Gear signal synchronization method and system for driving mode switching

Abstract

A gear signal synchronization method and system for driving mode switching. The method comprises: when a vehicle is in an autonomous driving mode, updating a first gear signal sent by an autonomous-driving control unit to a gear signal corresponding to a human driving mode; and when the vehicle is switched from the autonomous driving mode to the human driving mode, obtaining a second gear signal on the basis of a first gear instruction corresponding to a gear panel and the first gear signal, and using the second gear signal as the gear signal corresponding to the human driving mode. Thus, user misoperation and potential safety hazards caused by gear inconsistency are avoided, thereby not only ensuring the synchronization and consistency of gear signals, but also improving the smoothness and reliability during driving mode switching.

Description

Gear signal synchronization method and system for driving mode switching TECHNICAL FIELD

[0001] The application belongs to the technical field of new energy vehicle powertrain control, and particularly relates to a gear signal synchronization method and system for driving mode switching. BACKGROUND

[0002] With the rapid development of automatic driving technology, unmanned vehicles are increasingly widely used in various traffic scenarios. However, since the current automatic driving technology is not yet fully mature, many unmanned vehicles still need to be equipped with safety personnel in actual application to ensure timely intervention in emergency situations and ensure driving safety. Among them, the intervention of safety personnel is particularly frequent in the research and development and debugging process of unmanned vehicles, especially in complex traffic environments or sudden situations, the unmanned system may not be able to respond correctly quickly, at which time the safety personnel need to take over the control of the vehicle in time. However, during the switching process between the unmanned driving mode and the manned driving mode, the synchronization and maintenance of the gear signal is a key problem.

[0003] The existing gear signal synchronization method is mainly activated by the shift lever for automatic driving mode, however, this method is easy to cause delay or error of the gear signal of the vehicle during the driving mode switching process, which not only affects the smooth switching of the driving mode, but also easily causes gear confusion and safety accidents. SUMMARY

[0004] To solve the technical defects that the existing gear signal synchronization method is easy to cause delay or error of the gear signal of the vehicle during the driving mode switching process, which not only affects the smooth switching of the driving mode, but also easily causes gear confusion and safety accidents, the application provides a gear signal synchronization method and system for driving mode switching, and the technical scheme is as follows: In the first aspect, the application embodiment provides a gear signal synchronization method for driving mode switching, which is applied to a vehicle powertrain device. The vehicle powertrain device includes an unmanned driving control unit, a gear panel, and an intelligent instrument. The method includes: when in the unmanned driving mode, displaying the first gear signal issued by the unmanned driving control unit on the intelligent instrument, and updating the gear signal corresponding to the manned driving mode to the first gear signal; when detecting that the unmanned driving mode is switched to the manned driving mode, determining the second gear signal according to the first gear instruction corresponding to the gear panel and the first gear signal; displaying the second gear signal on the intelligent instrument, and updating the gear signal corresponding to the manned driving mode to the second gear signal.

[0005] In an optional implementation of the first aspect, the second gear signal is determined according to the first gear instruction corresponding to the gear panel and the first gear signal, including: determining the second gear instruction in the gear instruction database according to the collection time of the first gear instruction; wherein the gear instruction database includes at least two historical gear instructions issued by the gear panel and the historical collection time corresponding to each historical gear instruction; when detecting that the first gear instruction is inconsistent with the second gear instruction, identifying the third gear signal from the first gear instruction, and taking the third gear signal as the second gear signal; and when detecting that the first gear instruction is consistent with the second gear instruction, taking the first gear signal as the second gear signal.

[0006] In another optional implementation of the first aspect, after the second gear signal is displayed on the intelligent instrument, the method further includes: when detecting that the autonomous driving mode is switched to the manual driving mode, identifying the fourth gear signal from the third gear instruction corresponding to the gear panel; displaying the fourth gear signal on the intelligent instrument and sending the fourth gear signal to the autonomous driving control unit.

[0007] In another optional implementation of the first aspect, after the first gear signal issued by the autonomous driving control unit is displayed on the intelligent instrument, the method further includes: acquiring at least one fourth gear instruction corresponding to the gear panel according to a preset time interval, and updating all the fourth gear instructions and the collection time corresponding to each fourth gear instruction to the gear instruction database.

[0008] In another optional implementation of the first aspect, before detecting that the autonomous driving mode is switched to the manual driving mode, the method further includes: after receiving the switching instruction of the driving mode, judging whether the brake operation signal collected in a preset time period meets a first condition; when detecting that the brake operation signal meets the first condition, determining that the autonomous driving mode is switched to the manual driving mode; or after receiving the switching instruction of the driving mode, judging whether the steering wheel operation signal collected in a preset time period meets a second condition; when detecting that the steering wheel operation signal meets the second condition, determining that the autonomous driving mode is switched to the manual driving mode.

[0009] In a further optional implementation of the first aspect, before detecting that the brake action signal meets the first condition, the method further includes: filtering at least two first operation signals from the brake signal database based on the collection time of the brake operation signal; wherein the brake signal database includes at least two historical collection times and brake operation signals corresponding to each historical collection time; inputting all the first operation signals and the brake operation signal into a preset deep learning model to obtain a brake prediction value; wherein the preset deep learning model is trained by at least two sets of sample operation signal sets and brake sample values corresponding to each set of sample operation signal sets, and each set of sample operation signal set includes at least two sample operation signals; when the brake prediction value is in a preset prediction value interval, it is determined that the brake action signal meets the first condition; when the brake prediction value is not in the preset prediction value interval, it is determined that the brake action signal does not meet the first condition.

[0010] In a further optional implementation of the first aspect, before detecting that the steering wheel operation signal meets the second condition, the method further includes: determining a previous adjacent time based on the collection time of the steering wheel operation signal, and obtaining a second operation signal corresponding to the previous adjacent time; performing conversion processing on the steering wheel operation signal to obtain a first rotation angle, and performing conversion processing on the second operation signal to obtain a second rotation angle; when it is detected that the difference between the first rotation angle and the second rotation angle exceeds a preset difference threshold, it is determined that the steering wheel operation signal meets the second condition; when it is detected that the difference between the first rotation angle and the second rotation angle does not exceed the preset difference threshold, it is determined that the steering wheel operation signal does not meet the second condition.

[0011] In a second aspect, the embodiments of the present application provide a gear signal synchronization system for driving mode switching, which is applied to a vehicle power assembly device. The vehicle power assembly device includes an unmanned driving control unit, a gear panel, and an intelligent instrument. The system includes: a first display module configured to display a first gear signal issued by the unmanned driving control unit on the intelligent instrument when in an unmanned driving mode, and update a gear signal corresponding to a manual driving mode to the first gear signal; a signal determination module configured to determine a second gear signal according to a first gear instruction corresponding to the gear panel and the first gear signal when detecting that the unmanned driving mode is switched to the manual driving mode; and a second display module configured to display the second gear signal on the intelligent instrument, and update the gear signal corresponding to the manual driving mode to the second gear signal.

[0012] In a third aspect, the embodiments of the present application further provide a gear signal synchronization system for driving mode switching, comprising a processor and a memory; the processor is connected with the memory; the memory is used for storing executable program codes; the processor runs programs corresponding to the executable program codes by reading the executable program codes stored in the memory, so as to implement the gear signal synchronization method for driving mode switching provided by the first aspect of the embodiments of the present application or any one of the implementation manners of the first aspect.

[0013] In a fourth aspect, the embodiments of the present application provide a computer storage medium, which stores a computer program; the computer program comprises program instructions; when the program instructions are executed by a processor, the gear signal synchronization method for driving mode switching provided by the first aspect of the embodiments of the present application or any one of the implementation manners of the first aspect can be implemented.

[0014] In the embodiments of the present application, when the gear signals for driving mode switching of the vehicle are synchronized, the first gear signal issued by the autonomous driving control unit is displayed on the intelligent instrument when the vehicle is in the autonomous driving mode, and the gear signal corresponding to the manual driving mode is updated to the first gear signal; when it is detected that the autonomous driving mode is switched to the manual driving mode, the second gear signal is determined according to the first gear instruction corresponding to the gear panel and the first gear signal; the second gear signal is displayed on the intelligent instrument, and the gear signal corresponding to the manual driving mode is updated to the second gear signal. By updating the first gear signal issued by the autonomous driving control unit to the gear signal corresponding to the manual driving mode when the vehicle is in the autonomous driving mode, the second gear signal is obtained according to the first gear instruction corresponding to the gear panel and the first gear signal when the vehicle is switched from the autonomous driving mode to the manual driving mode, and the second gear signal is used as the gear signal corresponding to the manual driving mode, which avoids user misoperation and safety hazards caused by inconsistent gears, not only ensures the synchronization and consistency of the gear signal, but also improves the stability and reliability during driving mode switching. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0016] FIG. 1 is a flowchart of a gear signal synchronization method for driving mode switching according to an embodiment of the present application; FIG. 2 is a schematic diagram of a vehicle powertrain device according to an embodiment of the present application; FIG. 3 is a schematic diagram of a gear signal synchronization system for driving mode switching according to an embodiment of the present application; and FIG. 4 is a schematic diagram of another gear signal synchronization system for driving mode switching according to an embodiment of the present application. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings.

[0018] In the following description, the terms "first", "second", etc. are used only for the purpose of description, and should not be understood as indicating or implying relative importance. The following description provides multiple embodiments of the present application, and different embodiments can be replaced or combined, so the present application can be considered to include all possible combinations of the same and / or different embodiments described. Thus, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, the present application should also be considered to include embodiments including one or more of all other possible combinations of A, B, C, and D, even if the embodiments are not explicitly described in the following content.

[0019] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes can be made in the function and arrangement of elements described without departing from the scope of the present application. Various examples can omit, substitute, or add various procedures or components as appropriate. For example, the described methods can be performed in an order different from that described, and various steps can be added, omitted, or combined. Also, features described with respect to some examples can be combined in other examples.

[0020] Referring to FIG. 1, FIG. 1 shows a flowchart of a gear signal synchronization method for driving mode switching according to an embodiment of the present application.

[0021] As shown in FIG. 1, the gear signal synchronization method for driving mode switching can include at least the following step: step 102, when in the autonomous driving mode, displaying a first gear signal issued by an autonomous driving control unit on a smart instrument panel, and updating a gear signal corresponding to the manual driving mode to the first gear signal.

[0022] In the embodiments of the present application, the gear signal synchronization method for driving mode switching can be applied in the vehicle control terminal of the vehicle, but is not limited to this. The vehicle control terminal can be connected with the vehicle power assembly, so as to control the vehicle to automatically drive in the unmanned mode according to the unmanned gear signal sent by the vehicle power assembly when the vehicle is in the unmanned mode. In addition, the vehicle control terminal can generate and display the manual gear signal according to the gear instruction and the unmanned gear signal sent by the vehicle power assembly when the vehicle is switched from the unmanned mode to the manual mode, so that the safety officer can control the vehicle to drive in time according to the manual gear signal, thereby effectively avoiding user misoperation and safety hazards caused by inconsistent gears, and ensuring the synchronization and consistency of the gear signal, and improving the stability and reliability of the driving mode switching.

[0023] Here, the vehicle power assembly can at least include an unmanned control unit, a gear panel and an intelligent instrument. The unmanned control unit can be connected with the vehicle control terminal through the unmanned network, so as to automatically generate the control instruction including the unmanned gear signal according to the current vehicle condition and the road condition when the vehicle is in the unmanned mode, and send the control instruction to the vehicle control terminal, so that the vehicle control terminal controls the vehicle to automatically drive in the unmanned mode. It can be understood that the unmanned control unit mentioned in the embodiments of the present application can be composed of an automatic driving module known in the art. The control instruction generated by the unmanned control unit can include, but is not limited to, a motor control signal, a battery control signal and a brake control signal, so that the vehicle control terminal sends the signals to the corresponding controllers through the power network for control processing, thereby ensuring the normal unmanned driving of the vehicle in combination with the unmanned gear signal.

[0024] The gear panel can be connected with the vehicle control terminal through the instrument network, so as to send the gear instruction selected by the safety officer to the vehicle control terminal. For example, when the safety officer presses or selects the R gear on the gear panel, the gear panel can send the gear instruction representing the reverse signal to the vehicle control terminal. Or when the safety officer presses or selects the D gear on the gear panel, the gear panel can send the gear instruction representing the forward signal to the vehicle control terminal. It can be understood that the gear panel mentioned in the embodiments of the present application can be arranged on the main driving side of the vehicle, and can be provided with a plurality of gear physical buttons (such as D gear, R gear, N gear and P gear), or can be provided with a physical lever device for selecting the corresponding gear according to the different operations of the safety officer (such as one down for D gear, two downs for R gear, three downs for N gear, and four downs for P gear).

[0025] It should be noted that, whether the vehicle is in the autonomous driving mode or the manual driving mode, the vehicle control terminal can receive the autonomous driving gear signal sent by the autonomous driving control unit and the gear instruction sent by the gear panel according to the preset time interval. For example, when the vehicle is in the autonomous driving mode, the vehicle control terminal can receive and store the gear instructions sent by the gear panel (and the autonomous driving gear signals sent by the autonomous driving control unit) separately, so as to quickly retrieve and process the gear instructions when the driving mode is switched. Compared with the prior art in which all gear signals are stored together, the authenticity and reliability of different gear signals can be effectively guaranteed, and the switching confusion of the gear signals can be avoided.

[0026] The intelligent instrument can be but is not limited to establishing a communication connection with the vehicle control terminal through an instrument network to display the gear signal sent by the vehicle control terminal to the safety officer in time. For example, when the vehicle is switched from the autonomous driving mode to the manual driving mode, the vehicle control terminal can send the gear signal corresponding to the manual driving mode to the intelligent instrument to show the current gear signal of the vehicle to the safety officer, so that the safety officer can drive the vehicle based on the current gear signal of the vehicle. It can be understood that the intelligent instrument mentioned in the embodiments of the present application can be a display screen arranged in front of the steering wheel of the vehicle or a central control display screen on the driver's side, so as to facilitate the safety officer to quickly check.

[0027] Referring to FIG. 2, a structural schematic diagram of a vehicle power assembly device provided by the embodiments of the present application is shown. As shown in FIG. 2, the vehicle power assembly device can include an autonomous driving control unit 1, a vehicle control terminal 2 (VCU in FIG. 2), a battery management unit 3 (BMS in FIG. 2), an integrated power unit 4 (IPU in FIG. 2), a brake system 5, a gear panel 6, and an intelligent instrument 7. The autonomous driving control unit 1 can establish a communication connection with the vehicle control terminal 2 through an autonomous driving network 101. The vehicle control terminal 2 can establish communication connections with the battery management unit 3, the integrated power unit 4, and the brake system 5 through a power network 102. The vehicle control terminal 2 can establish communication connections with the gear panel 6 and the intelligent instrument 7 through an instrument network 103. Here, the autonomous driving control unit 1, the battery management unit 3, the integrated power unit 4, the brake system 5, the gear panel 6, and the intelligent instrument 7 can all be automatic driving modules known in the art, and their corresponding working principles will not be described herein.

[0028] It can also be understood that the whole vehicle control terminal can specifically update the first gear signal issued by the autonomous driving control unit when the vehicle is in the autonomous driving mode to the gear signal corresponding to the manual driving mode, so that when the vehicle is switched from the autonomous driving mode to the manual driving mode, the second gear signal is obtained according to the first gear instruction corresponding to the gear panel and the first gear signal, and the second gear signal is used as the gear signal corresponding to the manual driving mode, thereby avoiding user misoperation and safety hazards caused by inconsistent gears, ensuring the synchronization and consistency of the gear signal, and improving the stability and reliability during driving mode switching.

[0029] Specifically, when synchronously processing the gear signal during vehicle driving mode switching, the whole vehicle control terminal can, but is not limited to, control the vehicle to automatically drive according to the autonomous driving gear signal (i.e. the first gear signal) issued by the autonomous driving control unit through the autonomous driving network when the vehicle is currently in the autonomous driving mode, and synchronously send the autonomous driving gear signal to the intelligent instrument through the instrument network, so that the current gear signal of the vehicle is displayed to the safety officer in time through the intelligent instrument. It can be understood that the vehicle can be defined as the autonomous driving mode according to the preset automatic control program during the starting stage, or can also be switched from the manual driving mode to the autonomous driving mode, and when switched from the manual driving mode to the autonomous driving mode, the whole vehicle control terminal can also, but is not limited to, detect whether the switching instruction of the driving mode selected by the safety officer (such as pressing the switching button) is received to judge whether the vehicle is switched from the manual driving mode to the autonomous driving mode, and the like.

[0030] Here, in addition to sending the autonomous driving gear signal to the whole vehicle control terminal through the autonomous driving network, the autonomous driving control unit can also, but is not limited to, synchronously send motor control signals, battery control signals, and brake control signals through the autonomous driving network, so that after the whole vehicle control terminal receives the motor control signals, battery control signals, and brake control signals, the motor control signals are sent to the integrated power unit through the power network, and the vehicle is controlled and processed by the integrated power unit; the battery control signals are also sent to the battery management unit through the power network, and the vehicle is controlled and processed by the battery management unit; and the brake signal is also sent to the brake system through the power network, and the vehicle is controlled and processed by the brake system, thereby realizing the autonomous driving of the vehicle together.

[0031] Further, after the intelligent instrument displays the current autonomous gear signal of the vehicle, the vehicle control terminal can also update the gear signal corresponding to the manual driving mode to the autonomous gear signal. Here, the gear signal corresponding to the manual driving mode can be understood as the gear signal contained in the last gear instruction received by the gear panel, for example, if the gear signal contained in the last gear instruction selected by the safety officer on the gear panel is D gear, then the gear signal corresponding to the manual driving mode is D gear. At this time, if the autonomous gear signal is R gear, the vehicle control terminal can update the D gear to R gear.

[0032] Since the vehicle control terminal can receive the autonomous gear signal sent by the autonomous control unit and the gear instruction sent by the gear panel at a preset time interval regardless of whether the vehicle is in autonomous mode or manual driving mode, after the intelligent instrument displays the current autonomous gear signal of the vehicle, the vehicle control terminal can also, but not limited to, query the last stored gear instruction in the gear instruction database for storing all gear instructions, and update the gear signal contained in the gear instruction to the current autonomous gear signal of the vehicle, and the like.

[0033] Step 104, when detecting that the autonomous mode is switched to the manual driving mode, determining the second gear signal according to the first gear instruction and the first gear signal corresponding to the gear panel.

[0034] Specifically, when the vehicle encounters special situations in autonomous driving and needs to switch from autonomous mode to manual driving mode, the vehicle control terminal can, but not limited to, detect whether the switching instruction of the driving mode selected by the safety officer is received, so as to determine that the vehicle is switched from autonomous mode to manual driving mode after detecting the switching instruction of the driving mode, and can determine the gear signal of the manual driving mode at the current time (i.e. the second gear signal) according to the gear instruction of the gear panel at the current time (i.e. the first gear instruction) and the above-mentioned autonomous gear signal (i.e. the first gear signal), for example, when the gear instruction of the gear panel at the current time is the gear instruction not switched by the safety officer, the above-mentioned autonomous gear signal can be taken as the gear signal of the manual driving mode at the current time; or when the gear instruction of the gear panel at the current time is the gear instruction switched by the safety officer, the gear signal contained in the gear instruction can be taken as the gear signal of the manual driving mode at the current time, thereby avoiding the safety officer's misoperation and the discomfort caused by gear switching due to the possible inconsistency between the current gear of the manual driving mode and the current gear of the autonomous mode.

[0035] As an option of the embodiment of the present application, the second gear signal is determined according to the first gear signal and the first gear instruction corresponding to the gear panel, comprising: determining the second gear instruction in the gear instruction database according to the collection time of the first gear instruction; wherein the gear instruction database comprises at least two historical gear instructions sent by the gear panel and the historical collection time corresponding to each historical gear instruction; identifying the third gear signal from the first gear instruction when detecting that the first gear instruction is inconsistent with the second gear instruction, and taking the third gear signal as the second gear signal; taking the first gear signal as the second gear signal when detecting that the first gear instruction is consistent with the second gear instruction.

[0036] Specifically, in order to more accurately obtain the gear signal of the manual driving mode at the current time when the vehicle is switched from the unmanned driving mode to the manual driving mode, the vehicle control terminal can further but not limited to receive the gear instruction (i.e. the first gear instruction) sent by the gear panel at the current time after determining that the vehicle is switched from the unmanned driving mode to the manual driving mode, and query the gear instruction corresponding to the time closest to the current time (i.e. the second gear instruction) in the gear instruction database. Here, the gear instruction database can be stored in a specified path of the vehicle control terminal, which can include historical gear instructions sent by the gear panel to the vehicle control terminal at at least two historical times, and the gear instruction database can also store and process the gear instruction sent by the gear panel to the vehicle control terminal in real time, i.e. the gear instruction database can be updated in real time to ensure the accuracy of the gear signal of the manual driving mode.

[0037] Then, when detecting that the first gear instruction is inconsistent with the second gear instruction queried in the gear instruction database, it indicates that the safety officer has intervened and has performed the gear switching action when the vehicle is switched from the unmanned driving mode to the manual driving mode, and the first gear instruction can be identified and processed, and the identified gear signal (i.e. the third gear signal) is taken as the gear signal (i.e. the second gear signal) of the manual driving mode at the current time.

[0038] It can be understood that when detecting that the first gear instruction is consistent with the second gear instruction queried in the gear instruction database, it indicates that the safety officer has not intervened when the vehicle is switched from the unmanned driving mode to the manual driving mode, and the unmanned gear signal sent by the unmanned driving control unit to the vehicle control terminal can be taken as the gear signal (i.e. the second gear signal) of the manual driving mode at the current time.

[0039] As another optional of the embodiment of the present application, before detecting the switch from the unmanned driving mode to the manned driving mode, further comprising: after receiving the switch instruction of the driving mode, judging whether the brake operation signal collected in the preset period meets the first condition; when detecting that the brake operation signal meets the first condition, determining the switch from the unmanned driving mode to the manned driving mode; or after receiving the switch instruction of the driving mode, judging whether the steering wheel operation signal collected in the preset period meets the second condition; when detecting that the steering wheel operation signal meets the second condition, determining the switch from the unmanned driving mode to the manned driving mode.

[0040] Specifically, in order to guarantee the accuracy of judging the switch from the unmanned driving mode to the manned driving mode, the vehicle control terminal can further judge whether there is the emergency brake or the emergency steering operation of the safety officer in combination with the brake operation signal or the steering wheel operation signal received in the preset period after receiving the switch instruction of the driving mode, so as to indicate the emergency brake operation of the safety officer when detecting that the brake operation signal meets the first condition, and then determine the switch from the unmanned driving mode to the manned driving mode; or also indicate the emergency steering operation of the safety officer when detecting that the steering wheel operation signal meets the second condition, and then also determine the switch from the unmanned driving mode to the manned driving mode.

[0041] Here, the brake operation signal can be but is not limited to the signal collected by the brake pedal position sensor, the wheel speed sensor or the brake booster position sensor built in the vehicle, and the brake pedal position sensor, the wheel speed sensor or the brake booster position sensor can be connected with the vehicle control terminal through the power network to establish communication connection; the steering wheel operation signal can be but is not limited to the signal collected by the steering wheel angle sensor or the steering column position sensor built in the vehicle, and the steering wheel angle sensor or the steering column position sensor can also be connected with the vehicle control terminal through the power network to establish communication connection.

[0042] As yet another optional embodiment of the present application, before detecting that the brake action signal meets the first condition, the method further comprises: filtering at least two first operation signals from the brake signal database based on the collection time of the brake operation signal; wherein the brake signal database comprises at least two historical collection times and brake operation signals corresponding to each historical collection time; inputting all the first operation signals and the brake operation signal into a preset deep learning model to obtain a brake prediction value; wherein the preset deep learning model is trained by at least two sets of sample operation signal sets and brake sample values corresponding to each set of sample operation signal sets, and each set of sample operation signal set comprises at least two sample operation signals; when the brake prediction value is in a preset prediction value interval, it is determined that the brake action signal meets the first condition; when the brake prediction value is not in the preset prediction value interval, it is determined that the brake action signal does not meet the first condition.

[0043] Specifically, when judging whether there is a safety officer's emergency brake operation, the vehicle control terminal can also filter at least two historical collection times close to the collection time of the brake operation signal and the brake operation signals corresponding to each historical collection time (i.e. first operation signals) from the brake signal database, and can input all the brake operation signals into a preset deep learning model to predict a brake prediction value with higher accuracy using artificial intelligence algorithms.

[0044] Here, the brake signal database can be stored in a path specified by the vehicle control terminal, which includes brake operation signals collected by any one of the above-mentioned brake pedal position sensor, wheel speed sensor or brake booster position sensor at at least two historical collection times, and the corresponding historical collection times; the preset deep learning model can be a neural network structure known in the art, which can be trained by a plurality of sets of sample operation signal sets and brake sample values corresponding to each set of sample operation signal sets (which can also be understood as artificially annotated sample values), each set of sample operation signal set comprising brake operation signals collected by any one of the above-mentioned brake pedal position sensor, wheel speed sensor or brake booster position sensor at at least two historical collection times.

[0045] It can be understood that when the brake prediction value is in the preset prediction value interval, it indicates that the current brake action of the vehicle is large, i.e. there is a safety officer's emergency brake operation, and thus it can be determined that the brake action signal meets the first condition; when the brake prediction value is not in the preset prediction value interval, it indicates that the current brake action of the vehicle is small or there is no brake action, and thus it can be determined that the brake action signal does not meet the first condition.

[0046] As yet another alternative of the embodiments of the present application, before detecting that the steering wheel operation signal meets the second condition, the method further comprises: determining a previous adjacent time based on the collection time of the steering wheel operation signal, and acquiring a second operation signal corresponding to the previous adjacent time; performing conversion processing on the steering wheel operation signal to obtain a first rotation angle, and performing conversion processing on the second operation signal to obtain a second rotation angle; when detecting that the difference between the first rotation angle and the second rotation angle exceeds a preset difference threshold, determining that the steering wheel operation signal meets the second condition; and when detecting that the difference between the first rotation angle and the second rotation angle does not exceed the preset difference threshold, determining that the steering wheel operation signal does not meet the second condition.

[0047] Specifically, when judging whether there is an emergency steering operation of the safety officer, the vehicle control terminal can also determine a previous adjacent time based on the collection time of the steering wheel operation signal, and can but not limited to screen out the steering wheel operation signal (i.e. the second operation signal) corresponding to the previous adjacent time from the steering wheel operation signals collected by the steering wheel rotation angle sensor or the steering column position sensor at at least two historical collection times. Here, the steering wheel operation signals collected by the steering wheel rotation angle sensor or the steering column position sensor at at least two historical collection times can also be stored in the path designated by the vehicle control terminal, without being limited thereto.

[0048] Then, the steering wheel operation signal and the second operation signal can be respectively converted to obtain the corresponding first rotation angle and the second rotation angle. Wherein, the conversion processing mode can but not limited to taking the steering wheel operation signal as an example, and taking the pinion pulse signal collected by the steering wheel rotation angle sensor as an example, the product of the number of pulses accumulated by the pinion pulse signal and the preset rotation angle corresponding to each pulse is taken as the corresponding rotation angle.

[0049] Then, when detecting that the difference between the first rotation angle and the second rotation angle exceeds a preset difference threshold, it indicates that the rotation angle of the steering wheel is large, i.e. there is an emergency steering operation of the safety officer, and thus it can be determined that the steering wheel operation signal meets the second condition; when detecting that the difference between the first rotation angle and the second rotation angle does not exceed the preset difference threshold, it indicates that the rotation angle of the steering wheel is small or no rotation occurs, i.e. there is no emergency steering operation of the safety officer, and thus it can be determined that the steering wheel operation signal does not meet the second condition.

[0050] Step 106, display the second gear signal on the intelligent instrument, and update the gear signal corresponding to the manned driving mode to the second gear signal.

[0051] Specifically, after determining the gear signal of the manual driving mode at the current time, the vehicle control terminal can but not limited to send the gear signal of the manual driving mode at the current time to the intelligent instrument through the instrument network, so as to display the gear signal of the manual driving mode at the current time (i.e. the current driving gear signal of the vehicle) to the safety officer in time by the intelligent instrument.

[0052] Further, after displaying the gear signal of the manual driving mode at the current time to the safety officer by the intelligent instrument, the vehicle control terminal can also update the gear signal corresponding to the manual driving mode to the gear signal at the current time, so as to facilitate the safety officer to control the vehicle driving according to the gear signal at the current time, and the vehicle control terminal can also send the motor control signal, the battery control signal and the brake control signal generated by the safety officer when controlling the vehicle driving to the corresponding controller or control system through the power network, so as to ensure the normal driving of the vehicle.

[0053] As another optional embodiment of the present application, after displaying the second gear signal on the intelligent instrument, it further includes: when detecting that the manual driving mode is switched to the automatic driving mode, identifying a third gear signal from the third gear instruction corresponding to the gear panel; displaying the third gear signal on the intelligent instrument and sending the third gear signal to the automatic driving control unit.

[0054] Specifically, when the safety officer needs to switch the manual driving mode back to the automatic driving mode after driving the vehicle to complete the risk avoidance, the vehicle control terminal can but not limited to detect whether the switching instruction of the driving mode selected by the safety officer is received, so as to determine that the vehicle is switched from the manual driving mode back to the automatic driving mode after detecting the switching instruction of the driving mode, and can identify the gear signal at the current time (i.e. the third gear signal) from the gear instruction corresponding to the gear panel after the safety officer drives the vehicle (i.e. the third gear instruction), so as to display the gear signal on the intelligent instrument for the safety officer to view, and also feed back the gear signal to the automatic driving control unit in time, so that the automatic driving control unit determines the gear signal of the subsequent automatic driving combined with the gear signal, and further avoids the jerk and other comfort problems caused by gear switching.

[0055] As another optional embodiment of the present application, after displaying the first gear signal issued by the automatic driving control unit on the intelligent instrument, it further includes: acquiring at least one fourth gear instruction corresponding to the gear panel according to the preset time interval, and updating all fourth gear instructions and the acquisition time corresponding to each fourth gear instruction to the gear instruction database.

[0056] In order to guarantee the real-time and effectiveness of the gear instruction database stored in the vehicle control terminal, after the first gear signal sent by the unmanned control unit is displayed on the intelligent instrument, that is, when the vehicle is in the unmanned mode, the vehicle control terminal can also obtain one or more gear instructions (that is, the fourth gear instruction) reserved by the gear panel according to the preset time interval. The one or more gear instructions can be understood as the gear instruction selected by the safety officer when the vehicle is in the last human driving mode, or the gear instruction preset when the vehicle is started and has not been switched to the human driving mode. It can be understood that when the vehicle is in the unmanned mode, the gear instruction corresponding to the gear panel generally remains unchanged.

[0057] Then, the vehicle control terminal can also update the one or more gear instructions received in real time in the gear instruction database, so that when the vehicle is switched from the unmanned mode to the human driving mode, the gear signal corresponding to the human driving mode can be quickly determined, thereby avoiding the safety officer's misoperation caused by the possible inconsistency between the current gear of the human driving mode and the current gear of the unmanned mode.

[0058] Please refer to FIG. 3, which shows a structural schematic diagram of a gear signal synchronization system for driving mode switching provided by an embodiment of the present application.

[0059] The gear signal synchronization system for driving mode switching in the embodiment of the present application can be applied to a vehicle powertrain device, which at least includes an unmanned control unit, a gear panel, and an intelligent instrument. As shown in FIG. 3, the gear signal synchronization system for driving mode switching at least includes a first display module 301, a signal determination module 302, and a second display module 303, wherein: the first display module 301 is configured to display the first gear signal sent by the unmanned control unit on the intelligent instrument when in the unmanned mode, and update the gear signal corresponding to the human driving mode to the first gear signal; the signal determination module 302 is configured to determine the second gear signal according to the first gear instruction corresponding to the gear panel and the first gear signal when detecting that the unmanned mode is switched to the human driving mode; and the second display module 303 is configured to display the second gear signal on the intelligent instrument, and update the gear signal corresponding to the human driving mode to the second gear signal.

[0060] In some possible embodiments, the second gear signal is determined according to the first gear instruction corresponding to the gear panel and the first gear signal, including: determining the second gear instruction in the gear instruction database according to the collection time of the first gear instruction; wherein the gear instruction database includes at least two historical gear instructions issued by the gear panel and the historical collection time corresponding to each historical gear instruction; when detecting that the first gear instruction is inconsistent with the second gear instruction, identifying the third gear signal from the first gear instruction, and taking the third gear signal as the second gear signal; and when detecting that the first gear instruction is consistent with the second gear instruction, taking the first gear signal as the second gear signal.

[0061] In some possible embodiments, after the second gear signal is displayed on the intelligent instrument, the method further includes: when detecting that the autonomous driving mode is switched to the manual driving mode, identifying the fourth gear signal from the third gear instruction corresponding to the gear panel; displaying the fourth gear signal on the intelligent instrument, and sending the fourth gear signal to the autonomous driving control unit.

[0062] In some possible embodiments, after the first gear signal issued by the autonomous driving control unit is displayed on the intelligent instrument, the method further includes: acquiring at least one fourth gear instruction corresponding to the gear panel according to the preset time interval, and updating all the fourth gear instructions and the collection time corresponding to each fourth gear instruction to the gear instruction database.

[0063] In some possible embodiments, before detecting that the autonomous driving mode is switched to the manual driving mode, the method further includes: after receiving the switching instruction of the driving mode, judging whether the brake operation signal collected in the preset time period meets a first condition; when detecting that the brake operation signal meets the first condition, determining that the autonomous driving mode is switched to the manual driving mode; or after receiving the switching instruction of the driving mode, judging whether the steering wheel operation signal collected in the preset time period meets a second condition; when detecting that the steering wheel operation signal meets the second condition, determining that the autonomous driving mode is switched to the manual driving mode.

[0064] In some possible embodiments, before detecting that the brake action signal meets the first condition, the method further includes: screening at least two first operation signals from the brake signal database based on the collection time of the brake operation signal; wherein the brake signal database includes at least two historical collection times and brake operation signals corresponding to each historical collection time; inputting all the first operation signals and the brake operation signal into a preset deep learning model to obtain a brake prediction value; wherein the preset deep learning model is trained by at least two sets of sample operation signal sets and brake sample values corresponding to each set of sample operation signal sets, and each set of sample operation signal set includes at least two sample operation signals; when the brake prediction value is in a preset prediction value interval, it is determined that the brake action signal meets the first condition; and when the brake prediction value is not in the preset prediction value interval, it is determined that the brake action signal does not meet the first condition.

[0065] In some possible embodiments, before detecting that the steering wheel operation signal meets the second condition, the method further includes: determining an adjacent previous time based on the collection time of the steering wheel operation signal, and obtaining a second operation signal corresponding to the adjacent previous time; performing conversion processing on the steering wheel operation signal to obtain a first rotation angle, and performing conversion processing on the second operation signal to obtain a second rotation angle; when it is detected that the difference between the first rotation angle and the second rotation angle exceeds a preset difference threshold, it is determined that the steering wheel operation signal meets the second condition; and when it is detected that the difference between the first rotation angle and the second rotation angle does not exceed the preset difference threshold, it is determined that the steering wheel operation signal does not meet the second condition.

[0066] Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present application can be implemented by means of software and / or hardware. The "unit" and "module" in the specification refer to software and / or hardware that can independently complete or cooperate with other components to complete a specific function, and the hardware may, for example, be a field programmable gate array (FPGA), an integrated circuit (IC), and the like.

[0067] Please refer to FIG. 4, which shows a structural schematic diagram of another gear signal synchronization system for driving mode switching provided by an embodiment of the present application.

[0068] The gear signal synchronization system for driving mode switching in the embodiments of the present application can be applied to a vehicle power assembly device, which at least includes an unmanned control unit, a gear panel and an intelligent instrument. As shown in FIG. 4, the gear signal synchronization system for driving mode switching 400 can include at least one processor 401, at least one network interface 404, a user interface 403, a memory 405 and at least one communication bus 402.

[0069] The communication bus 402 can be used to realize the connection and communication of the above-mentioned components.

[0070] The user interface 403 can include a key, and the optional user interface can also include a standard wired interface, a wireless interface.

[0071] The network interface 404 can include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, etc.

[0072] The processor 401 can include one or more processing cores. The processor 401 connects various parts in the gear signal synchronization system for driving mode switching 400 through various interfaces and lines, executes various functions of the gear signal synchronization system for driving mode switching 400 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 405, and calling data stored in the memory 405. Optionally, the processor 401 can be realized in at least one of the hardware forms of DSP, FPGA and PLA. The processor 401 can integrate one or a combination of CPU, GPU and modem, etc. The CPU is mainly used to process operating systems, user interfaces and application programs, etc.; the GPU is used to render and draw the content required to be displayed on the display screen; and the modem is used to process wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 401, but be realized by a separate chip.

[0073] The memory 405 can include a RAM and can also include a ROM. Optionally, the memory 405 includes a non-transitory computer-readable medium. The memory 405 can be used to store instructions, programs, codes, code segments or instructions sets. The memory 405 can include a storage program area and a storage data area, where the storage program area can store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the storage data area can store data involved in the above-mentioned various method embodiments, etc. The memory 405 can also be at least one storage device located away from the aforementioned processor 401. As shown in FIG. 4, the memory 405 as a computer storage medium can include an operating system, a network communication module, a user interface module, and a gear signal synchronization application program for driving mode switching.

[0074] Specifically, the processor 401 can be configured to invoke the gear signal synchronization application program for driving mode switching stored in the memory 405, and specifically perform the following operations: when in the autonomous driving mode, displaying a first gear signal issued by an autonomous driving control unit on a smart instrument panel, and updating a gear signal corresponding to the manual driving mode to the first gear signal; when detecting that the autonomous driving mode is switched to the manual driving mode, determining a second gear signal according to a first gear instruction corresponding to a gear panel and the first gear signal; displaying the second gear signal on the smart instrument panel, and updating the gear signal corresponding to the manual driving mode to the second gear signal.

[0075] In some possible embodiments, determining the second gear signal according to the first gear instruction corresponding to the gear panel and the first gear signal includes: determining a second gear instruction in a gear instruction database according to a collection time of the first gear instruction; the gear instruction database includes at least two historical gear instructions issued by the gear panel and a historical collection time corresponding to each historical gear instruction; when detecting that the first gear instruction is inconsistent with the second gear instruction, identifying a third gear signal from the first gear instruction, and taking the third gear signal as the second gear signal; when detecting that the first gear instruction is consistent with the second gear instruction, taking the first gear signal as the second gear signal.

[0076] In some possible embodiments, after displaying the second gear signal on the smart instrument panel, the method further includes: when detecting that the manual driving mode is switched to the autonomous driving mode, identifying a fourth gear signal from a third gear instruction corresponding to the gear panel; displaying the fourth gear signal on the smart instrument panel, and sending the fourth gear signal to the autonomous driving control unit.

[0077] In some possible embodiments, after displaying the first gear signal issued by the unmanned control unit on the intelligent instrument, the method further includes: acquiring at least one fourth gear instruction corresponding to the gear panel according to a preset time interval, and updating all fourth gear instructions and the acquisition time corresponding to each fourth gear instruction to the gear instruction database.

[0078] In some possible embodiments, before detecting that the unmanned mode is switched to the manned mode, the method further includes: after receiving the switching instruction of the driving mode, judging whether the brake operation signal collected within a preset time period meets a first condition; when detecting that the brake action signal meets the first condition, determining that the unmanned mode is switched to the manned mode; or after receiving the switching instruction of the driving mode, judging whether the steering wheel operation signal collected within a preset time period meets a second condition; when detecting that the steering wheel operation signal meets the second condition, determining that the unmanned mode is switched to the manned mode.

[0079] In some possible embodiments, before detecting that the brake action signal meets the first condition, the method further includes: based on the acquisition time of the brake operation signal, screening at least two first operation signals from the brake signal database; wherein the brake signal database includes at least two historical acquisition times and brake operation signals corresponding to each historical acquisition time; inputting all first operation signals and brake operation signals into a preset deep learning model to obtain a brake prediction value; wherein the preset deep learning model is trained by at least two sets of sample operation signal sets and brake sample values corresponding to each set of sample operation signal sets, and each set of sample operation signal set includes at least two sample operation signals; when the brake prediction value is in a preset prediction value interval, determining that the brake action signal meets the first condition; when the brake prediction value is not in the preset prediction value interval, determining that the brake action signal does not meet the first condition.

[0080] In some possible embodiments, before detecting that the steering wheel operation signal meets the second condition, the method further includes: determining an adjacent previous time based on the acquisition time of the steering wheel operation signal, and acquiring a second operation signal corresponding to the adjacent previous time; performing conversion processing on the steering wheel operation signal to obtain a first rotation angle, and performing conversion processing on the second operation signal to obtain a second rotation angle; when detecting that the difference between the first rotation angle and the second rotation angle exceeds a preset difference threshold, determining that the steering wheel operation signal meets the second condition; when detecting that the difference between the first rotation angle and the second rotation angle does not exceed the preset difference threshold, determining that the steering wheel operation signal does not meet the second condition.

[0081] The application further provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the steps of the method. The computer readable storage medium can include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nano system (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0082] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all described as a combination of a series of actions, but those skilled in the art should know that the application is not limited to the order of the actions described, because according to the application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily necessary for the application.

[0083] In the above embodiments, the description of each embodiment is focused on, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0084] In several embodiments provided by the present application, it should be understood that the disclosed device can be implemented by other means. For example, the device embodiments described above are only illustrative, and the division of units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some service interface, device or unit, which can be electrical or other forms.

[0085] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0086] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

Claims

1. A gear signal synchronization method for driving mode switching, characterized by, The method is applied to a vehicle power assembly device, and the vehicle power assembly device comprises an unmanned control unit, a gear panel and an intelligent instrument, and the method comprises the following steps: When in the unmanned mode, a first gear signal sent by the unmanned control unit is displayed on the intelligent instrument, and a gear signal corresponding to the manned mode is updated to the first gear signal; When it is detected that the unmanned mode is switched to the manned mode, a second gear signal is determined according to a first gear instruction corresponding to the gear panel and the first gear signal; The second gear signal is displayed on the intelligent instrument, and the gear signal corresponding to the manned mode is updated to the second gear signal.

2. The method of claim 1, wherein, The second gear signal is determined according to the first gear instruction corresponding to the gear panel and the first gear signal, comprising: According to the collection time of the first gear instruction, a second gear instruction is determined in a gear instruction database; wherein the gear instruction database comprises at least two historical gear instructions sent by the gear panel and a historical collection time corresponding to each historical gear instruction; When it is detected that the first gear instruction is inconsistent with the second gear instruction, a third gear signal is identified from the first gear instruction, and the third gear signal is taken as the second gear signal; When it is detected that the first gear instruction is consistent with the second gear instruction, the first gear signal is taken as the second gear signal.

3. The method of claim 1, wherein, After the second gear signal is displayed on the intelligent instrument, further comprising: When it is detected that the manned mode is switched to the unmanned mode, a fourth gear signal is identified from a third gear instruction corresponding to the gear panel; The fourth gear signal is displayed on the intelligent instrument, and the fourth gear signal is sent to the unmanned control unit.

4. The method of claim 2, wherein, After the first gear signal sent by the unmanned control unit is displayed on the intelligent instrument, further comprising: At least one fourth gear instruction corresponding to the gear panel is acquired at a preset time interval, and all the fourth gear instructions and the collection time corresponding to each fourth gear instruction are updated to the gear instruction database.

5. The method of claim 1, wherein, Before the unmanned mode is switched to the manned mode is detected, further comprising: After receiving a switching instruction of the driving mode, it is judged whether a brake operation signal collected in a preset period of time meets a first condition; When it is detected that the brake operation signal meets the first condition, it is determined that the unmanned mode is switched to the manned mode; or After receiving a switching instruction of the driving mode, it is judged whether a steering wheel operation signal collected in a preset period of time meets a second condition; When it is detected that the steering wheel operation signal meets the second condition, it is determined that the unmanned mode is switched to the manned mode.

6. The method of claim 5, wherein, Before the brake operation signal meets the first condition is detected, further comprising: Filtering at least two first operation signals from a brake signal database based on a collection time of the brake operation signal, wherein the brake signal database comprises at least two historical collection times and brake operation signals corresponding to each of the historical collection times; Inputting all the first operation signals and the brake operation signal into a preset deep learning model to obtain a brake prediction value, wherein the preset deep learning model is trained by at least two sets of sample operation signal sets and brake sample values corresponding to each of the sample operation signal sets, and each of the sample operation signal sets comprises at least two sample operation signals; When the brake prediction value is in a preset prediction value interval, it is determined that the brake action signal satisfies a first condition; When the brake prediction value is not in the preset prediction value interval, it is determined that the brake action signal does not satisfy the first condition.

7. The method of claim 5, wherein, Before detecting that the steering wheel operation signal satisfies a second condition, further comprising: Determining an adjacent previous time based on a collection time of the steering wheel operation signal, and obtaining a second operation signal corresponding to the adjacent previous time; Converting the steering wheel operation signal to obtain a first rotation angle, and converting the second operation signal to obtain a second rotation angle; When it is detected that a difference between the first rotation angle and the second rotation angle exceeds a preset difference threshold, it is determined that the steering wheel operation signal satisfies the second condition; When it is detected that the difference between the first rotation angle and the second rotation angle does not exceed the preset difference threshold, it is determined that the steering wheel operation signal does not satisfy the second condition.

8. A gear signal synchronization system for driving mode switching, characterized by, The system is applied to a vehicle power assembly device, the vehicle power assembly device comprising an unmanned driving control unit, a gear panel and an intelligent instrument, and the system comprising: A first display module for displaying a first gear signal issued by the unmanned driving control unit on the intelligent instrument when in an unmanned driving mode, and updating a gear signal corresponding to a manual driving mode to the first gear signal; A signal determination module for determining a second gear signal according to a first gear instruction corresponding to the gear panel and the first gear signal when detecting that the unmanned driving mode is switched to the manual driving mode; A second display module for displaying the second gear signal on the intelligent instrument and updating the gear signal corresponding to the manual driving mode to the second gear signal.

9. A gear signal synchronization system for driving mode switching, characterized by, A processor and a memory; The processor is connected with the memory; The memory is used for storing executable program codes; The processor runs a program corresponding to the executable program codes by reading the executable program codes stored in the memory, so as to execute the steps of the method according to any one of claims 1-7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer readable storage medium stores instructions, when the instructions run on a computer or a processor, the computer or the processor executes the steps of the method according to any one of claims 1-7.

Images