Autonomous vehicle steering control method and device based on man-machine interaction

Abstract

Disclosed in the present invention are an autonomous vehicle steering control method and device based on man-machine interaction. The method comprises: a driver taking over an autonomous vehicle; by means of a pressure sensing module disposed on a seat or at a pedal measuring left- and right-side pressures or front- and rear-side pressures, and calculating pressure differences, wherein the driver changes the left- and right-side pressures or the front- and rear-side pressures of the seat by means of tilting the body to the left / right or front / back, or changes the left- and right-side pressures or the front- and rear-side pressures of the pedal by means of stepping on the pressure sensing module at the pedal; and controlling the steering of the vehicle according to the pressure difference, involving: constructing relationships between vehicle steering angles and pressure differences during linear constant-speed travel, constructing relationships between vehicle steering angles and pressure differences during curved travel, and constructing relationships between vehicle steering angles and pressure differences during speeding-up / slowing-down travel, wherein the curved travel and the speeding-up / slowing-down travel each involve two situations, namely, the pressure difference being a pressure difference between the left- and right-side pressures, and the pressure difference being a pressure difference between the front- and rear-side pressures.

Description

A steering control method and device for an autonomous driving vehicle based on human-computer interaction

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] The embodiments of this application are based on and claim the priority of Chinese patent application with application number 202311030691.5 and application date August 15, 2023. The entire contents of the Chinese patent application are hereby introduced into the embodiments of this application as a reference. Technical Field

[0003] The present invention belongs to the technical field of vehicle steering control, and specifically relates to a steering control method and device for an autonomous driving vehicle based on human-computer interaction. Background Art

[0004] In the future, self-driving cars will not need drivers. Instead, drivers will be passengers, so people with disabilities who cannot use their hands can travel alone in self-driving cars. Or self-driving cars may not have steering wheels.

[0005] However, no matter how advanced the autonomous driving system is, when it fails and cannot complete the autonomous driving task, a human needs to take over the vehicle. In this case, it is very necessary to invent a steering system for disabled people without hands, or for normal people but vehicles without steering wheels.

[0006] Summary of the Invention

[0007] In response to the defects in the prior art, the present invention provides a steering control method and device for an autonomous driving vehicle based on human-computer interaction to solve the steering control problem when autonomous driving takes over.

[0008] The technical solutions provided by the present invention are as follows:

[0009] According to a first aspect of the present invention, a steering control method for an autonomous driving vehicle based on human-computer interaction is provided, which is used in an electronic device of the vehicle and includes the following steps:

[0010] The driver takes over the autonomous vehicle;

[0011] A pressure sensing module provided on the seat or at the footrest detects the left-right pressure or the front-to-back pressure and calculates the pressure difference F between the left-right pressure and the front-to-back pressure. The driver changes the left-right pressure or the front-to-back pressure of the seat by leaning left or right or forward or backward, or by stepping on the pressure sensing module at the footrest.

[0012] The steering of the vehicle is controlled according to the pressure difference F.

[0013] According to a second aspect of the present invention, there is provided a human-computer interaction-based autonomous driving vehicle steering control system for implementing any one of the above-mentioned human-computer interaction-based autonomous driving vehicle steering control methods, comprising:

[0014] An automatic driving controller, configured to send steering takeover information to an in-vehicle infotainment system, calculate a pressure difference F, and generate vehicle steering control information based on the pressure difference F;

[0015] The in-vehicle infotainment system is used to receive steering takeover information sent by the autonomous driving controller and prompt the driver to take over the vehicle in a timely manner;

[0016] A pressure sensing module is provided on the seat or at the footrest to detect the left and right pressure or the front and rear pressure of the seat or at the footrest;

[0017] The electric power steering system is used to receive vehicle steering control information and control the vehicle to steer.

[0018] According to a third aspect of the present invention, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method when executing the computer program.

[0019] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the method when executed by a processor.

[0020] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0021] This invention provides a steering control method and device for autonomous vehicles based on human-machine interaction. This method replaces traditional steering wheel solutions and achieves steering by detecting pressure. This invention is applicable not only to autonomous vehicles but also to other vehicles without steering wheels. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] FIG1 is a flow chart of a steering control method for an autonomous driving vehicle based on human-computer interaction according to an embodiment of the present invention;

[0023] FIG2 is a block diagram of a steering control system for an autonomous driving vehicle based on human-computer interaction according to an embodiment of the present invention;

[0024] 3 is a diagram showing the relationship between the steering angle and the pressure difference of a vehicle when traveling on a curve according to an embodiment of the present invention;

[0025] 4 is a diagram showing the relationship between the steering angle and the pressure difference of a vehicle when traveling in a straight line according to an embodiment of the present invention;

[0026] FIG5 is a schematic structural diagram of a vehicle steering pedal module according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0028] This invention addresses the steering control issues faced by future autonomous vehicles, such as those faced by disabled individuals without hands, or individuals without a steering wheel, in situations where a driver needs to take over the vehicle due to a malfunction. Vehicle control is divided into longitudinal and lateral control. While disabled individuals without hands can use their feet to steer the vehicle longitudinally, they cannot use their hands to steer the vehicle laterally. Therefore, the invention of a steering system for vehicles without hands is highly desirable.

[0029] The steering control method for an autonomous driving vehicle based on human-computer interaction according to an embodiment of the present invention is shown in FIG1 , and the steps are as follows:

[0030] In the first step, the vehicle alerts the driver that steering assistance is needed. When the vehicle exceeds the ODD (Operational Design Domain), the vehicle implements the minimum safety risk strategy. If the autopilot controller experiences a problem with the EPS (Electric Power Steering) signal, the autopilot system loses communication with the EPS, requiring human control of the vehicle's steering.

[0031] In the second step, the onboard personnel receive the vehicle information and begin controlling the vehicle's steering. The vehicle's IVI (In-Vehicle Infotainment) system communicates the required steering information to the personnel via the HMI (Human Machine Interface).

[0032] It can also be done through other means, including sound, light, and electricity.

[0033] In the third step, the person starts to steer the car by leaning the body left or right, or by stepping on the pedals that control the vehicle's steering.

[0034] For example, a steering signal is sent to the EPS through the pressure sensing module on the seat (built-in below the seat). There are two pressure sensors on the left and right sides of the seat. When the driver leans left or right, the pressure sensors sense different pressure changes. Leaning to the left controls the left turn, and leaning to the right controls the right turn. If a curve is encountered: When the vehicle is driving on a curve, due to centrifugal force and inertia, the left and right pressures of the person on the seat will become unbalanced (when the vehicle turns right, the person will increase the pressure on the left side of the seat; when the vehicle turns left, the person will increase the pressure on the right side of the seat). Different pressure imbalances will occur depending on the curvature of the road (which can be obtained by the autonomous vehicle camera and high-precision map), different vehicle speeds, and the driver's own weight. At this time, different pressure and EPS mapping curves will be used.

[0035] For example, when your left foot steps on the steering pedal (as shown in Figure 5), pressure is applied to one side of the pedal, causing a change in pedal travel. This change in pedal travel is mapped to the EPS's steering direction, and a signal is sent to the EPS to control the vehicle's steering.

[0036] In the fourth step, EPS receives the signal and controls the vehicle steering.

[0037] In some embodiments of the present application, the left and right side pressure or the front and rear side pressure is detected by a pressure sensing module arranged on the seat; wherein, the driver changes the left and right side pressure or the front and rear side pressure of the seat by tilting the body left and right or front and rear.

[0038] The left and right side pressure or the front and rear side pressure can also be detected by a pressure sensing module provided at the pedal; wherein the driver changes the left and right side pressure or the front and rear side pressure at the pedal by stepping on the pressure sensing module at the pedal.

[0039] It should be noted that at least two pressure sensing modules are required. When detecting left and right pressure, one is placed on the left and right sides of the seat or footrest; when detecting front and rear pressure, one is placed on the front and rear sides of the seat or footrest. The greater the number of pressure sensing modules, the more accurate the pressure detection will be, and the more precise the calculated pressure difference F will be.

[0040] In some embodiments of the present application, controlling the steering of the vehicle according to the pressure difference F mainly includes three situations: uniform straight-line driving, curved driving, and accelerated and decelerated driving.

[0041] First, establish the relationship between the vehicle steering angle α and the pressure difference F when driving in a straight line at a constant speed: α=f(F)

[0042] Where f(F) represents a monotonic straight line or curve passing through the origin; α equal to zero indicates a zero steering angle; α greater than zero corresponds to either a left or right steering angle; and α less than zero corresponds to the other. For example, when α greater than zero corresponds to a left steering angle, α less than zero corresponds to a right steering angle.

[0043] The relationship between the vehicle steering angle α and the pressure differential F can be manually set, for example, directly as a straight line, such as Line 1 in Figure 3. When the relationship between the vehicle steering angle α and the pressure differential F is as shown by Line 1, when the pressure on the left side equals the pressure on the right side, the steering angle is 0 degrees. When the pressure on the left side is greater than the pressure on the right side, the pressure differential F is positive, and the corresponding α is greater than zero, corresponding to a left steering angle. Conversely, when the pressure on the left side is less than the pressure on the right side, the pressure differential F is negative, and the corresponding α is less than zero, corresponding to a right steering angle.

[0044] Alternatively, the relationship between the vehicle steering angle α and the pressure difference F can be set to the two curves shown in Figure 4. The solid line shows a rapid change in the steering angle when the pressure difference between the two sides first begins to form; as the pressure difference between the two sides gradually increases, the change in the steering angle slows down. The dashed line shows the opposite of the solid line.

[0045] Of course, the relationship between the vehicle steering angle α and the pressure difference F can also be calibrated according to personal preference.

[0046] In addition, since both the left steering angle and the right steering angle have a maximum value, it can be set that when the pressure difference F reaches the first threshold, the steering angle corresponding to α reaches the maximum value. If the pressure difference F increases further, the steering angle will still be the maximum value; correspondingly, when the pressure difference F is less than the second threshold, the steering angle corresponding to α also reaches the maximum value.

[0047] It should be noted that, in the context of the uniform straight line described in this application, uniform speed refers to a speed change rate that does not exceed a preset speed change rate threshold, and a straight line refers to a road whose road curvature does not exceed a preset curvature threshold. These two thresholds can be set based on actual conditions. Preferably, the preset curvature threshold is related to the vehicle's current speed; the higher the vehicle's current speed, the lower the preset curvature threshold.

[0048] Based on the established relationship between the vehicle steering angle α and the pressure difference F when traveling in a straight line at a uniform speed, the relationship between the vehicle steering angle α and the pressure difference F when traveling in a curve is established, including:

[0049] (1) When the pressure difference F is the pressure difference between the left and right sides

[0050] ①α is greater than zero, corresponding to the left turning angle

[0051] If the current road is a left-turn road, the relationship between the vehicle steering angle α and the pressure difference F is: α=-f(F)

[0052] Or α=f(F+F′)

[0053] Or α=f(F)+b'

[0054] If the current road is a right-turn road, the relationship between the vehicle steering angle α and the pressure difference F is: α=-f(F)

[0055] Or α=f(FF′)

[0056] Or α=f(F)-b′

[0057] As shown in Figure 3, the pressure difference F is the difference between the left and right pressures (left pressure minus right pressure), and a value of α greater than zero corresponds to a left turn angle. If the road is a right-hand curve, the pressure difference F will be greater than when traveling on a straight line at a constant speed due to centrifugal force and inertia. If the relationship between the vehicle's steering angle α and the pressure difference F is still the same as when traveling on a straight line at a constant speed, the vehicle will turn left. However, the road is now a right-hand curve. Therefore, the relationship between the vehicle's steering angle α and the pressure difference F when traveling on a straight line at a constant speed (using the first line as an example) is symmetrically processed along the pressure difference axis, resulting in the second line (α = -f(F)). In this case, this pressure difference corresponds to a right turn. Furthermore, the smaller the turning radius (i.e., the more curved the curve), the greater the pressure difference. Based on the second line, the right turn angle will be greater, which is consistent with a more curved curve.

[0058] Of course, the first line can also be shifted to the right to obtain the third line (α = f(FF')). Due to centrifugal force and inertia, the pressure difference F will be greater than when the vehicle is traveling along a straight line at a constant speed. Therefore, subtracting this greater pressure difference can reduce the effects of centrifugal force and inertia, thereby preventing increased difficulty in steering control.

[0059] Shifting the first line downwards yields the fourth line. The principle is to simply subtract the steering angle corresponding to the larger portion of the pressure difference.

[0060] ②α is greater than zero, corresponding to the right turning angle

[0061] If the current road is a left-turn road, the relationship between the vehicle steering angle α and the pressure difference F is: α=f(F)

[0062] Or α=f(F+F′)

[0063] Or α=f(F)-b′

[0064] If the current road is a right-turn road, the relationship between the vehicle steering angle α and the pressure difference F is: α=f(F)

[0065] Or α=f(FF′)

[0066] Or α=f(F)+b′

[0067] Where F′ is the left-right balance pressure; b′ is the left-right balance steering angle; the left-right balance pressure F′ is the absolute value of the pressure difference between the left and right sides of the vehicle under the current driver mass, current road curvature, and current vehicle speed; and the left-right balance steering angle b′ is the absolute value of f(F′).

[0068] (2) When the pressure difference F is the pressure difference between the front and rear side pressures, the relationship between the vehicle steering angle α and the pressure difference F when traveling in a straight line at a constant speed is directly adopted.

[0069] If it is the pressure difference between the front and rear side pressures, the curve will not affect this pressure difference, so the relationship between the vehicle steering angle α and the pressure difference F when driving in a straight line at a constant speed can be directly used.

[0070] Similarly, the relationship between the vehicle steering angle α and the pressure difference F during acceleration and deceleration is constructed, including:

[0071] (1) When the pressure difference F is the pressure difference between the front and rear sides

[0072] ①α is greater than zero, corresponding to the left turning angle

[0073] If the vehicle is currently accelerating, the relationship between the vehicle steering angle α and the pressure difference F is: α=f(F+F″)

[0074] Or α=f(f)+b″

[0075] If the vehicle is currently in a decelerating state, the relationship between the vehicle steering angle α and the pressure difference F is: α=f(FF″)

[0076] Or α=f(F)-b″

[0077] ②α is greater than zero, corresponding to the right turning angle

[0078] If the vehicle is currently accelerating, the relationship between the vehicle steering angle α and the pressure difference F is: α=f(F+F″)

[0079] Or α=f(f)-b″

[0080] If the vehicle is currently in a decelerating state, the relationship between the vehicle steering angle α and the pressure difference F is: α=f(FF″)

[0081] Or α=f(F)+b″

[0082] Where F″ is the front and rear side balance pressure; b″ is the front and rear side balance steering angle; the front and rear side balance pressure F″ is the absolute value of the pressure difference between the front and rear side pressures of the vehicle under the current driver mass and current acceleration; the front and rear side balance steering angle b″ is the absolute value of f(F″).

[0083] (2) When the pressure difference F is the pressure difference between the left and right side pressures, the relationship between the vehicle steering angle α and the pressure difference F when traveling in a straight line at a constant speed is directly adopted.

[0084] Among them, the left and right side balance pressure F′ and the front and rear side balance pressure F″ can be calibrated in their respective situations. For example, the front and rear side balance pressure F″ is the pressure difference between the front and rear side pressures of the vehicle under the current driver mass and current acceleration. The left and right side balance steering angle b′ and the front and rear side balance steering angle b″ are calculated from the corresponding left and right side balance pressure F′ and front and rear side balance pressure F″.

[0085] For situations involving acceleration and deceleration on curves: Since acceleration and deceleration on curves are somewhat dangerous and rarely occur, any of the above corresponding relationships can be used. For example, when accelerating on a left turn, the relationship corresponding to a uniform straight line, the relationship corresponding to a left turn, or the relationship corresponding to acceleration can be used.

[0086] It should be noted that there are many ways to control vehicle speed, such as allowing the vehicle to continue driving at the current speed, or controlling the vehicle to coast. Alternatively, a pressure sensor can be installed, with one foot controlling the steering and the other foot controlling the vehicle speed. Of course, the vehicle speed can also be controlled using the vehicle steering pedal module shown in Figure 5, that is, controlling forward and reverse directions and vehicle speed based on pressure differences.

[0087] The steering control device of an autonomous driving vehicle based on human-computer interaction according to an embodiment of the present invention, as shown in FIG2 , includes: an autonomous driving controller, an IVI, a person, a pressure sensing module, and an EPS.

[0088] The autonomous driving controller is responsible for sending steering takeover information to the IVI;

[0089] IVI receives steering takeover information from the autonomous driving controller and displays it through the HMI interface, responsible for conveying the steering takeover information to humans;

[0090] The person receives the information displayed by the IVI and applies pressure to the pressure sensing module under the seat by twisting the body;

[0091] The pressure sensing module or vehicle steering pedal module receives human pressure and converts the pressure information into a vehicle CAN network signal;

[0092] EPS receives the signal and controls the vehicle to steer.

[0093] In summary, the present invention uses seat-mounted steering to control vehicle steering. Pressure sensors are built into the left and right sides of the seat. When a person applies varying pressure to the left, right, or front and back of the seat, the pressure sensing module interprets the pressure and converts it into a CAN signal, which is transmitted to the EPS (Electronic Propulsion Engine) (EPS), which controls vehicle steering. A mapping relationship is proposed between seat pressure differences and EPS steering information, with the pressure difference corresponding to the EPS steering angle.

[0094] In addition, the vehicle's steering can also be controlled by foot. A steering control pedal is located at the position of (or slightly to the left of) the clutch pedal of a traditional manual transmission vehicle. By applying pressure to the left and right sides (or front and back) of the steering control pedal, the pedal stroke changes. The steering control pedal interprets the pressure and stroke, converts them into CAN signals, and transmits them to the EPS, which controls the vehicle's steering. A mapping relationship between the pedal stroke and the EPS steering information is proposed, and the pressure difference corresponds to the EPS steering angle. Of course, the present invention is also applicable to vehicles with steering wheels.

[0095] According to a third aspect of the present invention, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method when executing the computer program.

[0096] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the method when executed by a processor.

[0097] It should be noted that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0098] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A steering control method for an autonomous driving vehicle based on human-computer interaction, applied to an electronic device of the vehicle, characterized in that: When the driver takes over the autonomous vehicle; The left and right side pressure or the front and rear side pressure is obtained by a pressure sensing module arranged on the seat or the footrest, and the pressure difference of the left and right side pressure or the front and rear side pressure is calculated; wherein the left and right side pressure or the front and rear side pressure on the seat is changed by the driver tilting his body left and right or front and rear, and the left and right side pressure or the front and rear side pressure at the footrest is changed by the driver stepping on the pressure sensing module at the footrest; The vehicle's steering is controlled based on the pressure difference.

2. The steering control method for an automatic driving vehicle based on human-computer interaction according to claim 1, characterized in that: The controlling the steering of the vehicle according to the pressure difference specifically includes: Construct the relationship between the vehicle steering angle α and the pressure difference F when driving in a straight line at a uniform speed: α=f(F) Wherein, f(F) represents a monotonic straight line or curve passing through the origin; α equal to zero indicates that the steering angle is zero, α greater than zero corresponds to one of the left steering angle and the right steering angle, and α less than zero corresponds to the other of the left steering angle and the right steering angle.

3. The steering control method for an automatic driving vehicle based on human-computer interaction according to claim 2, characterized in that: Controlling the steering of the vehicle according to the pressure difference F also includes: Construct the relationship between the vehicle steering angle α and the pressure difference F when driving on a curve, including: (1) When the pressure difference F is the pressure difference between the left and right sides ①α is greater than zero, corresponding to the left turning angle If the current road is a left-turn road, the relationship between the vehicle steering angle α and the pressure difference F is: α=-f(F) Or α=f(F+F′) Or α=f(F)+b' If the current road is a right-turn road, the relationship between the vehicle steering angle α and the pressure difference F is: α=-f(F) Or α=f(FF′) Or α = f(F) - b′ ②α is greater than zero, corresponding to the right turning angle If the current road is a left-turn road, the relationship between the vehicle steering angle α and the pressure difference F is: α=f(F) Or α=f(F+F′) Or α = f(F) - b′ If the current road is a right-turn road, the relationship between the vehicle steering angle α and the pressure difference F is: α=f(F) Or α=f(FF′) Or α=f(F)+b′ Where, F' is the balanced pressure on the left and right sides; b' is the balanced steering angle on the left and right sides; (2) When the pressure difference F is the pressure difference between the front and rear side pressures, the relationship between the vehicle steering angle α and the pressure difference F when driving in a straight line at a uniform speed is directly adopted.

4. The steering control method for an automatic driving vehicle based on human-computer interaction according to claim 3, characterized in that: The left and right side balance pressure F′ is the absolute value of the pressure difference between the left and right sides of the vehicle under the current driver mass, the current road curvature and the current vehicle speed; the left and right side balance steering angle b′ is the absolute value of f(F′).

5. The steering control method for an automatic driving vehicle based on human-computer interaction according to claim 3, characterized in that: Controlling the steering of the vehicle according to the pressure difference F also includes: Construct the relationship between the vehicle steering angle α and the pressure difference F during acceleration and deceleration, including: (1) When the pressure difference F is the pressure difference between the front and rear sides ①α is greater than zero, corresponding to the left turning angle If the current vehicle is in an accelerating state, the relationship between the vehicle steering angle α and the pressure difference F is: α=f(F+F″) Or α=f(F)+b″ If the current vehicle is in a deceleration state, the relationship between the vehicle steering angle α and the pressure difference F is: α=f(FF″) Or α=f(F)-b″ ②α is greater than zero, corresponding to the right turning angle If the current vehicle is in an accelerating state, the relationship between the vehicle steering angle α and the pressure difference F is: α=f(F+F″) Or α=f(F)-b″ If the current vehicle is in a deceleration state, the relationship between the vehicle steering angle α and the pressure difference F is: α=f(FF″) Or α=f(F)+b″ Where, F″ is the front and rear side balanced pressure; b″ is the front and rear side balanced steering angle; (2) When the pressure difference F is the pressure difference between the left and right side pressures, the relationship between the vehicle steering angle α and the pressure difference F when driving in a straight line at a constant speed is directly adopted.

6. The steering control method for an automatic driving vehicle based on human-computer interaction according to claim 5, characterized in that: The front and rear side balance pressure F″ is the absolute value of the pressure difference between the front and rear side pressures of the vehicle under the current driver mass and current acceleration; the front and rear side balance steering angle b″ is the absolute value of f(F″).

7. The steering control method for an automatic driving vehicle based on human-computer interaction according to claim 6, characterized in that: The left and right side balance pressure F′ and the front and rear side balance pressure F″ are calibrated in their respective cases, and the left and right side balance steering angle b′ and the front and rear side balance steering angle b″ are calculated from the corresponding left and right side balance pressure F′ and the front and rear side balance pressure F″.

8. The steering control method for an autonomous driving vehicle based on human-computer interaction according to claim 1, characterized in that: When the autonomous driving system fails or the vehicle exceeds the designed operating area, the driver is prompted to take over the vehicle; the autonomous driving system failure includes the inability of the autonomous driving controller to send the signal to the electric power steering system.

9. The steering control method for an automatic driving vehicle based on human-computer interaction according to any one of claims 2 to 7, characterized in that: In the relationship between the vehicle steering angle α and the pressure difference F, when the pressure difference F is greater than a first threshold, the steering angle corresponding to α reaches a maximum value; when the pressure difference F is less than a second threshold, the steering angle corresponding to α also reaches a maximum value.

10. A steering control system for an autonomous driving vehicle based on human-computer interaction for implementing the steering control method for an autonomous driving vehicle based on human-computer interaction as claimed in any one of claims 1 to 8, characterized in that: include: An automatic driving controller, used for sending steering takeover information to the in-vehicle infotainment system, and calculating the pressure difference F and generating vehicle steering control information according to the pressure difference F; The in-vehicle infotainment system is used to receive the steering takeover information sent by the autonomous driving controller and prompt the driver to take over the vehicle in time; A pressure sensing module is provided on the seat or at the footrest, and is used to detect the left and right pressure or the front and rear pressure on the seat or at the footrest; The electric power steering system is used to receive vehicle steering control information and control the vehicle to steer.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 9 when executing the computer program.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

Images