阅读说明：本技术 接管控制方法、装置、设备及存储介质 (Takeover control method, takeover control device, takeover control equipment and storage medium ) 是由 邵宇阳 张天骅 徐立人 韩旭 于 2021-08-30 设计创作，主要内容包括：本发明属于自动驾驶技术领域,公开了一种接管控制方法、装置、设备及存储介质。该方法包括：在可移动载体处于自动驾驶状态时,根据当前方向盘参数、预设方向盘参数和工作状态数据确定方向盘角速率阈值；根据所述方向盘控制信息和所述方向盘角速率阈值生成实际控制指令；根据所述实际控制指令对所述可移动载体的方向盘进行控制。通过上述方式实现了,根据预设方向盘参数对当前方向盘控制进行限制,以保证在无人驾驶状态下方向盘的转动的相关参数会始终保持在一个平稳的水平,从而避免了可移动载体在没有驾驶员进行驾驶情况下进入人工接管的情况发生,提高了可移动载体的安全性和转向的平稳程度,有利于用户得到良好的使用体验。(The invention belongs to the technical field of automatic driving, and discloses a takeover control method, a takeover control device, takeover control equipment and a storage medium. The method comprises the following steps: when the movable carrier is in an automatic driving state, determining a steering wheel angular rate threshold according to current steering wheel parameters, preset steering wheel parameters and working state data; generating an actual control instruction according to the steering wheel control information and the steering wheel angular rate threshold; and controlling the steering wheel of the movable carrier according to the actual control instruction. Realized through the above-mentioned mode, restrict current steering wheel control according to predetermineeing the steering wheel parameter to guarantee that the pivoted relevant parameter of steering wheel can remain at a steady level all the time under unmanned driving state, thereby avoided movable carrier to get into the condition emergence that artifical takeover under the condition of driving without the driver, improved movable carrier's security and the stationary degree that turns to, be favorable to the user to obtain good use and experience.)

1. A takeover control method, comprising:

when the movable carrier is in an automatic driving state, acquiring current steering wheel parameters, preset steering wheel parameters and working state data of the movable carrier, wherein the preset steering wheel parameters are parameters used for judging whether take-over is carried out on the movable carrier;

determining a steering wheel angular rate threshold according to the current steering wheel parameter, a preset steering wheel parameter and working state data;

acquiring steering wheel control information issued by an automatic driving system;

generating an actual control instruction according to the steering wheel control information and the steering wheel angular rate threshold;

and controlling the steering wheel of the movable carrier according to the actual control instruction.

2. The method of claim 1, wherein determining a steering wheel angular rate threshold based on the current steering wheel parameter, a preset steering wheel parameter, and operating state data comprises:

acquiring a corresponding preset steering wheel parameter-safety coefficient characteristic curve according to the preset steering wheel parameter;

determining a steering safety coefficient according to the current steering wheel parameter and a preset steering wheel parameter-safety coefficient characteristic curve;

determining a speed value of the movable carrier according to the working state data;

determining an initial steering wheel angular rate threshold according to the speed value;

and determining a steering wheel angular rate threshold value according to the initial angular rate threshold value and the steering safety factor.

3. The method of claim 2, wherein the step of obtaining the corresponding pre-set steering wheel parameter-safety factor characteristic curve according to the pre-set steering wheel parameter is preceded by:

acquiring preset steering wheel parameters of test equipment;

and determining a preset steering wheel parameter-safety coefficient characteristic curve according to the preset steering wheel parameter and the preset safety coefficient.

4. The method of claim 3, wherein determining a preset steering wheel parameter-safety factor characteristic based on the preset steering wheel parameter and a preset safety factor comprises:

establishing a steering wheel parameter-safety coefficient coordinate system according to the preset steering wheel parameters and the preset safety coefficient;

determining a plurality of sampling points according to the preset steering wheel parameters, the preset safety factor and a steering wheel parameter-safety factor coordinate system;

carrying out validity test on the plurality of sampling points to obtain a test result;

obtaining a plurality of critical effective sampling points according to the test result;

and fitting a preset steering wheel parameter-safety coefficient characteristic curve according to the plurality of critical effective sampling points.

5. The method as claimed in claim 4, wherein said performing validity test on said sampling point to obtain a test result comprises:

acquiring preset steering wheel parameter values and steering safety factors corresponding to the sampling points according to the sampling points;

traversing the plurality of sampling points, and taking the traversed sampling points as current sampling points;

testing the testing equipment according to a preset steering wheel parameter value and a steering safety coefficient corresponding to the current sampling point so as to judge whether the testing equipment enters a manual pipe taking state or not;

if the test equipment enters a manual takeover state, judging the current sampling point as an invalid sampling point;

if the test equipment does not enter the manual takeover state, judging the current sampling point as an effective sampling point;

and determining a test result according to each invalid sampling point and each valid sampling point.

6. The method of claim 2, wherein said step of determining a steering safety factor based on said current steering wheel parameter and a preset steering wheel parameter-safety factor characteristic is preceded by the step of:

determining the working state of the movable carrier according to the working state data;

when the working state is remote driving, acquiring the network communication information of the movable carrier;

determining the mobile carrier network quality from the network communication information;

generating a steering safety factor adjusting parameter according to the network quality;

correspondingly, the determining the steering safety factor according to the current steering wheel parameter and the preset steering wheel parameter-safety factor characteristic curve further comprises:

and determining the steering safety factor according to the current steering wheel parameter, a preset steering wheel parameter-safety factor characteristic curve and the steering safety factor adjustment parameter.

7. The method of any of claims 1-6, wherein determining a steering wheel angular rate threshold based on the autopilot steering wheel output information and movable carrier operational data further comprises:

determining the remaining angle of the steering wheel according to the working data of the movable carrier;

when the residual angle is smaller than a preset threshold value, determining a first angular rate threshold value according to the residual angle;

determining current steering wheel parameters according to the steering wheel output information;

determining a steering safety coefficient according to the current steering wheel parameter and a preset steering wheel parameter-safety coefficient characteristic curve;

determining a second angular rate threshold of the steering wheel angular rate threshold according to the current steering wheel parameters and the steering safety coefficient;

and determining a steering wheel angular velocity threshold according to the first angular velocity threshold and the second angular velocity threshold.

8. A takeover control apparatus characterized by comprising:

the device comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring current steering wheel parameters, preset steering wheel parameters and working state data of a movable carrier when the movable carrier is in an automatic driving state, and the preset steering wheel parameters are parameters used for judging whether to take over or not by the movable carrier;

the processing module is used for determining a steering wheel angular rate threshold according to the current steering wheel parameter, a preset steering wheel parameter and working state data;

the acquisition module is also used for acquiring steering wheel control information issued by an automatic driving system;

the processing module is further configured to generate an actual control instruction according to the steering wheel control information and the steering wheel angular rate threshold;

and the control module is used for controlling the steering wheel of the movable carrier according to the actual control instruction.

9. A takeover control apparatus characterized in that said apparatus comprises: a memory, a processor, and a takeover control program stored on the memory and executable on the processor, the takeover control program configured to implement the takeover control method of any one of claims 1-7.

10. A storage medium having a takeover control program stored thereon, the takeover control program when executed by a processor implementing the takeover control method of any one of claims 1 to 7.

Technical Field

The invention relates to the technical field of automatic driving, in particular to a takeover control method, a takeover control device, takeover control equipment and a storage medium.

Background

The steering wheel angle is the key of lateral control in automatic driving, when a driver touches the steering wheel, the torque sensor can output a corresponding torque value, when the torque value exceeds a preset threshold value, the automatic driving system can consider that the driver intervenes, and due to the principle of priority of the driver, the automatic driving system can quit the lateral control. However, in actual automatic driving, including remote driving control, although no driver touches the steering wheel, the torque sensor exceeds the set threshold value due to factors such as steering wheel turning speed, vehicle speed and system jam, and the system enters a manual lateral take-over state due to no other limitation on the steering wheel turning speed. In this case, since there is no driver in the driving seat, danger may occur.

Disclosure of Invention

The invention mainly aims to provide a takeover control method, a takeover control device, takeover control equipment and a storage medium, and aims to solve the technical problem of low safety caused by no limitation of a transverse control process in automatic driving in the prior art.

In order to achieve the above object, the present invention provides a takeover control method, including the steps of:

when the movable carrier is in an automatic driving state, acquiring current steering wheel parameters, preset steering wheel parameters and working state data of the movable carrier, wherein the preset steering wheel parameters are parameters used for judging whether take-over is carried out on the movable carrier;

determining a steering wheel angular rate threshold according to the current steering wheel parameter, a preset steering wheel parameter and working state data;

acquiring steering wheel control information issued by an automatic driving system;

generating an actual control instruction according to the steering wheel control information and the steering wheel angular rate threshold;

and controlling the steering wheel of the movable carrier according to the actual control instruction.

Optionally, the determining a steering wheel angular rate threshold according to the current steering wheel parameter, a preset steering wheel parameter and the working state data includes:

acquiring a corresponding preset steering wheel parameter-safety coefficient characteristic curve according to the preset steering wheel parameter;

determining a steering safety coefficient according to the current steering wheel parameter and a preset steering wheel parameter-safety coefficient characteristic curve;

determining a speed value of the movable carrier according to the working state data;

determining an initial steering wheel angular rate threshold according to the speed value;

and determining a steering wheel angular rate threshold value according to the initial angular rate threshold value and the steering safety factor.

Optionally, before the step of obtaining the corresponding preset steering wheel parameter-safety coefficient characteristic curve according to the preset steering wheel parameter, the method includes:

acquiring preset steering wheel parameters of test equipment;

and determining a preset steering wheel parameter-safety coefficient characteristic curve according to the preset steering wheel parameter and the preset safety coefficient.

Optionally, the determining a preset steering wheel parameter-safety factor characteristic curve according to the preset steering wheel parameter and the preset safety factor includes:

establishing a steering wheel parameter-safety coefficient coordinate system according to the preset steering wheel parameters and the preset safety coefficient;

determining a plurality of sampling points according to the preset steering wheel parameters, the preset safety factor and a steering wheel parameter-safety factor coordinate system;

carrying out validity test on the plurality of sampling points to obtain a test result;

obtaining a plurality of critical effective sampling points according to the test result;

and fitting a preset steering wheel parameter-safety coefficient characteristic curve according to the plurality of critical effective sampling points.

Optionally, the performing validity test on the sampling point to obtain a test result includes:

acquiring preset steering wheel parameter values and steering safety factors corresponding to the sampling points according to the sampling points;

traversing the plurality of sampling points, and taking the traversed sampling points as current sampling points;

testing the testing equipment according to a preset steering wheel parameter value and a steering safety coefficient corresponding to the current sampling point so as to judge whether the testing equipment enters a manual pipe taking state or not;

if the test equipment enters a manual takeover state, judging the current sampling point as an invalid sampling point;

if the test equipment does not enter the manual takeover state, judging the current sampling point as an effective sampling point;

and determining a test result according to each invalid sampling point and each valid sampling point.

Optionally, before the step of determining the steering safety factor according to the current steering wheel parameter and the preset steering wheel parameter-safety factor characteristic curve, the method includes:

determining the working state of the movable carrier according to the working state data;

when the working state is remote driving, acquiring the network communication information of the movable carrier;

determining the mobile carrier network quality from the network communication information;

generating a steering safety factor adjusting parameter according to the network quality;

correspondingly, the determining the steering safety factor according to the current steering wheel parameter and the preset steering wheel parameter-safety factor characteristic curve further comprises:

and determining the steering safety factor according to the current steering wheel parameter, a preset steering wheel parameter-safety factor characteristic curve and the steering safety factor adjustment parameter.

Optionally, the determining a steering wheel angular rate threshold according to the automatic steering wheel output information and the movable carrier working data further includes:

determining the remaining angle of the steering wheel according to the working data of the movable carrier;

when the residual angle is smaller than a preset threshold value, determining a first angular rate threshold value according to the residual angle;

determining current steering wheel parameters according to the steering wheel output information;

determining a steering safety coefficient according to the current steering wheel parameter and a preset steering wheel parameter-safety coefficient characteristic curve;

determining a second angular rate threshold of the steering wheel angular rate threshold according to the current steering wheel parameters and the steering safety coefficient;

and determining a steering wheel angular velocity threshold according to the first angular velocity threshold and the second angular velocity threshold.

In addition, in order to achieve the above object, the present invention further provides a nozzle control device, including:

the device comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring current steering wheel parameters, preset steering wheel parameters and working state data of a movable carrier when the movable carrier is in an automatic driving state, and the preset steering wheel parameters are parameters used for judging whether to take over or not by the movable carrier;

the processing module is used for determining a steering wheel angular rate threshold according to the current steering wheel parameter, a preset steering wheel parameter and working state data;

the acquisition module is also used for acquiring steering wheel control information issued by an automatic driving system;

the processing module is further configured to generate an actual control instruction according to the steering wheel control information and the steering wheel angular rate threshold;

and the control module is used for controlling the steering wheel of the movable carrier according to the actual control instruction.

In addition, to achieve the above object, the present invention further provides a takeover control apparatus including: a memory, a processor and a takeover control program stored on said memory and executable on said processor, said takeover control program being configured to implement the steps of the takeover control method as described above.

Furthermore, to achieve the above object, the present invention further proposes a storage medium having a takeover control program stored thereon, which when executed by a processor implements the steps of the takeover control method as described above.

When a movable carrier is in an automatic driving state, acquiring current steering wheel parameters, preset steering wheel parameters and working state data of the movable carrier, wherein the preset steering wheel parameters are parameters used for judging whether take-over is carried out by the movable carrier; determining a steering wheel angular rate threshold according to the current steering wheel parameter, a preset steering wheel parameter and working state data; acquiring steering wheel control information issued by an automatic driving system; generating an actual control instruction according to the steering wheel control information and the steering wheel angular rate threshold; and controlling the steering wheel of the movable carrier according to the actual control instruction. Realized through the above-mentioned mode, restrict current steering wheel control according to predetermineeing the steering wheel parameter to guarantee that the pivoted relevant parameter of steering wheel can remain at a steady level all the time under unmanned driving state, thereby avoided movable carrier to get into the condition emergence that artifical takeover under the condition of driving without the driver, improved movable carrier's security and the stationary degree that turns to, be favorable to the user to obtain good use and experience.

Drawings

FIG. 1 is a schematic flow chart of a first embodiment of a takeover control method according to the present invention;

FIG. 2 is a schematic diagram of a characteristic curve of a preset remaining angle versus a threshold angular rate of a steering wheel according to an embodiment of the takeover control method of the present invention;

FIG. 3 is a flowchart illustrating a second embodiment of the takeover control method according to the present invention;

FIG. 4 is a schematic diagram of a preset steering wheel parameter-safety factor characteristic curve according to an embodiment of the takeover control method of the present invention;

FIG. 5 is a schematic diagram illustrating a preset driving speed-steering wheel angular rate threshold characteristic curve according to an embodiment of the takeover control method of the present invention;

FIG. 6 is a block diagram of the first embodiment of the takeover control apparatus of the present invention;

fig. 7 is a schematic structural diagram of a removable carrier of a hardware operating environment according to an embodiment of the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

An embodiment of the present invention provides a takeover control method, and referring to fig. 1, fig. 1 is a schematic flow diagram of a takeover control method according to a first embodiment of the present invention.

In this embodiment, the takeover control method includes the following steps:

step S10: when the movable carrier is in an automatic driving state, acquiring current steering wheel parameters, preset steering wheel parameters and working state data of the movable carrier, wherein the preset steering wheel parameters are parameters used for judging whether take-over is carried out by the movable carrier.

It should be noted that the execution main body of this embodiment may be a control terminal on a current movable carrier, an operating system is run on the control terminal, the movable carrier has multiple expression forms, such as a carrier with a moving capability, such as an automobile, a robot, an aircraft, and the like, and the form of the movable carrier is not limited in this embodiment.

It can be understood that the embodiment is applied to the movable carrier during driving, and although no driver touches the steering wheel in the automatic driving state, the torque sensor exceeds the set threshold value due to factors such as steering wheel rotation speed, vehicle speed, system jam and the like, and the transverse take-over is caused. In this case, since the driver is not present in the driving seat, danger may occur. In order to avoid the phenomenon, the rotation of the steering wheel needs to be further limited so as to ensure that the steering process of the movable carrier is always in a stable state, the steering stability of the movable carrier is ensured while the misjudgment of manual take-over is prevented, traffic accidents caused by sudden change of the steering wheel are further avoided, and the automatic driving safety is improved obviously. For example: when the movable carrier is in a remote driving state, the system is stuck, the turning angle value sent by the first frame control module is 300Deg (DEG), and the turning angle rate is 500deg/s (DEG/sec). At this point the DBW does not receive the above information due to system stuck. And after several frames, when the control module starts to issue a turning angle value of 500deg, if the system is stuck and disappears at the moment, the DBW (wire control system) will issue a turning angle of 500deg, the steering wheel will suddenly stop after turning from 0deg to 500deg, and the change rate of the turning angle rate at the moment is relatively large, so that the torque sensor detects a large torque value, and the control of the steering wheel is mistakenly taken over manually, so that the automatic exit of the automatic driving transverse control is caused. In the embodiment, when the movable carrier is in the automatic driving state, a steering wheel angular rate threshold is determined according to data such as the current steering wheel parameter, the preset steering wheel parameter and the working state data of the movable carrier, the steering wheel control command issued by the automatic driving calculation unit is limited through the angular rate threshold, the steering wheel parameter is always lower than the preset steering wheel parameter of the manual takeover judgment standard, and therefore the movable carrier is ensured not to be taken off under the state of no human intervention. If the operation is the actual operation of taking over by the driver, the ability of people to collect information is not as good as that of various sensors equipped on the movable carrier, so that reasonable operation cannot be made in advance or timely, and steering wheel operation different from that in the automatic driving mode often occurs, so that manual taking over is realized.

It should be noted that the current steering wheel parameter is a steering wheel parameter output by the movable carrier in a real-time state, the current steering wheel parameter may be a torque value output by the steering wheel detected by the torque sensor, or may be other same or similar parameters used for determining a steering wheel take-over state, and the corresponding preset steering wheel parameter may be a determination standard of the steering wheel take-over state, for example: the torque threshold of the steering wheel output torque for determining the steering wheel state may be other same or similar parameters for determining the steering wheel take-over state. The present embodiment is described by taking a case where the current steering wheel parameter is torque as an example, for example: the current steering wheel parameter is the moment of torsion, and when transversely withdrawing from autopilot's torque value was 4Nm, predetermine the steering wheel parameter this moment and be 4Nm promptly, when current steering wheel parameter exceeded this torque value, the portable carrier can remove automatic control and get into the manual takeover.

It should be noted that the operating state data generally includes parameters such as the traveling speed of the movable carrier, the driving state, and the network signal state, and is used for adjusting the steering wheel angular rate threshold according to the real-time driving situation.

In a specific implementation, the movable carrier being in the automatic driving state generally refers to an operating state in which the movable carrier is in automatic driving or remote driving, i.e., a driving state in which no driver operates in the cab. The steering wheel is controlled by the command issued by the movable carrier or the remote control system, and the driver may not be in the cab or is not in the driving state.

Step S20: and determining a steering wheel angular rate threshold according to the current steering wheel parameter, the preset steering wheel parameter and the working state data.

It should be noted that the angular rate of the steering wheel is a physical quantity representing the rotation speed of the steering wheel, the rotation change rate of the steering wheel directly affects the torque output by the steering wheel, and the change speed of the steering wheel can be further ensured not to be too fast by limiting the rotation speed of the steering wheel, so that the rotation of the steering wheel is always kept in a stable change state. It will be appreciated that the speed of travel or other operating state data of the movable carrier will also affect the torque output of the steering wheel, and therefore a comprehensive calculation is required to meet the requirement that the movable carrier will not exceed preset steering wheel parameters, such as: the steering torque output by steering at one steering wheel angular speed in a high-speed driving state is obviously lower than the steering torque output by steering at the same steering wheel angular speed in a low-speed driving state, and the steering torque can be realized through a preset control model. Meanwhile, the angular rate threshold value also needs to be considered for the safety of the movable carrier, and under the high-speed driving scene, the excessive speed of the steering wheel may cause the movable carrier to be out of control or even turn over, so that the faster the driving speed is, the lower the angular rate threshold value of the steering wheel should be.

In a specific implementation, the embodiment provides a preferred scheme for obtaining an angular rate threshold, a model corresponding to a risk coefficient of pipe disconnection of a steering wheel is established by presetting steering wheel parameters, when the steering wheel parameters are steering torques detected by a torque sensor, and when the torque output by the steering wheel is closer to a preset pipe disconnection torque corresponding to automatic driving cancellation, the risk coefficient is higher, the higher the risk coefficient is, the lower the angular rate threshold is, and a negative feedback is formed to enable the steering torque output by the steering wheel to rotate to always not exceed the pipe disconnection torque corresponding to automatic driving cancellation; in order to prevent the movable carrier from being mistakenly considered that the manual control over the higher the driving speed is, the preset steering wheel parameters should be correspondingly improved, or the danger coefficient and the driving speed of the movable carrier are comprehensively considered along with the higher the driving speed is, the lower the angular rate threshold is adjusted, so as to obtain an angular rate threshold which is finally used for assisting the automatic driving system to generate a steering wheel control command, and to complete the stable control of the movable carrier on the steering wheel. In addition, when the automatic driving mode is remote control, the command issued remotely may be affected by the network communication condition, so the network condition may also be added into the calculation process for comprehensive consideration.

In this embodiment, the remaining angle of the steering wheel is determined from the movable carrier operating data; when the residual angle is smaller than a preset threshold value, determining a first angular rate threshold value according to the residual angle; determining current steering wheel parameters according to the steering wheel output information; determining a steering safety coefficient according to the current steering wheel parameter and a preset steering wheel parameter-safety coefficient characteristic curve; determining a second angular rate threshold of the steering wheel angular rate threshold according to the current steering wheel parameters and the steering safety coefficient; and determining a steering wheel angular velocity threshold according to the first angular velocity threshold and the second angular velocity threshold.

In a specific implementation, when the steering wheel angle degree issued by the control module exceeds 300deg, in order to prevent the angular rate from changing too fast (the steering wheel stops suddenly when reaching the target value) when approaching the target angle, the angular rate needs to be limited when the remaining 50deg, so that the steering wheel can stop rotating slowly

It should be noted that, when the steering wheel rotation angle approaches the target steering angle, in order to ensure that the rotation rate of the steering wheel does not change abruptly, for example: the instantaneous change from an angular rate of 500deg/s to 0deg/s results in a very high torque output from the steering wheel, which also causes the steering wheel to enter a manual take-over state and thus requires control. Determining the remaining angle of the steering wheel according to the working data of the movable carrier, and when the remaining angle is smaller than a preset threshold, wherein the preset threshold may be a reasonable remaining angle of the steering wheel, for example: and 50deg, determining a first angular rate threshold value according to the residual angle, wherein the first angular rate threshold value can be obtained according to a preset residual angle-steering wheel angular rate threshold value characteristic curve, the preset residual angle-steering wheel angular rate threshold value characteristic curve can be a curve shown in fig. 2, determining a current steering wheel parameter according to the steering wheel output information, determining a steering safety factor according to the current steering wheel parameter and a preset steering wheel parameter-safety factor characteristic curve, and determining a second angular rate threshold value of the steering wheel angular rate threshold value according to the current steering wheel parameter and the steering safety factor. Finally, the smaller of the first angular velocity threshold and the second angular velocity threshold may be used as the steering wheel angular velocity threshold, or the two angular velocity thresholds may be multiplied by a preset coefficient to be compared to obtain the steering wheel angular velocity threshold.

Step S30: and acquiring steering wheel control information issued by an automatic driving system.

It should be noted that the steering wheel control information sent by the automatic driving system is initial steering wheel control information generated by the automatic control system under the condition that the steering wheel angular rate threshold is not received, and at this time, if the steering wheel control is directly performed, a state in which the steering wheel is manually taken over may occur. After the steering wheel receives the parameters of the steering wheel angular rate threshold, comprehensive calculation can be carried out according to the initial steering wheel control information and the steering wheel angular rate threshold to obtain a new control instruction, so that the control of the steering wheel is completed.

Step S40: and generating an actual control instruction according to the steering wheel control information and the steering wheel angular rate threshold value.

It can be understood that the actual control instruction is generated according to the steering wheel control information and the steering wheel angular rate threshold, and may be a new control instruction obtained by performing comprehensive calculation according to the initial steering wheel control information and the steering wheel angular rate threshold after the steering wheel receives the parameter of the steering wheel angular rate threshold, thereby completing the control of the steering wheel. The steering wheel angular rate threshold may be a threshold that limits the steering wheel angular rate in the control command not to exceed a set value, or may be a threshold that is calculated by the automatic driving control center according to the initial control information and the steering wheel angular rate, for example: and calculating the angular rate of the steering wheel to be issued according to the difference between the angular rate related parameters in the initial control information and the angular rate threshold of the steering wheel. The present embodiment is not limited to the calculation method for generating the actual control command by using the steering wheel angular rate threshold value and the steering wheel control information together, and the above example is merely used for explanation.

Step S50: and controlling the steering wheel of the movable carrier according to the actual control instruction.

It should be noted that, after the actual null command is obtained, the steering wheel of the movable carrier can be controlled according to the actual control command, so as to ensure that the rotation clock of the steering wheel is in a stable operation state, and ensure the safety of the movable carrier.

In a specific implementation, the present embodiment proposes a preferred control procedure, for example: a safety factor is given according to the curve of FIG. 4 based on the feedback value of the steering wheel torque detected by the torque sensor, an initial angular rate limiting threshold is given according to the curve of FIG. 5 based on the vehicle speed, and the first angular rate threshold is calculated by multiplying the output results from the above. Meanwhile, whether the steering wheel is rotated by a large angle is judged, and if the steering wheel is rotated by the large angle, for example: if the rotation of the steering wheel is greater than 300deg, the angular output needs to be limited at the last 50deg, such as obtaining a second angular rate threshold value in fig. 2, and finally, the final angular rate threshold value is determined according to the smaller value of the first angular rate threshold value and the second angular rate threshold value to limit the steering wheel control.

In this embodiment, when a movable carrier is in an automatic driving state, current steering wheel parameters, preset steering wheel parameters and working state data of the movable carrier are obtained, where the preset steering wheel parameters are parameters used by the movable carrier to determine whether to take over or not; determining a steering wheel angular rate threshold according to the current steering wheel parameter, a preset steering wheel parameter and working state data; acquiring steering wheel control information issued by an automatic driving system; generating an actual control instruction according to the steering wheel control information and the steering wheel angular rate threshold; and controlling the steering wheel of the movable carrier according to the actual control instruction. Realized through the above-mentioned mode, restrict current steering wheel control according to predetermineeing the steering wheel parameter to guarantee that the pivoted relevant parameter of steering wheel can remain at a steady level all the time under unmanned driving state, thereby avoided movable carrier to get into the condition emergence that artifical takeover under the condition of driving without the driver, improved movable carrier's security and the stationary degree that turns to, be favorable to the user to obtain good use and experience.

Referring to fig. 3, fig. 3 is a flowchart illustrating a takeover control method according to a second embodiment of the present invention.

Based on the first embodiment, in step S20, the takeover control method in this embodiment specifically includes:

step S21: and acquiring a corresponding preset steering wheel parameter-safety coefficient characteristic curve according to the preset steering wheel parameter.

It should be noted that, because the specific control parameters of different preset steering wheel parameters are different, a plurality of preset steering wheel parameter-safety factor characteristic curves may be set, and a corresponding preset steering wheel parameter-safety factor characteristic curve is obtained according to the currently set preset steering wheel parameter, for example: fig. 4 shows a preset steering wheel parameter-safety coefficient characteristic curve, which is a preset steering wheel parameter-safety coefficient characteristic curve corresponding to a steering wheel output torque with a preset steering wheel parameter of 4Nm, where the abscissa is a steering wheel output torque value and the ordinate is a safety coefficient.

In this embodiment, the setting process of the preset steering wheel parameter-safety factor characteristic curve may be to obtain a preset steering wheel parameter of the test equipment; and determining a preset steering wheel parameter-safety coefficient characteristic curve according to the preset steering wheel parameter and the preset safety coefficient.

The test equipment may be an intelligent terminal for simulating the operation of the movable carrier, or an entity movable carrier for testing, which is determined according to actual experimental conditions, and this embodiment does not limit this.

It should be noted that, as shown in fig. 4, as the steering wheel torque value approaches to the preset steering wheel parameter (steering wheel torque 4Nm), the safety factor is gradually reduced, and the lower the safety factor is, the lower the steering wheel angular rate threshold is (the safety factor is positively correlated with the steering wheel angular rate threshold), and the obtained angular rate issued by the automatic driving system is lower, so that the steering wheel control is used in a safe range (the steering wheel cannot enter a manual takeover). Furthermore, the numerical value of the safety factor is generally 0-1, and the preset steering wheel angular rate threshold value is reduced to a certain extent through the safety factor so as to ensure the safety of the movable carrier. A preset steering wheel parameter-safety factor characteristic curve is shown in fig. 4, and if the torque value of the lateral reverse automatic driving is 4Nm (the torque sensor will reverse the lateral automatic driving when reaching 4Nm), a safety factor can be output according to the torque value of the steering wheel according to the curve shown in fig. 4, the safety factor is used for limiting the output of the angular velocity of the steering wheel, and the larger the torque is, the smaller the safety factor is.

In this embodiment, as shown in fig. 4, the preset steering wheel parameter-safety factor characteristic curve is established in a manner that this embodiment provides the following preferable scheme: establishing a steering wheel parameter-safety coefficient coordinate system according to the preset steering wheel parameters and the preset safety coefficient; determining a plurality of sampling points according to the preset steering wheel parameters, the preset safety factor and a steering wheel parameter-safety factor coordinate system; carrying out validity test on the plurality of sampling points to obtain a test result; obtaining a plurality of critical effective sampling points according to the test result; and fitting a preset steering wheel parameter-safety coefficient characteristic curve according to the plurality of critical effective sampling points.

It should be noted that, a coordinate system shown in fig. 4 is established according to a preset safety factor (generally 1) and a preset steering wheel parameter (in this embodiment, a steering wheel torque is 4Nm as an example), and a sampling region is set, for example, a region enclosed by a dotted line in fig. 4, because a characteristic curve in the region within the dotted line satisfies a trend that the safety factor of the preset steering wheel parameter is more attenuated, thereby greatly reducing the workload of the test, improving the test efficiency, and finally, sampling points are set in the sampling region, the sampling points may be uniformly set in a manner of intensively setting sampling points according to an actual situation, the number of the sampling points is not limited in this embodiment, and the more the sampling points obtain the more fitted preset steering wheel parameter-safety factor characteristic curve is more accurate.

In the specific implementation, validity test can be performed on the sampling points, namely setting the current steering wheel parameters as the abscissa of the selected sampling points, setting the safety coefficients as the ordinate of the selected sampling points, and testing the testing equipment according to the current steering wheel parameters and the safety coefficients, wherein the testing safety coefficients can be multiplied by a constant initial steering wheel angular rate threshold value as a base number to judge whether the testing equipment can enter a manual pipe taking state, and then selecting critical valid sampling points from the sampling points which do not enter the manual pipe taking according to the testing results to fit a preset steering wheel parameter-safety coefficient characteristic curve, wherein the effective sampling points at the street are valid sampling points close to invalid sampling points, and the specific screening standard embodiment of the critical valid sampling points is not limited.

In the implementation, a preset steering wheel parameter value and a steering safety factor corresponding to the sampling points are obtained according to the sampling points; traversing the plurality of sampling points, and taking the traversed sampling points as current sampling points; testing the testing equipment according to a preset steering wheel parameter value and a steering safety coefficient corresponding to the current sampling point so as to judge whether the testing equipment enters a manual pipe taking state or not; if the test equipment enters a manual takeover state, judging the current sampling point as an invalid sampling point; if the test equipment does not enter the manual takeover state, judging the current sampling point as an effective sampling point; and determining a test result according to each invalid sampling point and each valid sampling point.

Testing the testing equipment according to the current steering wheel parameters and the safety coefficient, wherein the testing safety coefficient can be multiplied by a constant initial steering wheel angular rate threshold value to serve as a base number so as to judge whether the testing equipment enters a manual take-over state, and if the testing equipment enters the manual take-over state, judging that the current sampling point is an invalid sampling point; and if the test equipment does not enter the manual takeover state, judging the current sampling point as an effective sampling point. The present embodiment proposes a preferred scheme for determining the critical valid sampling point, for example: and selecting effective sampling points without effective sampling points in each abscissa direction and each ordinate direction as critical effective sampling points.

Step S22: and determining the steering safety coefficient according to the current steering wheel parameter and a preset steering wheel parameter-safety coefficient characteristic curve.

It should be noted that the steering safety factor can be determined by querying a preset steering wheel parameter-safety factor characteristic curve according to the current steering wheel parameter, and as shown in fig. 4, the corresponding safety factor can be found according to the steering wheel torque value.

In this embodiment, the operating state of the movable carrier is determined from the operating state data; when the working state is remote driving, acquiring the network communication information of the movable carrier; determining the mobile carrier network quality from the network communication information; generating a steering safety factor adjusting parameter according to the network quality; correspondingly, the determining the steering safety factor according to the current steering wheel parameter and the preset steering wheel parameter-safety factor characteristic curve further comprises: and determining the steering safety factor according to the current steering wheel parameter, a preset steering wheel parameter-safety factor characteristic curve and the steering safety factor adjustment parameter.

It should be noted that, when the automatic control state of the movable carrier is remote control, the stability of the network directly affects the steering wheel operation of the movable carrier, for example: the rotation angle value sent by the control module is 300deg, and the rotation angle rate is 500 deg/s. At this point the DBW does not receive the above information due to system stuck. And when the control module starts to issue the turning angle value of 500deg after several frames, if the system jamming disappears at the moment, the DBW (wire control system) will issue the turning angle of 500deg, the steering wheel will suddenly stop after turning from 0deg to 500deg, the rate of change of the turning angle rate at the moment is relatively large, so that the torque sensor detects a large torque value, and the more serious the network jamming degree is, the more sudden the rate of change of the turning angle rate of the steering wheel is likely to occur. Therefore, an adjustment coefficient can be generated according to the network communication condition to adjust the result of the safety factor, and the safety factor is lower as the network packet loss time is longer.

Step S23: -determining a speed value of the movable carrier from the operating state data.

It should be noted that the form speed of the movable carrier can be determined according to the form condition of the movable carrier in the operation state data.

Step S24: and determining an initial steering wheel angular velocity threshold according to the velocity value.

It should be noted that the initial steering wheel angular rate threshold is a threshold for limiting the steering wheel rotation according to a single driving speed, and when the speed is higher, the upper limit of the steering wheel angular rate is lower, so that the misjudgment of manual takeover still cannot occur on the movable carrier under the high-speed driving condition.

It can be understood that the speed value is a traveling speed of the movable carrier, and the initial steering wheel angular rate threshold may be according to a preset characteristic curve of traveling speed-steering wheel angular rate threshold, as shown in fig. 5, the steering wheel angular rate threshold is lower when the traveling speed is higher, which is that the angular rate threshold also needs to be considered for the safety of the movable carrier, and in a high-speed traveling scene, too fast steering wheel speed may cause the movable carrier to run away from control or even turn over on the side, so the faster traveling speed is, the lower steering wheel angular rate threshold should be.

Step S25: and determining a steering wheel angular rate threshold value according to the initial angular rate threshold value and the steering safety factor.

It should be noted that, the implementation manner of determining the steering wheel angular rate threshold value according to the initial angular rate threshold value and the steering safety factor may be to multiply the initial angular rate threshold value by the safety factor to obtain the steering wheel angular rate threshold value. Other calculation methods are also possible, and this embodiment is not limited to this.

In this embodiment, a corresponding preset steering wheel parameter-safety factor characteristic curve is obtained according to the preset steering wheel parameter; determining a steering safety coefficient according to the current steering wheel parameter and a preset steering wheel parameter-safety coefficient characteristic curve; determining a speed value of the movable carrier according to the working state data; determining an initial steering wheel angular rate threshold according to the speed value; and determining a steering wheel angular rate threshold value according to the initial angular rate threshold value and the steering safety factor. The method realizes the process of reasonably determining the angular rate threshold, and forms negative feedback control on the angular rate of the steering wheel as the safety factor that the numerical value of the preset steering wheel parameter is smaller as the current steering wheel parameter is closer to the preset steering wheel parameter is introduced in the steering wheel control process.

Furthermore, an embodiment of the present invention further provides a storage medium, where a takeover control program is stored on the storage medium, and the takeover control program, when executed by a processor, implements the steps of the takeover control method as described above.

Referring to fig. 6, fig. 6 is a block diagram illustrating a first embodiment of the takeover control apparatus according to the present invention.

As shown in fig. 6, the takeover control apparatus according to the embodiment of the present invention includes:

the system comprises an acquisition module 10, a control module and a processing module, wherein the acquisition module is used for acquiring current steering wheel parameters, preset steering wheel parameters and working state data of a movable carrier when the movable carrier is in an automatic driving state, and the preset steering wheel parameters are parameters used for judging whether take-over is carried out by the movable carrier;

the processing module 20 is configured to determine a steering wheel angular rate threshold according to the current steering wheel parameter, a preset steering wheel parameter, and the working state data;

the obtaining module 10 is further configured to obtain steering wheel control information issued by an automatic driving system;

the processing module 20 is further configured to generate an actual control instruction according to the steering wheel control information and the steering wheel angular rate threshold;

and the control module 30 is used for controlling the steering wheel of the movable carrier according to the actual control instruction.

It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.

The embodiment includes that when a movable carrier is in an automatic driving state, an obtaining module 10 obtains current steering wheel parameters, preset steering wheel parameters and working state data of the movable carrier, where the preset steering wheel parameters are parameters used by the movable carrier to judge whether to take over or not; the processing module 20 determines a steering wheel angular rate threshold according to the current steering wheel parameter, a preset steering wheel parameter and the working state data; the acquisition module 10 acquires steering wheel control information issued by an automatic driving system; the processing module 20 generates an actual control instruction according to the steering wheel control information and the steering wheel angular rate threshold; the control module 30 controls the steering wheel of the movable carrier according to the actual control instructions. Realized through the above-mentioned mode, restrict current steering wheel control according to predetermineeing the steering wheel parameter to guarantee that the pivoted relevant parameter of steering wheel can remain at a steady level all the time under unmanned driving state, thereby avoided movable carrier to get into the condition emergence that artifical takeover under the condition of driving without the driver, improved movable carrier's security and the stationary degree that turns to, be favorable to the user to obtain good use and experience.

It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.

In addition, the technical details that are not described in detail in this embodiment may refer to the takeover control method provided in any embodiment of the present invention, and are not described herein again.

Referring to fig. 7, fig. 7 is a schematic diagram of a movable carrier structure of a hardware operating environment according to an embodiment of the present invention.

As shown in fig. 7, the movable carrier may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.

Those skilled in the art will appreciate that the configuration shown in fig. 7 does not constitute a limitation of the movable carrier, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.

As shown in fig. 7, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a takeover control program.

In the takeover control apparatus shown in fig. 7, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the takeover control apparatus of the present invention may be provided in the takeover control apparatus, which calls the takeover control program stored in the memory 1005 through the processor 1001 and performs the following operations:

when the movable carrier is in an automatic driving state, acquiring current steering wheel parameters, preset steering wheel parameters and working state data of the movable carrier, wherein the preset steering wheel parameters are parameters used for judging whether take-over is carried out on the movable carrier;

determining a steering wheel angular rate threshold according to the current steering wheel parameter, a preset steering wheel parameter and working state data;

acquiring steering wheel control information issued by an automatic driving system;

generating an actual control instruction according to the steering wheel control information and the steering wheel angular rate threshold;

and controlling the steering wheel of the movable carrier according to the actual control instruction.

Further, the processor 1001 may call the takeover control program stored in the memory 1005, and also perform the following operations:

acquiring a corresponding preset steering wheel parameter-safety coefficient characteristic curve according to the preset steering wheel parameter;

determining a steering safety coefficient according to the current steering wheel parameter and a preset steering wheel parameter-safety coefficient characteristic curve;

determining a speed value of the movable carrier according to the working state data;

determining an initial steering wheel angular rate threshold according to the speed value;

and determining a steering wheel angular rate threshold value according to the initial angular rate threshold value and the steering safety factor.

Further, the processor 1001 may call the takeover control program stored in the memory 1005, and also perform the following operations:

acquiring preset steering wheel parameters of test equipment;

and determining a preset steering wheel parameter-safety coefficient characteristic curve according to the preset steering wheel parameter and the preset safety coefficient.

Further, the processor 1001 may call the takeover control program stored in the memory 1005, and also perform the following operations:

establishing a steering wheel parameter-safety coefficient coordinate system according to the preset steering wheel parameters and the preset safety coefficient;

determining a plurality of sampling points according to the preset steering wheel parameters, the preset safety factor and a steering wheel parameter-safety factor coordinate system;

carrying out validity test on the plurality of sampling points to obtain a test result;

obtaining a plurality of critical effective sampling points according to the test result;

and fitting a preset steering wheel parameter-safety coefficient characteristic curve according to the plurality of critical effective sampling points.

Further, the processor 1001 may call the takeover control program stored in the memory 1005, and also perform the following operations:

acquiring preset steering wheel parameter values and steering safety factors corresponding to the sampling points according to the sampling points;

traversing the plurality of sampling points, and taking the traversed sampling points as current sampling points;

testing the testing equipment according to a preset steering wheel parameter value and a steering safety coefficient corresponding to the current sampling point so as to judge whether the testing equipment enters a manual pipe taking state or not;

if the test equipment enters a manual takeover state, judging the current sampling point as an invalid sampling point;

if the test equipment does not enter the manual takeover state, judging the current sampling point as an effective sampling point;

and determining a test result according to each invalid sampling point and each valid sampling point.

Further, the processor 1001 may call the takeover control program stored in the memory 1005, and also perform the following operations:

determining the working state of the movable carrier according to the working state data;

when the working state is remote driving, acquiring the network communication information of the movable carrier;

determining the mobile carrier network quality from the network communication information;

generating a steering safety factor adjusting parameter according to the network quality;

correspondingly, the determining the steering safety factor according to the current steering wheel parameter and the preset steering wheel parameter-safety factor characteristic curve further comprises:

and determining the steering safety factor according to the current steering wheel parameter, a preset steering wheel parameter-safety factor characteristic curve and the steering safety factor adjustment parameter.

Further, the processor 1001 may call the takeover control program stored in the memory 1005, and also perform the following operations:

determining the remaining angle of the steering wheel according to the working data of the movable carrier;

when the residual angle is smaller than a preset threshold value, determining a first angular rate threshold value according to the residual angle;

determining current steering wheel parameters according to the steering wheel output information;

determining a steering safety coefficient according to the current steering wheel parameter and a preset steering wheel parameter-safety coefficient characteristic curve;

determining a second angular rate threshold of the steering wheel angular rate threshold according to the current steering wheel parameters and the steering safety coefficient;

and determining a steering wheel angular velocity threshold according to the first angular velocity threshold and the second angular velocity threshold.

Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, where a takeover control program is stored on the computer-readable storage medium, and when executed by a processor, the takeover control program implements the following operations:

when the movable carrier is in an automatic driving state, acquiring current steering wheel parameters, preset steering wheel parameters and working state data of the movable carrier, wherein the preset steering wheel parameters are parameters used for judging whether take-over is carried out on the movable carrier;

determining a steering wheel angular rate threshold according to the current steering wheel parameter, a preset steering wheel parameter and working state data;

acquiring steering wheel control information issued by an automatic driving system;

generating an actual control instruction according to the steering wheel control information and the steering wheel angular rate threshold;

and controlling the steering wheel of the movable carrier according to the actual control instruction.

In this embodiment, when a movable carrier is in an automatic driving state, current steering wheel parameters, preset steering wheel parameters and working state data of the movable carrier are obtained, where the preset steering wheel parameters are parameters used by the movable carrier to determine whether to take over or not; determining a steering wheel angular rate threshold according to the current steering wheel parameter, a preset steering wheel parameter and working state data; acquiring steering wheel control information issued by an automatic driving system; generating an actual control instruction according to the steering wheel control information and the steering wheel angular rate threshold; and controlling the steering wheel of the movable carrier according to the actual control instruction. Realized through the above-mentioned mode, restrict current steering wheel control according to predetermineeing the steering wheel parameter to guarantee that the pivoted relevant parameter of steering wheel can remain at a steady level all the time under unmanned driving state, thereby avoided movable carrier to get into the condition emergence that artifical takeover under the condition of driving without the driver, improved movable carrier's security and the stationary degree that turns to, be favorable to the user to obtain good use and experience.

It should be noted that, when being executed by a processor, the computer-readable storage medium may also implement the steps in the method, and achieve the corresponding technical effects, which is not described herein again.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.