information of the vehicle centerline, the lateral distance D between the lane centerline of the road where the vehicle is located and the vehicle centerline can be obtained.

[0054] S204: Obtain the angle between the lane line of the road where the vehicle is located and the center line of the vehicle.

[0055] It should be noted that the present disclosure does not limit the specific method of obtaining the angle between the lane line of the road where the vehicle is located and the center line of the vehicle, and can be selected according to actual conditions.

[0056] Optionally, the angle α between the lane line of the road where the vehicle is located and the center line of the vehicle can be obtained through a vehicle-mounted camera.

[0057] For example, if Figure 4 As shown, a road image can be captured by a vehicle-mounted camera, and the position information of the lane line can be obtained based on the captured road image. Based on the position information of the lane line and the position information of the vehicle center line, the angle α between the lane line of the road where the vehicle is located and the vehicle center line can be obtained.

[0058] S205 , judging whether the current state satisfies the determination conditions for resuming the steering wheel auxiliary control based on the detection signal, the recognition results of the lane lines on both sides, the lateral distance, and the angle.

[0059] In the embodiment of the present disclosure, after obtaining the detection signal, the recognition results of the lane lines on both sides, the lateral distance and the angle, it is possible to judge whether the current state meets the judgment conditions for restoring the steering wheel auxiliary control based on the detection signal, the recognition results of the lane lines on both sides, the lateral distance and the angle.

[0060] Optionally, in response to the detection signal, the recognition results of the lane lines on both sides, the lateral distance and the angle all satisfying their respective corresponding judgment conditions for resuming the steering wheel auxiliary control, it is determined that the current state satisfies the judgment conditions for resuming the steering wheel auxiliary control.

[0061] The following explains the specific process of determining whether the current state meets the judgment conditions for resuming steering wheel auxiliary control when the detection signal, the recognition results of the lane lines on both sides, the lateral distance and the angle all meet their corresponding judgment conditions for resuming steering wheel auxiliary control.

[0062] With respect to the detection signal, it can be determined based on the detection signal whether the steering wheel of the vehicle has switched from the state of being actively steered by the user to the state of being released by the user, and it can be determined that the detection signal meets the first determination condition for resuming steering wheel auxiliary control.

[0063] Optionally, if the detection signal is greater than a first set torque threshold, the first duration during which the detection signal is greater than the first set torque threshold is determined; if the first duration is greater than a second set duration, it is determined that the steering wheel is in a state of being actively steered by the user; the detection signal is continuously detected while the steering wheel is in a state of being actively steered by the user; if the detection signal is less than the second set torque threshold, the second duration during which the detection signal is less than the second set torque threshold is determined; if the second duration is greater than a third set duration, it is determined that the steering wheel has entered a state of being released by the user.

[0064] It should be noted that the present disclosure does not limit the settings of the first set threshold and the second set time length, and they can be set according to actual conditions.

[0065] Optionally, in order to more accurately determine whether the steering wheel is in a state of being actively steered by the user, different first set torque thresholds and second set time lengths corresponding to different first set torque thresholds can be determined to determine whether the steering wheel is in a state of being actively steered by the user.

[0066] For example, the first threshold value may be preset as A th1 , The second setting duration is T p1 ; The first threshold value can be preset to A th2 , The second setting duration is T p2 ; The first threshold value can be preset to A th3 , The second setting duration is T p3 .

[0067] In an embodiment of the present disclosure, if the detection signal is greater than a first set torque threshold, the first duration of the detection signal being greater than the first set torque threshold is determined; if the first duration is greater than the second set duration, it is determined that the steering wheel is in a state of being actively turned by the user.

[0068] For example: for the torque value in the detection signal A, the first set threshold is A th1 , The second setting duration is T p1 , if A>A th1 , and A>A th1 The first duration of is T1, if T1>T p1 , it is determined that the steering wheel is in the state of being actively steered by the user; for example: for the torque value in the detection signal is A, the first set threshold is A th2 , The second setting duration is T p2 , if A>A th2 , and A>A th2 The first duration of is T1, if T1>T p2 , it is determined that the steering wheel is in the state of being actively steered by the user; for another example: for the torque value in the detection signal is A, the first set threshold is A th3, The second setting duration is T p3 , if A>A th3 , and A>A th3 The first duration of is T1, if T1>T p3 , it is determined that the steering wheel is in a state of being actively turned by the user.

[0069] In an embodiment of the present disclosure, after determining that the steering wheel is in a state of being actively steered by the user, the detection signal is continuously detected while the steering wheel is in a state of being actively steered by the user. If the detection signal is less than a second set torque threshold, the second duration during which the detection signal is less than the second set torque threshold is determined. If the second duration is greater than a third set duration, it is determined that the steering wheel has entered a state of being released by the user.

[0070] For example, when the steering wheel is actively turned by the user, the detection signal is continuously detected. For the torque value in the current detection signal, the second set threshold is A. th4 , The third setting duration is T p4 , if B>A th4 , and B>A th4 The second duration of T is T2, if T2>T p4 , it is determined that the steering wheel has entered the state of being released by the user.

[0071] It should be noted that the present disclosure does not limit the setting of the third set time length and the second set threshold value, and can be set according to actual conditions. Optionally, the third set time length T can be set p4 5 seconds.

[0072] In an embodiment of the present disclosure, if it is determined that the steering wheel of the vehicle is switched from a state of being actively steered by the user to a state of being released by the user, it is determined that the detection signal meets the first determination condition for resuming steering wheel auxiliary control.

[0073] Regarding the recognition result of the lane markings on both sides, in response to the lane markings on both sides entering the unrecognized state from the recognized state, and then entering the re-recognized state from the unrecognized state, it is determined that the recognition result of the lane markings on both sides meets the second judgment condition for resuming steering wheel assist control.

[0074] It should be noted that by continuously identifying the lane lines on both sides of the road where the vehicle is located, the recognition results of the lane lines on both sides can be determined. The specific process can be found in the above embodiment and will not be repeated here. When the lane lines on both sides go from the recognized state to the unrecognized state, and from the unrecognized state to the re-recognized state, it is determined that the recognition results of the lane lines on both sides meet the second judgment condition for resuming steering wheel auxiliary control.

[0075] Optionally, a third duration of the state in which the two-sided lane markings are re-recognized is obtained. If the third duration is greater than or equal to a fourth set duration, it is determined that the current state meets the second determination condition of the steering wheel auxiliary control.

[0076] It should be noted that the present disclosure does not limit the setting of the fourth set time length, and it can be set according to actual conditions. p5 5 seconds.

[0077] For example, if the third duration of the double-sided lane line entering the state of being recognized again is T3, if T3 ≥ T p5 , it is determined that the current state meets the second determination condition of the steering wheel auxiliary control.

[0078] Regarding the lateral distance, if the lateral distance is less than the set distance threshold, it is determined that the lateral distance meets the third determination condition for resuming the steering wheel assist control.

[0079] It should be noted that the present disclosure has no effect on the distance threshold D th There is no limitation on the setting, and it can be set according to the actual situation.

[0080] For example, for a horizontal distance of D, the distance threshold is D th , if D>D th , it is determined that the lateral distance meets the third determination condition for resuming the steering wheel auxiliary control.

[0081] Regarding the included angle, if the included angle is less than the set angle threshold, it is determined that the included angle meets the fourth determination condition for resuming the steering wheel auxiliary control.

[0082] It should be noted that the present disclosure has no effect on the angle threshold α. th There is no limitation on the setting, and it can be set according to the actual situation.

[0083] For example, for an angle of α, the angle threshold is α th , if α>α th , it is determined that the included angle meets the fourth determination condition for resuming steering wheel auxiliary control.

[0084] In the embodiment of the present disclosure, if it is determined that the current state meets the judgment conditions for resuming the steering wheel assisted control, that is, it is determined that the detection signal meets the first judgment condition for resuming the steering wheel assisted control, it is determined that the recognition result of the lane lines on both sides meets the second judgment condition for resuming the steering wheel assisted control, it is determined that the lateral distance meets the third judgment condition for resuming the steering wheel assisted control, and it is determined that the angle meets the fourth judgment condition for resuming the steering wheel assisted control, then the steering wheel assisted control of the vehicle is restored.

[0085] In the embodiment of the present disclosure, if the current state does not meet the determination conditions, that is, the first, second, third and fourth determination conditions for resuming the steering wheel assist control are not met at the same time, the vehicle's steering wheel assist control is maintained in an inhibited state.

[0086] According to a method for restoring steering wheel assisted control of an embodiment of the present invention, by obtaining the detection signal of the steering wheel torque sensor, the lane lines on both sides of the road where the vehicle is located are continuously identified, the lateral distance between the lane center line of the road where the vehicle is located and the vehicle center line is obtained, and the angle between the lane line of the road where the vehicle is located and the vehicle center line is obtained. According to the detection signal, the recognition result of the lane lines on both sides, the lateral distance and the angle, it is judged whether the current state meets the judgment condition for restoring the steering wheel assisted control. When the detection signal, the recognition result of the lane lines on both sides, the lateral distance and the angle all meet their respective corresponding judgment conditions for restoring the steering wheel assisted control, it is determined that the current state meets the judgment condition for restoring the steering wheel assisted control, and the steering wheel assisted control of the vehicle is restored, avoiding the phenomenon of frequently restoring the steering wheel assisted control of the vehicle from being in an inhibited state, reducing the frequency of restoring the steering wheel assisted control of the vehicle from being in an inhibited state, improving the safety and reliability of autonomous driving, and improving the user experience.

[0087] The specific process of the steering wheel auxiliary control recovery method proposed in the present disclosure is explained below.

[0088] For example, if Figure 5As shown, during vehicle driving, by detecting the lane lines of the road on which the vehicle is traveling, if no lane lines are recognized within a first set time period, it is determined that the vehicle's steering wheel auxiliary control is in an inhibited state, that is, the vehicle's lateral control is lost, and the vehicle's state is monitored, that is, a detection signal of a steering wheel torque sensor is obtained. If the detection signal is greater than a first set torque threshold, a first duration during which the detection signal is greater than the first set torque threshold is determined. If the first duration is greater than a second set time period, it is determined that the steering wheel is in a state of being actively steered by the user. While the steering wheel is in the state of being actively steered by the user, the detection signal is continuously detected. If the detection signal is less than a second set torque threshold, a second duration during which the detection signal is less than the second set torque threshold is determined. If the second duration is greater than a third set time period, it is determined that the steering wheel has entered a state of being released by the user. It is determined that the detection signal meets the first determination condition for resuming the steering wheel auxiliary control, and the lane lines on both sides of the road on which the vehicle is located are continuously recognized. In response to the lane lines on both sides transitioning from the recognized state to the unrecognized state, The vehicle is identified as being in a recognized state and enters a recognized state again from an unrecognized state, and the duration of the two-sided lane markings entering the recognized state again is obtained. If the duration is greater than or equal to a fourth set duration, it is determined that the current state meets the second determination condition of the steering wheel assist control, and the lateral distance between the lane centerline of the road where the vehicle is located and the vehicle centerline is obtained. If the lateral distance is less than the set distance threshold, it is determined that the lateral distance meets the third determination condition for resuming the steering wheel assist control, and the angle between the lane line of the road where the vehicle is located and the vehicle centerline is obtained. If the angle is less than the set angle threshold, it is determined that the angle meets the fourth determination condition for resuming the steering wheel assist control. When the first determination condition, the second determination condition, the third determination condition and the fourth determination condition for resuming the steering wheel assist control are met at the same time, the steering wheel assist control of the vehicle is restored. If the first determination condition, the second determination condition, the third determination condition and the fourth determination condition for resuming the steering wheel assist control are not met at the same time, the steering wheel assist control of the vehicle is maintained in the inhibited state.

[0089] To sum up, the steering wheel assisted control recovery method proposed in the present invention monitors the state of the vehicle by identifying that the steering wheel assisted control is in an inhibited state, and determines that the detection signal meets the first judgment condition for recovering the steering wheel assisted control, determines that the recognition result of the lane lines on both sides meets the second judgment condition for recovering the steering wheel assisted control, determines that the lateral distance meets the third judgment condition for recovering the steering wheel assisted control, and determines that the angle meets the fourth judgment condition for recovering the steering wheel assisted control, then recovers the steering wheel assisted control of the vehicle, avoids the phenomenon of frequently recovering the steering wheel assisted control of the vehicle from being in an inhibited state, reduces the frequency of recovering the steering wheel assisted control of the vehicle from being in an inhibited state, improves the safety, reliability and stability of autonomous driving, and improves the user experience.

[0090] Figure 6 The figure is a block diagram of a device for restoring steering wheel auxiliary control according to an exemplary embodiment.

[0091] like Figure 6 As shown, the steering wheel auxiliary control recovery device 1000 includes: an identification module 110, a judgment module 120 and a recovery module 130.

[0092] an identification module 110 for identifying that the steering wheel auxiliary control is in an inhibited state and monitoring the state of the vehicle;

[0093] A determination module 120 is configured to determine whether the current state of the vehicle satisfies a determination condition for resuming steering wheel auxiliary control;

[0094] The restoration module 130 is configured to restore the steering wheel auxiliary control of the vehicle if the current state satisfies the determination condition.

[0095] Furthermore, the judgment module 120 is also used to: obtain the detection signal of the steering wheel torque sensor; continuously identify the lane lines on both sides of the road where the vehicle is located; obtain the lateral distance between the lane center line of the road where the vehicle is located and the vehicle center line; obtain the angle between the lane line of the road where the vehicle is located and the vehicle center line; and determine whether the current state meets the judgment conditions for resuming steering wheel auxiliary control based on the detection signal, the identification result of the lane lines on both sides, the lateral distance and the angle.

[0096] Furthermore, the judgment module 120 is also used to: in response to the detection signal, the recognition result of the lane lines on both sides, the lateral distance and the angle all satisfying their respective corresponding judgment conditions for restoring the steering wheel auxiliary control, determine that the current state meets the judgment conditions for restoring the steering wheel auxiliary control.

[0097] Furthermore, the judgment module 120 is also used to: determine, based on the detection signal, whether the steering wheel of the vehicle has switched from a state of being actively steered by the user to a state of being released by the user, and determine that the detection signal meets the first judgment condition for resuming steering wheel auxiliary control.

[0098] Furthermore, the judgment module 120 is also used to: if the detection signal is greater than a first set torque threshold, determine a first duration during which the detection signal is greater than the first set torque threshold; if the first duration is greater than a second set duration, determine that the steering wheel is in a state of being actively steered by the user; continue to detect the detection signal while the steering wheel is in a state of being actively steered by the user; if the detection signal is less than the second set torque threshold, determine a second duration during which the detection signal is less than the second set torque threshold; if the second duration is greater than a third set duration, determine that the steering wheel has entered a state of being released by the user.

[0099] Furthermore, the judgment module 120 is also used to: in response to the two-sided lane markings entering an unrecognized state from an identified state, and then entering a re-recognized state from the unrecognized state, determine that the recognition result of the two-sided lane markings meets the second judgment condition for resuming steering wheel auxiliary control.

[0100] Furthermore, the device 1000 is also used to: obtain the third duration of the two-sided lane marking entering the state of being recognized again; if the third duration is greater than or equal to the fourth set duration, determine that the current state meets the second judgment condition of steering wheel auxiliary control.

[0101] Furthermore, the judgment module 120 is further configured to: if the lateral distance is less than a set distance threshold, determine that the lateral distance satisfies a third judgment condition for resuming steering wheel auxiliary control.

[0102] Furthermore, the judgment module 120 is further configured to: if the included angle is less than a set angle threshold, determine that the included angle satisfies a fourth judgment condition for resuming steering wheel auxiliary control.

[0103] Furthermore, the device 1000 is further configured to: if the current state does not satisfy the determination condition, maintain the steering wheel auxiliary control of the vehicle in an inhibited state.

[0104] Furthermore, the recognition module 110 is further configured to detect lane lines of the road on which the vehicle is traveling, and if no lane lines are recognized within a first set time period, determine that the steering wheel auxiliary control of the vehicle is in an inhibited state.

[0105] According to a steering wheel assist control recovery device of an embodiment of the present disclosure, by identifying that the steering wheel assist control is in an inhibited state, the vehicle state is monitored, and it is determined whether the current state of the vehicle satisfies the determination conditions for restoring the steering wheel assist control. If the current state satisfies the determination conditions, the vehicle's steering wheel assist control is restored. Thus, the present disclosure restores the vehicle's steering wheel assist control upon identifying that the steering wheel assist control is in an inhibited state and the vehicle's current state satisfies the determination conditions for restoring the steering wheel assist control, thereby avoiding the phenomenon of frequently restoring the vehicle's steering wheel assist control from being in an inhibited state, reducing the frequency of restoring the vehicle's steering wheel assist control from being in an inhibited state, improving the safety and reliability of autonomous driving, and enhancing the user experience.

[0106] In order to implement the above embodiments, the present disclosure also provides an electronic device, such as Figure 7 As shown, the electronic device 2000 includes: a processor 201; and one or more memories 202 for storing instructions executable by the processor 201. The processor 201 is configured to execute the steering wheel assist control restoration method described in the above embodiment. The processor 201 and the memory 202 are connected via a communication bus.

[0107] To implement the above embodiments, the present disclosure further provides a computer-readable storage medium including instructions, such as a memory 202 including instructions, which can be executed by the processor 201 of the apparatus 1000 to perform the above methods. Alternatively, the computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, or the like.

[0108] In order to implement the above embodiments, the present disclosure further provides a computer program product, including a computer program, characterized in that when the computer program is executed by a processor, the steering wheel auxiliary control recovery method described in the above embodiments is implemented.

[0109] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0110] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for restoring steering wheel auxiliary control, characterized in that: The method comprises: If it is recognized that the steering wheel auxiliary control is in the inhibited state, the vehicle status is monitored; determining whether a current state of the vehicle satisfies a determination condition for resuming steering wheel auxiliary control; If the current state satisfies the determination condition, the steering assist control of the vehicle is restored.

2. The method according to claim 1, characterized in that The determining whether the current state of the vehicle satisfies a determination condition for resuming steering wheel auxiliary control includes: Obtaining a detection signal from a steering wheel torque sensor; Continuously identifying lane markings on both sides of the road where the vehicle is located; Obtaining a lateral distance between a lane centerline of a road on which the vehicle is located and a vehicle centerline; Obtaining the angle between the lane line of the road where the vehicle is located and the center line of the vehicle; Whether the current state satisfies a determination condition for resuming steering wheel auxiliary control is determined based on the detection signal, the recognition result of the two-side lane lines, the lateral distance, and the included angle.

3. The method according to claim 2, characterized in that The determining, based on the detection signal, the recognition result of the two-side lane markings, the lateral distance, and the included angle, whether the current state satisfies a determination condition for resuming steering wheel auxiliary control includes: In response to the detection signal, the recognition result of the two-side lane lines, the lateral distance and the angle all satisfying their respective corresponding judgment conditions for resuming the steering wheel auxiliary control, it is determined that the current state satisfies the judgment conditions for resuming the steering wheel auxiliary control.

4. The method according to claim 2 or 3, characterized in that Determining whether the detection signal satisfies a corresponding determination condition for resuming steering wheel auxiliary control includes: According to the detection signal, it is determined that the steering wheel of the vehicle is switched from a state of being actively steered by the user to a state of being released by the user, and it is determined that the detection signal meets a first determination condition for resuming steering wheel auxiliary control.

5. The method according to claim 4, characterized in that The determining, based on the detection signal, that the steering wheel of the vehicle is switched from a state of being actively steered by a user to a state of being released by a user comprises: If the detection signal is greater than a first set torque threshold, determining a first duration for which the detection signal is greater than the first set torque threshold; and if the first duration is greater than a second set duration, determining that the steering wheel is in a state of being actively steered by the user; continuously detecting the detection signal while the steering wheel is actively turned by the user; If the detection signal is less than the second set torque threshold, determine the second duration of the detection signal being less than the second set torque threshold; if the second duration is greater than the third set duration, determine that the steering wheel has entered a state of being released by the user.

6. The method according to claim 3, characterized in that Determining whether the recognition result of the two-side lane markings meets the corresponding determination condition for resuming the steering wheel auxiliary control includes: In response to the two-sided lane markings entering an unrecognized state from a recognized state and then entering a re-recognized state from the unrecognized state, it is determined that the recognition result of the two-sided lane markings meets the second determination condition for resuming steering wheel assist control.

7. The method according to claim 6, characterized in that The method further comprises: Obtaining a third duration of time in which the two-way lane marking enters a state where it is recognized again; If the third duration is greater than or equal to a fourth set duration, it is determined that the current state satisfies the second determination condition of the steering wheel auxiliary control.

8. The method according to claim 3, characterized in that Determining whether the lateral distance satisfies a corresponding determination condition for resuming steering wheel auxiliary control includes: If the lateral distance is less than the set distance threshold, it is determined that the lateral distance meets the third determination condition for resuming the steering wheel assist control.

9. The method according to claim 3, characterized in that Determining whether the angle satisfies a corresponding determination condition for resuming steering wheel auxiliary control includes: If the included angle is less than the set angle threshold, it is determined that the included angle meets the fourth determination condition for resuming the steering wheel auxiliary control.

10. The method according to any one of claims 1 to 9, characterized in that The method further comprises: If the current state does not satisfy the determination condition, the steering assist control of the vehicle is maintained in a suppressed state.

11. The method according to claim 10, characterized in that The identifying that the steering wheel assist control is in the inhibited state includes: A lane line of a road on which the vehicle is traveling is detected, and if no lane line is identified within a first set time period, it is determined that the steering wheel auxiliary control of the vehicle is in an inhibited state.

12. A steering wheel auxiliary control recovery device, characterized in that: The device comprises: An identification module, used to identify that the steering wheel auxiliary control is in an inhibited state, and then monitor the state of the vehicle; a judgment module, configured to judge whether the current state of the vehicle satisfies a judgment condition for resuming the steering wheel auxiliary control; A recovery module is configured to recover the steering wheel auxiliary control of the vehicle if the current state satisfies the determination condition.

13. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for restoring the steering wheel auxiliary control according to any one of claims 1 to 11 is implemented.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steering wheel auxiliary control recovery method according to any one of claims 1 to 11 is implemented.

Images