CN101799666B - Control method and system of automatic driving system - Google Patents
Control method and system of automatic driving system Download PDFInfo
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- CN101799666B CN101799666B CN2010101421777A CN201010142177A CN101799666B CN 101799666 B CN101799666 B CN 101799666B CN 2010101421777 A CN2010101421777 A CN 2010101421777A CN 201010142177 A CN201010142177 A CN 201010142177A CN 101799666 B CN101799666 B CN 101799666B
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000001514 detection method Methods 0.000 claims description 14
- 238000012360 testing method Methods 0.000 claims description 8
- 230000006698 induction Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0051—Handover processes from occupants to vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/007—Emergency override
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention provides a control method and a system of an automatic driving system, which belong to the field of vehicle electronic control. The embodiment of the invention determines whether a driver controls a steering wheel or not by detecting the steering wheel and automatically starts the automatic control system when hands of the driver leave from the steering wheel, therefore, the invention can immediately and automatically start the automatic driving system once the situation that two hands of the driver leave from the steering wheel occurs as well as improve the driving safety and reduce the risk as comparison with the prior art.
Description
Technical field
The present invention relates to field of electric control, especially relate to a kind of control method and system of automated driving system.
Background technology
The automatic driving technology is the research focus of each big motor corporation and mechanism always, strives making the driving of vehicle more simply humanized.In order to improve the security of driving, a lot of vehicles have all disposed automated driving system.
In realizing process of the present invention, the inventor finds that there is following problem at least in prior art:
But existing automated driving system all needs the driver manually to open, and this just causes the driver (for example to answer the call, open sound equipment, adjust vehicle window etc.) when other equipment of operation, the departure direction dish of hand meeting short time.And this moment, a lot of drivers can not want to take the trouble, and were reluctant to go earlier manually opened automated driving system, and then removed to operate other equipment.There is very big potential safety hazard when causing driving like this.
Summary of the invention
Need manually openedly in order to solve in the prior art automated driving system, cause the driver can or not open the problem of automated driving system when the of short duration departure direction dish of hand, the embodiment of the invention has proposed a kind of control method and system of automated driving system.Described technical scheme is as follows:
The embodiment of the invention has proposed a kind of control method of automated driving system, comprising:
Detect bearing circle whether to determine the driver, if then step finishes at the steering dish; Otherwise unlatching automated driving system;
Wherein, be provided with position transducer on described bearing circle surface, empty in the described bearing circle, described position transducer is arranged in the described bearing circle, whether be positioned on the described bearing circle with the hand that detects the driver, described position transducer is a sensor that infrared signal takes place and can receive the infrared signal of reflection, and described bearing circle is provided with a plurality of fine and closely woven holes, described infrared signal can be passed described a plurality of fine and closely woven hole, when driver's hand is placed on the bearing circle, described infrared signal is reflected, and thinks that then driver's hand is placed on the bearing circle.
Preferred as technique scheme, described method also comprises:
Judge whether current automated driving system is activated, if then step finishes; Otherwise unlatching automated driving system.
Preferred as technique scheme, described method also comprises: described automated driving system when the hand that detects the driver is got back on the described bearing circle, is closed described automated driving system after starting.
The embodiment of the invention has also proposed a kind of control system of automated driving system, comprising: automatic control system; Also comprise:
Detection module is used to detect bearing circle to determine that whether the driver is at the steering dish;
Control module is used to receive the testing result of described detection module, and controls described automated driving system according to described testing result;
Wherein, whether described detection module is the position transducer that is arranged in the described bearing circle, be positioned on the described bearing circle with the hand that detects the driver; Empty in the described bearing circle, described position transducer is arranged in the described bearing circle, described position transducer is a sensor that infrared signal takes place and can receive the infrared signal of reflection, and described bearing circle is provided with a plurality of fine and closely woven holes, described infrared signal can be passed described a plurality of fine and closely woven hole, when driver's hand was placed on the bearing circle, described infrared signal was reflected, and thought that then driver's hand is placed on the bearing circle.
Preferred as technique scheme, described control module also comprises:
Judging unit is used to judge whether current automated driving system is activated, if be activated then inoperation, if be not activated then activate described automated driving system.
Preferred as technique scheme, described control module also comprises:
Closing unit after being used for described automated driving system and starting, when the hand that detects the driver is got back on the described bearing circle, is closed described automated driving system.
The beneficial effect that the technical scheme that the embodiment of the invention provides is brought is: the embodiment of the invention has proposed a kind of control method and system of automated driving system, can be by detecting bearing circle to determine that whether the driver is at the steering dish.So in a single day, the situation of driver's both hands departure direction dish occurs, just can open automated driving system immediately automatically.The prior art of can comparing like this improves the security of driving, and reduces risk.
Description of drawings
Fig. 1 is the schematic flow sheet of first embodiment of the invention;
Fig. 2 is the schematic flow sheet of second embodiment of the invention;
Fig. 3 is the structural representation of third embodiment of the invention;
Fig. 4 is the structural representation of fourth embodiment of the invention;
Fig. 5 is the structural representation of an instantiation of the embodiment of the invention.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, embodiment of the present invention is described further in detail below in conjunction with accompanying drawing.
First embodiment of the invention has proposed a kind of control method of automated driving system, and its flow process comprises as shown in Figure 1:
Step 101: detect bearing circle, whether to determine the driver, if then step finishes at the steering dish; Otherwise enter step 102;
Step 102: open automated driving system.
The control method of the automated driving system that the embodiment of the invention proposes can be by detecting bearing circle to determine that whether the driver is at the steering dish.So in a single day, the situation of driver's both hands departure direction dish occurs, just can open automated driving system immediately automatically.The prior art of can comparing like this improves the security of driving, and reduces and drives risk.
Second embodiment of the invention has proposed a kind of control method of automated driving system, and its flow process comprises as shown in Figure 2:
Step 201: be provided with pressure transducer on described bearing circle surface, determine with the pressure that bears according to described bearing circle surface whether driver's hand is positioned on the described bearing circle, if then step finishes; Otherwise enter step 202;
Step 202: judge whether current automated driving system is activated, if then step finishes; Otherwise enter step 203;
Step 203: open automated driving system;
Step 204: when the hand that detects the driver is got back on the described bearing circle, close described automated driving system.
Whether wherein, step 201 is embodiments of step 101 among first embodiment, and the detection bearing circle that proposes in the step 101, can be for multiple, for example in the mode of steering dish to determine the driver:
Whether certainly, can also adopt hand that a variety of other modes detect the driver on bearing circle, above-mentioned step 201 and step 201`, the embodiment of the invention is not as limit if just illustrating.
Wherein step 202 is optional steps, if i.e.: the driver is manually opened automated driving system has been left bearing circle if detect driver's hand again this moment, does not then operate.
Further, after the mode that adopts the embodiment of the invention has started automated driving system, in the time of can also having got back on the bearing circle by the hand that detects the driver, close described automated driving system automatically.Like this needn't the driver participate and just can realize automatic opening and closing automated driving system, to improve driver's experience sense.Further, driver for step 202 has manually booted automated driving system, the hand that then detects the driver has been got back to and has also been kept automated driving system on the bearing circle and open, to prevent closing automated driving system under the unwitting situation of driver.
Whether the hand that the embodiment of the invention has proposed to adopt the position transducer or the mode of pressure transducer to detect the driver is positioned on the bearing circle.Certainly, can also adopt other modes to detect, the embodiment of the invention is not as limit.Simultaneously, the embodiment of the invention can also be closed automated driving system by the mode that detects hand, to prevent to influence driver's driving experience sense.The driver manually opened during automated driving system, then do not need to have operated again.
Third embodiment of the invention has proposed a kind of control system of automated driving system, comprising: automated driving system 1; Also comprise:
The control system of the automated driving system that the embodiment of the invention proposes can be by detecting bearing circle to determine that whether the driver is at the steering dish.So in a single day, the situation of driver's both hands departure direction dish occurs, just can open automated driving system immediately automatically.The prior art of can comparing like this improves the security of driving, and reduces and drives risk.
Embodiment 4
Fourth embodiment of the invention has proposed a kind of control system of automated driving system, comprising: automated driving system 1; Also comprise:
And for example:
Whether detection module 2 can be positioned on the described bearing circle with the hand that detects the driver for being arranged at the position transducer in the bearing circle; Empty in the described bearing circle, described position transducer is arranged in the described bearing circle.Wherein, position transducer can be a sensor that infrared signal takes place and can receive the infrared signal of reflection.Position transducer can be arranged in the bearing circle, and bearing circle is provided with a plurality of fine and closely woven holes, and infrared signal can be passed this hole.When driver's hand was placed on the bearing circle, infrared signal was reflected, and can think that driver's hand is placed on the bearing circle.
Whether certainly, can also adopt hand that a variety of other modes detect the driver on bearing circle, above-mentioned pressure transducer and position transducer, the embodiment of the invention is not as limit if just illustrating.
Judging unit 31 is used to judge whether current automated driving system is activated, if be activated then inoperation, if be not activated then activate described automated driving system.
Closing unit 32 after being used for described automated driving system and starting, when the hand that detects the driver is got back on the described bearing circle, is closed described automated driving system.
Wherein judging unit 31 is optional unit, if i.e.: the driver is manually opened automated driving system has been left bearing circle if detect driver's hand again this moment, does not then operate.
Further, after the mode that adopts the embodiment of the invention has started automated driving system, in the time of can also having got back on the bearing circle by the hand that detects the driver, close described automated driving system automatically.Like this needn't the driver participate and just can realize automatic opening and closing automated driving system, to improve driver's experience sense.Further, manually booted automated driving system for the driver, the hand that then detects the driver has been got back to and has also been kept automated driving system on the bearing circle and open, to prevent closing automated driving system under the unwitting situation of driver.
Whether the hand that the embodiment of the invention has proposed to adopt the position transducer or the mode of pressure transducer to detect the driver is positioned on the bearing circle.Certainly, can also adopt other modes to detect, the embodiment of the invention is not as limit.Simultaneously, the embodiment of the invention can also be closed automated driving system by the mode that detects hand, to prevent to influence driver's driving experience sense.The driver manually opened during automated driving system, then do not need to have operated again.
With a concrete example embodiment of the invention is further specified below:
Present embodiment is an example with the automobile that has self-adaption cruise system, as shown in Figure 5, comprising: automotive self-adaptive cruise system 1, bearing circle surface pressing induction installation 2, controller 3, self-adaption cruise system switch 4.
Bearing circle surface pressing induction installation 2 detects whether departure direction dish of driver's both hands, when the driver because other actions, both hands are simultaneously during the departure direction dish, detect driver's both hands departure direction dish simultaneously at once, and issue a signal to controller 3, controller 3 starts automotive self-adaptive cruise system 1 after receiving the signal that bearing circle surface pressing induction installation 2 transmits automatically, and automobile is converted to automatic driving function.
When driver's both hands or a hand are put back into bearing circle again, after bearing circle surface pressing induction installation 2 detects driver's action, issue a signal to controller 3, controller 3 receives the automatic closing automobile self-adaption cruise system 1 of signal, and automobile transfers manual drive again to.
If the driver wishes that automobile drives for a long time automatically, the driver can open self-adaption cruise system switch 4, controller 3 receive from self-adaption cruise system switch 4 behind the signal, to open and drive function automatically, this state down no matter driver's both hands whether on bearing circle, automobile all will be driven automatically.If the driver wishes to transfer to manual drive again, only need close self-adaption cruise system switch 4, controller 3 will cut out automatic driving function after receiving signal, and automobile transfers manual drive to.
After if the driver opens automatic driving function by automated driving system switch 4, no matter whether driver's both hands on bearing circle, automobile all will be driven automatically, and the driver can only close automatic driving function by automatic driving switch 4 again.
All or part of content in the technical scheme that above embodiment provides can realize that its software program is stored in the storage medium that can read by software programming, storage medium for example: the hard disk in the computing machine, CD or floppy disk.
The above only is preferred embodiment of the present invention, and is in order to restriction the present invention, within the spirit and principles in the present invention not all, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. the control method of an automated driving system is characterized in that, comprising:
Detect bearing circle whether to determine the driver, if then step finishes at the steering dish; Otherwise unlatching automated driving system;
Wherein, be provided with position transducer on described bearing circle surface, empty in the described bearing circle, described position transducer is arranged in the described bearing circle, whether be positioned on the described bearing circle with the hand that detects the driver, described position transducer is a sensor that infrared signal takes place and can receive the infrared signal of reflection, and described bearing circle is provided with a plurality of fine and closely woven holes, described infrared signal can be passed described a plurality of fine and closely woven hole, when driver's hand is placed on the bearing circle, described infrared signal is reflected, and thinks that then driver's hand is placed on the bearing circle.
2. the control method of automated driving system according to claim 1 is characterized in that, described method also comprises:
Judge whether current automated driving system is activated, if then step finishes; Otherwise unlatching automated driving system.
3. according to the control method of described each the described automated driving system of claim 1-2, it is characterized in that, described method also comprises: described automated driving system when the hand that detects the driver is got back on the described bearing circle, is closed described automated driving system after starting.
4. the control system of an automated driving system comprises: automatic control system; It is characterized in that, also comprise:
Detection module is used to detect bearing circle to determine that whether the driver is at the steering dish;
Control module is used to receive the testing result of described detection module, and controls described automated driving system according to described testing result;
Wherein, whether described detection module is the position transducer that is arranged in the described bearing circle, be positioned on the described bearing circle with the hand that detects the driver; Empty in the described bearing circle, described position transducer is arranged in the described bearing circle, described position transducer is a sensor that infrared signal takes place and can receive the infrared signal of reflection, and described bearing circle is provided with a plurality of fine and closely woven holes, described infrared signal can be passed described a plurality of fine and closely woven hole, when driver's hand was placed on the bearing circle, described infrared signal was reflected, and thought that then driver's hand is placed on the bearing circle.
5. the control system of automated driving system according to claim 4 is characterized in that, described control module also comprises:
Judging unit is used to judge whether current automated driving system is activated, if be activated then inoperation, if be not activated then activate described automated driving system.
6. according to the control system of each described automated driving system of claim 4-5, it is characterized in that described control module also comprises:
Closing unit after being used for described automated driving system and starting, when the hand that detects the driver is got back on the described bearing circle, is closed described automated driving system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010101421777A CN101799666B (en) | 2010-03-30 | 2010-03-30 | Control method and system of automatic driving system |
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| CN2010101421777A CN101799666B (en) | 2010-03-30 | 2010-03-30 | Control method and system of automatic driving system |
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| CN101799666A CN101799666A (en) | 2010-08-11 |
| CN101799666B true CN101799666B (en) | 2011-12-14 |
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106809216A (en) * | 2015-11-27 | 2017-06-09 | 鸿富锦精密工业（深圳）有限公司 | Vehicle driving model switching system and method |
| CN105760822B (en) * | 2016-02-01 | 2019-01-15 | 徐黎卿 | A kind of vehicle drive control method and system |
| CN105711591A (en) * | 2016-04-26 | 2016-06-29 | 百度在线网络技术（北京）有限公司 | Unmanned vehicle, and control method and device thereof |
| CN105955248A (en) * | 2016-04-26 | 2016-09-21 | 百度在线网络技术（北京）有限公司 | Vehicle, vehicle control method and apparatus |
| US10007264B2 (en) * | 2016-07-14 | 2018-06-26 | Baidu Usa Llc | Autonomous vehicle human driver takeover mechanism using electrodes |
| CN106218639B (en) * | 2016-07-20 | 2019-01-11 | 百度在线网络技术（北京）有限公司 | Automatic driving vehicle, the method and apparatus for controlling automatic driving vehicle |
| US10023115B2 (en) * | 2016-09-16 | 2018-07-17 | Ford Global Technologies, Llc | Autonomous vehicle handoff alert |
| JP7080598B2 (en) | 2017-07-21 | 2022-06-06 | ソニーセミコンダクタソリューションズ株式会社 | Vehicle control device and vehicle control method |
| CN109581996A (en) * | 2017-09-28 | 2019-04-05 | 郑州宇通客车股份有限公司 | Driving condition reminding method, suggestion device and vehicle |
| CN108536117A (en) * | 2018-02-13 | 2018-09-14 | 北京联合大学 | A kind of unmanned Che Yueche system and methods of plugging into |
| CN108973771B (en) * | 2018-04-23 | 2020-05-29 | 浙江零跑科技有限公司 | Electric automobile self-adaptive cruise method based on motor and ESC combined control |
| CN109991018A (en) * | 2019-05-05 | 2019-07-09 | 中国汽车工程研究院股份有限公司 | A method for open road testing of driver multi-sensor coupled autonomous vehicles |
| CN111516698A (en) * | 2020-04-08 | 2020-08-11 | 中国第一汽车股份有限公司 | Driving assistance system control method, driving assistance system, vehicle, and storage medium |
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| CN100408398C (en) * | 2003-10-28 | 2008-08-06 | 大陆-特韦斯贸易合伙股份公司及两合公司 | Method and system for improving driving performance of vehicle |
| DE102004007253B3 (en) * | 2004-02-10 | 2005-06-09 | Takata-Petri Ag | Automobile steering wheel incorporating operating device for control and/or regulation of automobile component parts, e.g. safety systems, provided by reflection optical sensor device |
| CN100544993C (en) * | 2004-05-08 | 2009-09-30 | 刘红旗 | Motor vehicle driving monitoring safety device |
| CN100545771C (en) * | 2004-07-15 | 2009-09-30 | 株式会社日立制作所 | vehicle control device |
| JP4412151B2 (en) * | 2004-11-09 | 2010-02-10 | 日産自動車株式会社 | Auto driving position system and its control method |
| CN1909006A (en) * | 2006-08-15 | 2007-02-07 | 关亮 | Electric control driving system of vehicle |
| CN100476649C (en) * | 2006-08-16 | 2009-04-08 | 中山大学 | A vehicle intelligent control device and method |
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