Vehicle control method and apparatus, vehicle, and storage medium

Abstract

A vehicle control method, relating to the technical field of autonomous vehicles. The method comprises: when a vehicle is in an autonomous driving state, determining an operational action of a driver on the vehicle and operational data corresponding to the operational action; determining a response mode for the operational action on the basis of the operational action and the operational data; and responding to the operational action by means of an autonomous driving assembly according to the response mode. The method can ensure the driving safety of the vehicle, and improve the user experience in autonomous driving. Also disclosed are a vehicle control apparatus, a vehicle, and a computer-readable storage medium.

Description

Vehicle control method, device, vehicle and storage medium Technical Field

[0001] The present application relates to the technical field of autonomous driving vehicles, and in particular to a vehicle control method, device, vehicle, and storage medium. Background Art

[0002] In recent years, the autonomous driving and semi-autonomous driving functions of vehicles have made significant progress. In L3 autonomous driving, there are situations where the driver briefly takes over the steering wheel, briefly presses the electronic brake, briefly steps on the accelerator pedal, and briefly steps on the brake pedal. In such situations, the autonomous driving system should respond to the driver's control while ensuring driving safety. This type of control is called the driver's override response to autonomous driving. In the existing technology, the vehicle is usually switched from autonomous driving mode to manual driving mode when the driver's intervention operation is detected. However, this method does not take into account the situation where the driver's intervention operation is a misoperation. When responding to a misoperation, there is a risk of a driving accident, resulting in a poor autonomous driving experience.

[0003] Summary of the Invention

[0004] The present application provides a vehicle control method, device, vehicle and storage medium, which can ensure the driving safety of the vehicle and improve the user's autonomous driving experience.

[0005] In a first aspect, the present application provides a vehicle control method, the method comprising:

[0006] When the vehicle is in an automatic driving state, determining an operation action of the driver on the vehicle and operation data corresponding to the operation action;

[0007] determining a response method to the operation action according to the operation action and the operation data;

[0008] The autonomous driving component responds to the operation action in the manner described.

[0009] Furthermore, the controllers corresponding to the operating action include a lateral controller and a longitudinal controller; determining the driver's operating action on the vehicle includes: monitoring whether an external force is applied to the lateral controller, and if so, determining that the operating action is operating the lateral controller; monitoring whether the working state of the longitudinal controller changes, and if so, determining that the operating action is operating the longitudinal controller.

[0010] Furthermore, the longitudinal controller includes at least an accelerator pedal, an electronic brake and a brake pedal; the monitoring of whether the working state of the longitudinal controller changes, and if so, determining that the operation action is to operate the longitudinal controller, includes: monitoring the opening and closing state of the accelerator pedal in the current task cycle, and if the opening and closing state of the accelerator pedal in the current task cycle changes compared with the opening and closing state of the accelerator pedal in the previous task cycle, determining that the operation action is to step on the accelerator pedal; monitoring the working state of the electronic brake in the current task cycle, and if the working state of the electronic brake in the current task cycle changes compared with the working state of the electronic brake in the previous task cycle, determining that the operation action is to press the electronic brake; monitoring the opening and closing state of the brake pedal in the current task cycle, and if the opening and closing state of the brake pedal in the current task cycle changes compared with the opening and closing state of the brake pedal in the previous task cycle, determining that the operation action is to step on the brake pedal.

[0011] Furthermore, when the controller corresponding to the operating action is an accelerator pedal, and the response method is to respond to the operating action, the automatic driving component responds to the operating action according to the response method, including: determining the following distance and collision time between the vehicle and the vehicle in front; determining whether the following distance is greater than a preset distance threshold and / or whether the collision time is greater than a preset time threshold; if the following distance is greater than the preset distance threshold and / or the collision time is greater than the preset time threshold, controlling the automatic driving component to respond to stepping on the accelerator pedal based on the operating data of the accelerator pedal.

[0012] Furthermore, when the controller corresponding to the operating action is an electronic brake, and the response method is to respond to the operating action, the automatic driving component responds to the operating action according to the response method, including: when the working state of the electronic brake is not mechanically clamped, controlling the automatic driving component to respond to the deceleration operation of the deceleration controller to achieve a response to pressing the electronic brake; when the working state of the electronic brake is converted from non-mechanical clamping to mechanical clamping, controlling the automatic driving component to exit the response to pressing the electronic brake.

[0013] Furthermore, determining a response method to the operation action based on the operation action and the operation data includes: obtaining a threshold range of an indicator corresponding to the operation action; determining whether the value of the operation data is within the threshold range; if so, determining that the response method is to respond to the operation action; if not, determining that the response method is not to respond to the operation action, and controlling the vehicle to continue in the current automatic driving state.

[0014] Furthermore, when responding to the operation action through the autonomous driving component in accordance with the response method, it also includes: in the process of responding to the current operation action, monitoring whether a new operation action is triggered, the current operation action is one of the operation actions, and the new operation action is an operation action in the operation action other than the current operation action; if triggered, controlling the autonomous driving component to exit the response to the current operation action, and controlling the autonomous driving component to execute the response to the new operation action.

[0015] Furthermore, before determining the response method to the operation action based on the operation action and the operation data, it also includes: determining whether the number of controllers corresponding to the operation action is a preset number; if it is the preset number, executing the operation of determining the response method to the operation action based on the operation action and the operation data.

[0016] Furthermore, the method also includes: starting a timer during the process of responding to the operation action; determining whether the timing duration of the timer is greater than a preset duration value; if greater, controlling the automatic driving component to exit the response to the operation action.

[0017] In a second aspect, the present application provides a vehicle control device, the device comprising:

[0018] a data acquisition module, configured to determine, when the vehicle is in an automatic driving state, an operation action of the driver on the vehicle and operation data corresponding to the operation action;

[0019] A mode determination module, configured to determine a response mode to the operation action according to the operation action and the operation data;

[0020] A vehicle control module is used to respond to the operating action in the manner described through an autonomous driving component.

[0021] In a third aspect, the present application provides a vehicle comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle control method described in any embodiment of the present application.

[0022] In a fourth aspect, the present application provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle control method described in any embodiment of the present application when executed.

[0023] In order to address the defects of the existing technology in the background technology, an embodiment of the present application provides a vehicle control method, and executing this method can bring the following beneficial effects: in this application, when the driver intervenes in the driving state while the vehicle is in the automatic driving mode, the microcontroller needs to judge the driver's intervention operation to determine the response method to the driver's intervention operation, and then respond to the driver's intervention operation through the automatic driving component; the existing method usually switches the vehicle from the automatic driving mode to the manual driving mode when the driver's intervention operation is detected. The present application responds or does not respond to the driver's intervention operation through the automatic driving component, and there is no need to exit the automatic driving mode, ensuring that the vehicle is always in the automatic driving state; the present application can solve the problem in the existing technology that when the driver's intervention operation is an erroneous operation or an unreasonable operation, it will cause a driving accident. The present application determines whether the driver's intervention operation is an erroneous operation or an unreasonable operation through the operation action and operation data, and then determines the response method to the operation action, which can ensure the driving safety of the vehicle and improve the user's automatic driving experience.

[0024] It should be noted that the above-mentioned computer instructions may be stored in whole or in part on a computer-readable storage medium. The computer-readable storage medium may be packaged together with the processor of the vehicle control device or separately from the processor of the vehicle control device, and this application does not limit this.

[0025] The description of the second, third and fourth aspects in this application can refer to the detailed description of the first aspect; and the beneficial effects of the description of the second, third and fourth aspects can refer to the analysis of the beneficial effects of the first aspect, which will not be repeated here.

[0026] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description.

[0027] It is understandable that before using the technical solutions disclosed in the embodiments of this application, the type, scope of use, and usage scenarios of the personal information involved in this application should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0029] FIG1 is a schematic diagram of a first flow chart of a vehicle control method provided by an embodiment of the present application;

[0030] FIG2 is a second flow chart of a vehicle control method provided by an embodiment of the present application;

[0031] FIG3 is a schematic diagram of a third flow chart of a vehicle control method provided in an embodiment of the present application;

[0032] FIG4 is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application;

[0033] FIG5 is a block diagram of a vehicle used to implement a vehicle control method according to an embodiment of the present application. DETAILED DESCRIPTION

[0034] To make the purpose, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0035] It should be noted that the terms "first," "second," "target," and "original" in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way are interchangeable where appropriate so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or apparatus.

[0036] Figure 1 is a first flow chart of a vehicle control method provided by an embodiment of the present application. This embodiment can be applied to the case where the driver intervenes in the driving condition of the vehicle during automatic driving, and determines how the automatic driving component responds to the driver's intervention to achieve control of the vehicle. The vehicle control method provided by this embodiment can be executed by a vehicle control device provided by an embodiment of the present application. The device can be implemented by software and / or hardware and integrated into an electronic device that executes this method. Preferably, the electronic device in the embodiment of the present application can be a vehicle, and the execution subject of this method is a microcontroller in the vehicle.

[0037] Referring to FIG1 , the method of this embodiment includes but is not limited to the following steps:

[0038] S110: When the vehicle is in an automatic driving state, determine the driver's operating actions on the vehicle and the operating data corresponding to the operating actions.

[0039] In an embodiment of the present application, the autonomous driving component in a vehicle is activated, entering an autonomous driving state. While the vehicle is in autonomous driving mode, the driver may briefly operate the vehicle. The vehicle's microcontroller needs to monitor data from various controllers in real time to determine whether the driver has performed an operation on the vehicle. If an operation is performed, the microcontroller obtains the corresponding operation data.

[0040] Among them, the operation action refers to the driver's intervention operation on the vehicle during the automatic driving process, and the operation data refers to the data of the indicator corresponding to the operation action; the controllers corresponding to the operation action include the lateral controller and the longitudinal controller, the lateral controller includes at least the steering wheel, and the longitudinal controller includes at least the accelerator pedal, electronic brake and brake pedal.

[0041] Specifically, determining the driver's operating action on the vehicle includes: monitoring whether an external force is applied to the lateral controller, and if so, determining the operating action is to operate the lateral controller; monitoring whether the working state of the longitudinal controller changes, and if so, determining the operating action is to operate the longitudinal controller.

[0042] Furthermore, it is monitored whether an external force is applied to the lateral controller. If so, the operation action is determined to be operating the lateral controller, including: monitoring the hand torque value applied by the driver to the steering wheel and the steering wheel angle value, and determining whether the driver has operated the steering wheel based on the hand torque value and the steering wheel angle value; if so, determining the operation action is turning the steering wheel.

[0043] Furthermore, the working state of the longitudinal controller is monitored for changes. If changes occur, the operation action is determined to be operating the longitudinal controller, including: monitoring the opening and closing state of the accelerator pedal in the current task cycle. If the opening and closing state of the accelerator pedal in the current task cycle changes compared with the opening and closing state of the accelerator pedal in the previous task cycle, the operation action is determined to be stepping on the accelerator pedal; monitoring the working state of the electronic brake in the current task cycle. If the working state of the electronic brake in the current task cycle changes compared with the working state of the electronic brake in the previous task cycle, the operation action is determined to be pressing the electronic brake; monitoring the opening and closing state of the brake pedal in the current task cycle. If the opening and closing state of the brake pedal in the current task cycle changes compared with the opening and closing state of the brake pedal in the previous task cycle, the operation action is determined to be stepping on the brake pedal.

[0044] S120: Determine a response method to the operation action according to the operation action and the operation data.

[0045] In an embodiment of the present application, when it is determined that the driver has performed an operation on the vehicle, the microcontroller in the vehicle needs to determine whether it needs to respond to the operation based on the operation and operation data. The reason for this setting is that the driver's intervention operation on the vehicle during the automatic driving process may be an erroneous operation or an unreasonable operation. If the automatic driving component responds to such intervention operation, it will cause the risk of driving accidents and result in a poor automatic driving experience. Therefore, the microcontroller needs to determine whether the driver's intervention operation is an erroneous operation or an unreasonable operation based on the operation and operation data, and then determine the response method to the operation action.

[0046] Specifically, determining a response to an operation based on the operation and operation data includes: obtaining a threshold range for an indicator corresponding to the operation; determining whether the value of the operation data is within the threshold range; if so, determining a response to the operation; if not, determining not to respond to the operation and controlling the vehicle to continue in the current autonomous driving state. An operation can correspond to multiple pieces of operation data, each of which has a corresponding threshold range.

[0047] It should be noted that since the autonomous driving component should respond to the driver's intervention operations while ensuring driving safety, the autonomous driving component will only respond to the operation when the driver's intervention operation on the vehicle is a fine-tuning or short-term behavior, such as fine-tuning the steering wheel, briefly stepping on the accelerator pedal or brake pedal. Otherwise, it will not respond to the operation and continue to execute the autonomous driving mode.

[0048] For example, if the driver's hand torque applied to the steering wheel exceeds a preset torque value (unit: Newton) for a preset duration, and the steering wheel angle exceeds a preset angle value, the microcontroller will deem this operation (i.e., intervention) unreasonable, which will affect the vehicle's autonomous driving trajectory and affect driving safety. For another example, if the driver's acceleration of the accelerator pedal is within a reasonable range, the autonomous driving component will respond to the driver's accelerator pedal operation. If it exceeds this range, the microcontroller will deem the driver's accelerator pedal operation unreasonable, and the autonomous driving component will not respond, continuing autonomous driving. It may also generate an alarm message to indicate that the operation is unreasonable.

[0049] Preferably, before determining the response to the operation action based on the operation action and the operation data, the process further includes: determining whether the number of controllers corresponding to the operation action is a preset number; if it is a preset number, executing the operation of determining the response to the operation action based on the operation action and the operation data. Optionally, the preset number of controllers corresponding to the operation action in this application is 1. This step is to determine whether the driver controls only one of the steering wheel, accelerator pedal, electronic brake, and brake pedal. If so, the process proceeds to the subsequent step of determining the response to the operation action based on the operation action and the operation data. If not, the process does not respond to the driver's intervention and continues to execute autonomous driving.

[0050] S130. Respond to the operation action according to the response method through the automatic driving component.

[0051] In the embodiment of the present application, the microcontroller determines whether it needs to respond to the driver's operation action based on the operation action and the operation data, that is, determines the response method to the operation action; if the response method is not to respond to the operation action, then the automatic driving component controls the vehicle to continue in the current automatic driving state; if the response method is to respond to the operation action, then the automatic driving component executes the operation action according to the operation data of the operation action. For example, if the response method is to respond to the operation action, the operation action is to step on the accelerator pedal, and the operation data is an acceleration of 3m / s 2 , then the autonomous driving component controls the vehicle based on 3m / s 2 The acceleration follows the predetermined route.

[0052] Furthermore, when responding to an operation action through the autonomous driving component in accordance with the response method, it also includes: in the process of responding to the current operation action, monitoring whether a new operation action is triggered; if triggered, controlling the autonomous driving component to exit the response to the current operation action, and controlling the autonomous driving component to execute the response to the new operation action. Among them, the current operation action is one of the operation actions, the new operation action is an operation action other than the current operation action in the operation action, and the current operation action and the new operation action are of different types. It should be noted that if the time when the current operation action occurs is the current moment, then the time when the new operation action occurs is the next moment, and the priority of the new operation action is higher than the priority of the current operation action.

[0053] For example, if the autonomous driving component is currently responding to an acceleration operation associated with the accelerator pedal, and the driver then turns the steering wheel, and the microprocessor determines that a steering operation is required, the autonomous driving component will then exit the acceleration operation and execute the steering operation. This is done because, for driving safety reasons, the steering operation at the next moment does not require the acceleration operation to be executed.

[0054] As another example, suppose the autonomous driving component is currently responding to the steering operation corresponding to the steering wheel. At this time, the driver steps on the accelerator pedal again, and the microprocessor determines that it is necessary to respond to the acceleration operation corresponding to the accelerator pedal. At this time, the microcontroller will think that the steering operation performed at the current moment is invalid or wrong for the next moment. Then the autonomous driving component exits the steering operation and performs the acceleration operation according to the established route.

[0055] Furthermore, the vehicle control method of the present application also includes: in the process of responding to the operation action, starting the timer to realize timing of the driver's intervention in driving in the automatic driving state, thereby obtaining the time when the driver intervenes in the automatic driving; determining whether the timing duration of the timer is greater than the preset duration value; if it is greater, it indicates that the driver currently wants to drive the vehicle himself (that is, enter the manual driving state), and then controlling the automatic driving component to exit the response to the operation action; if it is not greater, it indicates that the driver only operates the vehicle for a short time, and then the automatic driving component continues to respond to the driver's intervention operation.

[0056] The technical solution provided by this embodiment determines the driver's operation on the vehicle and the operation data corresponding to the operation when the vehicle is in the automatic driving state; determines the response method to the operation according to the operation and the operation data; and responds to the operation according to the response method through the automatic driving component. In this application, when the driver intervenes in the driving state while the vehicle is in the automatic driving mode, the microcontroller needs to judge the driver's intervention operation to determine the response method to the driver's intervention operation, and then respond to the driver's intervention operation through the automatic driving component; the existing method usually switches the vehicle from the automatic driving mode to the manual driving mode when the driver's intervention operation is detected. The present application responds or does not respond to the driver's intervention operation through the automatic driving component, without exiting the automatic driving mode, ensuring that the vehicle is always in the automatic driving state; the present application can solve the problem in the prior art that when the driver's intervention operation is an erroneous operation or an unreasonable operation, it may cause a driving accident. The present application determines whether the driver's intervention operation is an erroneous operation or an unreasonable operation through the operation action and the operation data, and then determines the response method to the operation action, which can ensure the driving safety of the vehicle and improve the user's automatic driving experience.

[0057] In an optional embodiment, a finite state machine can be combined with the driver's operations on the lateral controller and the longitudinal controller during the automatic driving process, and the finite state machine can be used to manage the vehicle's current override state (i.e., the intervention operation triggered by the driver on the vehicle). Different processing logic is used for different override states (i.e., different intervention operations), thereby achieving effective logical state management and response to driver override.

[0058] This application includes a driver operation judgment module (used to determine the driver's operating actions on the vehicle) that performs logical processing of driver override, a lateral override processing module (used to respond to the lateral controller's override), a longitudinal override processing module (used to respond to the longitudinal controller's override), and uses a finite state machine to manage the above modules. Among them, the longitudinal override processing module includes an acceleration override processing module, an electronic brake override processing module, and a brake override processing module. Throughout the entire life cycle of autonomous driving, this approach has good independence and scalability, and can serve as a control unit to handle more complex human-computer interaction logic such as driver override.

[0059] This application uses a finite state machine (FSM) to manage the state transitions and management of different modules. Four states exist: "Driver Operation Judgment Module," "Lateral Override Processing Module," "Acceleration Override Processing Module," and "Electronic Brake or Braking Override Processing Module." The state table is shown in Table 1 below, where rows represent initial states and columns represent secondary states. By following the jump and execution operations listed in the state table, the FSM can be configured to manage transitions between different states. Furthermore, the status of other override modules can be monitored. If the driver initiates another override operation while the current override module is active, the current override module is exited.

[0060] Table 1 Finite state machine state transition diagram

[0061] The following further describes the vehicle control method provided by an embodiment of the present application. Figure 2 is a second flow chart of a vehicle control method provided by an embodiment of the present application. This embodiment of the present application is an optimization based on the above embodiments. Specifically, the optimization is as follows: This embodiment provides a detailed explanation of the process of responding to an operation action when the controller corresponding to the operation action is an accelerator pedal and the response mode is to respond to the operation action.

[0062] Referring to FIG2 , the method of this embodiment includes but is not limited to the following steps:

[0063] S210: Determine the following distance and collision time between the vehicle and the preceding vehicle.

[0064] In an embodiment of the present application, the microcontroller determines that it needs to respond to the driver's operating action based on the operating action (i.e., stepping on the accelerator pedal) and the operating data (i.e., the acceleration value), that is, the response method is to respond to the operating action. At this time, the microcontroller needs to first determine whether there is a vehicle in front of the vehicle (i.e., the preceding vehicle). When there is no preceding vehicle in front of the vehicle, the automatic driving component is directly controlled to respond to the acceleration operation. When there is a preceding vehicle in front of the vehicle, the existing method can be used to determine the following distance and collision time between the vehicle and the preceding vehicle, so that the microcontroller can determine whether the risk of a driving accident will occur if the automatic driving component performs the acceleration operation.

[0065] S220: Determine whether the following vehicle distance is greater than a preset distance threshold and / or whether the collision time is greater than a preset time threshold.

[0066] In an embodiment of the present application, the microcontroller can determine whether the following distance is greater than a preset distance threshold, whether the collision time is greater than a preset time threshold, or whether the following distance is greater than a preset distance threshold and whether the collision time is greater than a preset time threshold.

[0067] S230: If the following distance is greater than a preset distance threshold and / or the collision time is greater than a preset time threshold, control the automatic driving component to respond to the stepping on the accelerator pedal based on the operating data of the accelerator pedal.

[0068] In an embodiment of the present application, if the following distance is greater than a preset distance threshold, the collision time is greater than a preset time threshold, or the following distance is greater than the preset distance threshold and the collision time is greater than the preset time threshold, indicating that even if the automatic driving component performs an acceleration operation, there is no risk of a driving accident, then the automatic driving component responds to the stepping on the accelerator pedal based on the acceleration value of the accelerator pedal.

[0069] The technical solution provided by this embodiment determines the following distance and collision time between the vehicle and the preceding vehicle; determines whether the following distance is greater than a preset distance threshold and / or whether the collision time is greater than a preset time threshold; if the following distance is greater than the preset distance threshold and / or the collision time is greater than the preset time threshold, then controls the autonomous driving component to respond to the accelerator pedal being stepped on based on the accelerator pedal's operating data. In this application, the driver steps on the accelerator pedal while the vehicle is in autonomous driving mode, and the microcontroller determines the need to respond to this operation based on the accelerator pedal's operating data. The microcontroller then determines the following distance and collision time between the vehicle and the preceding vehicle to avoid the risk of collision with the preceding vehicle caused by the autonomous driving component performing the acceleration operation. This application can ensure the driving safety of the vehicle and improve the user's autonomous driving experience.

[0070] The following further describes the vehicle control method provided by the embodiment of the present application. Figure 3 is a schematic diagram of the third flow chart of a vehicle control method provided by the embodiment of the present application. The embodiment of the present application is optimized based on the above embodiments. Specifically, the optimization is as follows: When the controller corresponding to the operation action is an electronic brake and the response mode is to respond to the operation action, the process of responding to the operation action is explained in detail.

[0071] Referring to FIG3 , the method of this embodiment includes but is not limited to the following steps:

[0072] S310. When the working state of the electronic brake is not mechanically clamped, control the automatic driving component to respond to the deceleration operation of the deceleration controller to achieve a response to pressing the electronic brake.

[0073] In an embodiment of the present application, the microcontroller determines that it needs to respond to the driver's operation based on the operation action (i.e., pressing the electronic brake) and the operation data (i.e., the duration of the electronic brake working state), that is, the response method is to respond to the operation action. At this time, the microcontroller needs to determine the current working state of the electronic brake. If the current working state is not mechanically clamped, the deceleration controller will be triggered to control the automatic driving component to respond to the deceleration operation of the deceleration controller to achieve a response to pressing the electronic brake.

[0074] S320. When the working state of the electronic brake is changed from non-mechanical clamping to mechanical clamping, the automatic driving component is controlled to exit the response to pressing the electronic brake.

[0075] In an embodiment of the present application, the microcontroller obtains the current working status of the electronic brake in real time. When the current working status is converted from non-mechanical clamping to mechanical clamping, the microcontroller controls the automatic driving component to exit the response to pressing the electronic brake.

[0076] The technical solution provided by this embodiment controls the automatic driving component to respond to the deceleration operation of the deceleration controller when the working state of the electronic brake is not mechanically clamped, so as to achieve a response to pressing the electronic brake; and controls the automatic driving component to exit the response to pressing the electronic brake when the working state of the electronic brake is converted from not mechanically clamped to mechanically clamped. In this application, the driver presses the electronic brake while the vehicle is in automatic driving mode, and the microcontroller determines the need to respond to this operation action based on the operation data of the electronic brake. Then, the microcontroller determines the current working state of the electronic brake and performs different response operations according to different current working states to achieve a response to pressing the electronic brake. This application can ensure the driving safety of the vehicle and improve the user's automatic driving experience.

[0077] FIG4 is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application. As shown in FIG4 , the device 400 may include:

[0078] The data acquisition module 410 is used to determine the driver's operation action on the vehicle and the operation data corresponding to the operation action when the vehicle is in the automatic driving state;

[0079] A mode determination module 420 is configured to determine a response mode to the operation action based on the operation action and the operation data;

[0080] The vehicle control module 430 is used to respond to the operation action in the manner described through the automatic driving component.

[0081] Optionally, the controller corresponding to the operation action includes a horizontal controller and a vertical controller;

[0082] Furthermore, the above-mentioned data acquisition module 410 can be specifically used to: monitor whether external force is applied to the lateral controller, and if so, determine that the operation action is to operate the lateral controller; monitor whether the working state of the longitudinal controller changes, and if so, determine that the operation action is to operate the longitudinal controller.

[0083] Optionally, the longitudinal controller includes at least an accelerator pedal, an electronic brake and a brake pedal;

[0084] Furthermore, the above-mentioned data acquisition module 410 can also be specifically used to: monitor the opening and closing state of the accelerator pedal in the current task cycle, if the opening and closing state of the accelerator pedal in the current task cycle has changed compared with the opening and closing state of the accelerator pedal in the previous task cycle, then determine that the operation action is stepping on the accelerator pedal; monitor the working state of the electronic brake in the current task cycle, if the working state of the electronic brake in the current task cycle has changed compared with the working state of the electronic brake in the previous task cycle, then determine that the operation action is pressing the electronic brake; monitor the opening and closing state of the brake pedal in the current task cycle, if the opening and closing state of the brake pedal in the current task cycle has changed compared with the opening and closing state of the brake pedal in the previous task cycle, then determine that the operation action is stepping on the brake pedal.

[0085] Furthermore, the above-mentioned vehicle control module 430 can be specifically used to: when the controller corresponding to the operation action is an accelerator pedal, and the response method is to respond to the operation action, determine the following distance and collision time between the vehicle and the vehicle in front; determine whether the following distance is greater than a preset distance threshold and / or whether the collision time is greater than a preset time threshold; if the following distance is greater than the preset distance threshold and / or the collision time is greater than the preset time threshold, control the automatic driving component to respond to stepping on the accelerator pedal based on the operation data of the accelerator pedal.

[0086] Furthermore, the above-mentioned vehicle control module 430 can also be specifically used for: when the controller corresponding to the operation action is an electronic brake, and the response method is to respond to the operation action, when the working state of the electronic brake is not mechanically clamped, controlling the automatic driving component to respond to the deceleration operation of the deceleration controller to achieve a response to pressing the electronic brake; when the working state of the electronic brake is converted from non-mechanical clamping to mechanical clamping, controlling the automatic driving component to exit the response to pressing the electronic brake.

[0087] Furthermore, the above-mentioned method determination module 420 can be specifically used to: obtain the threshold range of the indicator corresponding to the operation action; determine whether the value of the operation data is within the threshold range; if so, determine that the response method is to respond to the operation action; if not, determine that the response method is not to respond to the operation action, and control the vehicle to continue in the current automatic driving state.

[0088] Furthermore, the above-mentioned vehicle control device may further include: a first control module;

[0089] The first control module is used to monitor whether a new operation action is triggered in the process of responding to the operation action through the automatic driving component in accordance with the response method, wherein the current operation action is one of the operation actions, and the new operation action is an operation action other than the current operation action in the operation actions; if triggered, the automatic driving component is controlled to exit the response to the current operation action, and the automatic driving component is controlled to execute the response to the new operation action.

[0090] Furthermore, the above-mentioned vehicle control device may further include: a quantity determination module;

[0091] The quantity determination module is used to determine whether the number of controllers corresponding to the operation action is a preset number before determining the response method to the operation action based on the operation action and the operation data; if it is the preset number, perform the operation of determining the response method to the operation action based on the operation action and the operation data.

[0092] Furthermore, the above-mentioned vehicle control device may further include: a second control module;

[0093] The second control module is used to start a timer during the process of responding to the operation action; determine whether the timing duration of the timer is greater than a preset duration value; if greater, control the automatic driving component to exit the response to the operation action.

[0094] The vehicle control device provided in this embodiment can be applied to the vehicle control method provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0095] FIG5 is a block diagram of a vehicle for implementing a vehicle control method according to an embodiment of the present application. Vehicle 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The vehicle may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0096] As shown in FIG5 , vehicle 10 includes at least one processor 11 and memory, such as a read-only memory (ROM) 12 and a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor, and processor 11 can perform various appropriate actions and processes based on the computer programs stored in ROM 12 or loaded from storage unit 18 into RAM 13. RAM 13 can also store various programs and data required for the operation of vehicle 10. Processor 11, ROM 12, and RAM 13 are interconnected via bus 14. An input / output (I / O) interface 15 is also connected to bus 14.

[0097] Various components in the vehicle 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the vehicle 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0098] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors that run machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the vehicle control method.

[0099] In some embodiments, the vehicle control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on vehicle 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to execute the vehicle control method in any other suitable manner (e.g., via firmware).

[0100] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), 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 can be executed and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0101] Computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0102] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared or semiconductor system, device or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0103] To provide interaction with a user, the systems and techniques described herein can be implemented in a vehicle having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the vehicle. Other types 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, voice input, or tactile input).

[0104] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0105] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0106] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. For example, those skilled in the art can use the various forms of processes shown above, reorder, add, or delete steps; and can perform the steps described in the present application in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present application can be achieved, and this document does not limit them here.

[0107] The above specific embodiments do not limit the scope of protection of this application. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on 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 scope of protection of this application.

Claims

1. A vehicle control method, characterized in that: The method comprises: When the vehicle is in an automatic driving state, determining an operation action of the driver on the vehicle and operation data corresponding to the operation action; determining a response method to the operation action according to the operation action and the operation data; The autonomous driving component responds to the operation action in the manner described.

2. The vehicle control method according to claim 1, characterized in that: The controllers corresponding to the operation actions include a lateral controller and a longitudinal controller; and determining the operation actions of the driver on the vehicle includes: monitoring whether an external force is applied to the lateral controller, and if so, determining that the operation action is operating the lateral controller; Monitor whether the working state of the longitudinal controller changes, and if so, determine that the operation action is to operate the longitudinal controller.

3. The vehicle control method according to claim 2, characterized in that: The longitudinal controller includes at least an accelerator pedal, an electronic brake, and a brake pedal; monitoring whether the working state of the longitudinal controller changes, and if so, determining that the operation action is to operate the longitudinal controller, includes: monitoring the opening and closing state of the accelerator pedal in a current task cycle, and determining that the operation action is stepping on the accelerator pedal if the opening and closing state of the accelerator pedal in the current task cycle changes compared to the opening and closing state of the accelerator pedal in a previous task cycle; monitoring a working state of the electronic brake in the current task cycle, and determining that the operation action is pressing the electronic brake if the working state of the electronic brake in the current task cycle changes compared to the working state of the electronic brake in the previous task cycle; Monitor the opening and closing state of the brake pedal in the current task cycle. If the current task cycle If the opening and closing state of the brake pedal in the task cycle is changed compared with the opening and closing state of the brake pedal in the previous task cycle, it is determined that the operation action is stepping on the brake pedal.

4. The vehicle control method according to claim 3, characterized in that: When the controller corresponding to the operation action is an accelerator pedal, and the response method is to respond to the operation action, the autonomous driving component responding to the operation action according to the response method includes: determining a following distance and a time to collision between the vehicle and a preceding vehicle; determining whether the following distance is greater than a preset distance threshold and / or whether the collision time is greater than a preset time threshold; If the following distance is greater than the preset distance threshold and / or the collision time is greater than the preset time threshold, the automatic driving component is controlled to respond to the stepping on the accelerator pedal based on the operation data of the accelerator pedal.

5. The vehicle control method according to claim 3, characterized in that: When the controller corresponding to the operation action is an electronic brake, and the response method is to respond to the operation action, the autonomous driving component responding to the operation action according to the response method includes: When the electronic brake is in a non-mechanically clamped state, controlling the automatic driving component to respond to a deceleration operation of a deceleration controller to achieve a response to pressing the electronic brake; When the working state of the electronic brake is converted from non-mechanical clamping to mechanical clamping, the automatic driving component is controlled to exit the response to pressing the electronic brake.

6. The vehicle control method according to claim 1, characterized in that: The determining of a response mode to the operation action according to the operation action and the operation data includes: Obtaining a threshold range of an indicator corresponding to the operation action; determining whether the value of the operation data is within the threshold range; If yes, determining that the response mode is responding to the operation action; If not, the response mode is determined to be not responding to the operation action, and the vehicle is controlled to continue in the current automatic driving state.

7. The vehicle control method according to claim 1, characterized in that: When the autonomous driving component responds to the operation action in the response manner, the method further includes: In response to a current operation action, monitoring whether a new operation action is triggered, wherein the current operation action is one of the operation actions, and the new operation action is an operation action among the operation actions except the current operation action; If triggered, the autonomous driving component is controlled to exit the response to the current operation action, and the autonomous driving component is controlled to execute the response to the new operation action.

8. The vehicle control method according to claim 1, wherein: Before determining a response mode to the operation action according to the operation action and the operation data, the method further includes: Determining whether the number of controllers corresponding to the operation action is a preset number; If it is the preset number, the operation of determining a response method to the operation action according to the operation action and the operation data is performed.

9. The vehicle control method according to claim 1, characterized in that: The method further comprises: In the process of responding to the operation action, starting a timer; Determine whether the timing duration of the timer is greater than a preset duration value; If it is greater, the autonomous driving component is controlled to exit responding to the operation action.

10. A vehicle control device, characterized in that: The device comprises: a data acquisition module, configured to determine, when the vehicle is in an automatic driving state, an operation action of the driver on the vehicle and operation data corresponding to the operation action; A mode determination module, configured to determine a response mode to the operation action according to the operation action and the operation data; A vehicle control module is used to respond to the operating action in the manner described through an autonomous driving component.

11. A vehicle, characterized in that: The vehicle comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so as to enable the at least one processor to perform the vehicle control method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle control method according to any one of claims 1 to 9 when executed.

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