CN110217236A - Driving mode switching system, method, equipment and the storage medium of automatic Pilot - Google Patents
Driving mode switching system, method, equipment and the storage medium of automatic Pilot Download PDFInfo
- Publication number
- CN110217236A CN110217236A CN201910599134.2A CN201910599134A CN110217236A CN 110217236 A CN110217236 A CN 110217236A CN 201910599134 A CN201910599134 A CN 201910599134A CN 110217236 A CN110217236 A CN 110217236A
- Authority
- CN
- China
- Prior art keywords
- steering
- input shaft
- connecting sleeve
- automatic pilot
- driving mode
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000003860 storage Methods 0.000 title claims abstract description 31
- 230000033001 locomotion Effects 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 8
- 239000002184 metal Substances 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 4
- 230000005291 magnetic effect Effects 0.000 claims description 4
- 230000004323 axial length Effects 0.000 claims description 2
- 238000010521 absorption reaction Methods 0.000 claims 1
- 230000002708 enhancing effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 10
- 238000012545 processing Methods 0.000 description 7
- 238000004088 simulation Methods 0.000 description 7
- 210000002105 tongue Anatomy 0.000 description 7
- 238000004891 communication Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 210000004027 cell Anatomy 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 210000000352 storage cell Anatomy 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0409—Electric motor acting on the steering column
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/043—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by clutch means between driving element, e.g. motor, and driven element, e.g. steering column or steering gear
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention provides driving mode switching system, method, equipment and the storage medium of automatic Pilot, which includes: a steering wheel；One turns to input shaft, turns to the first end connection steering wheel of input shaft；One connecting sleeve, the first end socket of connecting sleeve turn to the second end of input shaft；One turns to output shaft, turns to output shaft and turns to input shaft coaxial arrangement, and turns between the first end of output shaft and the second end for turning to input shaft with gap；And a control assembly, control assembly run connecting sleeve along the axial direction for turning to input shaft, and connecting sleeve is enabled to have the first state for being limited in and turning to input shaft, and connection turns to input shaft and turns to output shaft, coaxial the second state for transmitting rotary force.The present invention can experience in free switching, enhancing driving pleasure, the hommization for improving autonomous driving vehicle driving under two different driving modes, facilitate the promotion and popularization of autonomous driving vehicle.
Description
Technical field
The present invention relates to automatic driving fields, specifically, being related to the driving mode switching system of automatic Pilot, side
Method, equipment and storage medium.
Background technique
Passenger safe in applicable areas can be had a destination to take another purpose to by autonomous driving vehicle
Ground increasingly becomes the hot spot of research.Auto-pilot controller is realized as the brain of automatic Pilot to environment sensing information
Fusion treatment, the traveling behavior of decision vehicle is to drive towards safely destination.
EPS is exactly the abbreviation of English Electrical Power Steering, that is, " electronic power assist steering system "
The meaning.EPS system generally by mechanical steering system plus torque sensor, vehicle speed sensor, electronic control unit, retarder,
The composition such as motor, it is on the basis of tradition machinery steering system, according to the traveling of dtc signal and automobile on steering wheel
Speed signal makes motor generate correspondingly sized and direction auxiliary power, user is assisted to turn using electronic control unit
To operation.Traditional EPS steering system cannot all will meet the use of automatic driving vehicle very well from structure, because transmission
It is realized and is mechanically connected by mechanical consequences when EPS steering wheel is between steering rack.Any input of user can all reflect
On rack gear, it is difficult to coordinate the autonomous driving vehicle of the hand-power square especially L4 rank of motor power-assisted and user, automatic Pilot thus
Automobile can not be intervened completely by the mankind, then encounter automatic Pilot misjudgment when, what occupant absolutely not saved oneself
Mode.
This makes current steering-by-wire, and there are a kind of awkward situations, if steering wheel and steering rack mechanical connection,
Then the input of user is easy to interfere motor power-assisted.And the two is completely separable, then user loses intuitive driving manually completely
The road feel accurately controlled, and in turning, user, which looks at the steering wheel that do not move at all, can generate very big fear at heart, and
And when the situation that faces a danger, automatic Pilot error in judgement, the ability that user saves oneself has been deprived completely.
Therefore, the present invention provides driving mode switching system, method, equipment and the storage mediums of a kind of automatic Pilot.
Summary of the invention
For the problems of the prior art, the purpose of the present invention is to provide the driving mode switching system of automatic Pilot,
Method, equipment and storage medium, can under two different driving modes free switching, both ensure that in automatic driving mode
The lower road feel feedback provided after simulation, and user's accurate control intuitively to drive a car manually can be provided, enhance driving pleasure, mentions
The hommization experience that high autonomous driving vehicle drives, facilitates the promotion and popularization of autonomous driving vehicle.
The embodiment of the present invention also provides a kind of driving mode switching system of automatic Pilot, comprising:
One steering wheel；
One turns to input shaft, and the first end for turning to input shaft connects the steering wheel；
One connecting sleeve, the first end of the connecting sleeve are socketed the second end for turning to input shaft；
One turns to output shaft, and the steering output shaft and the steering input shaft are coaxially disposed, and the steering output shaft
First end and it is described turn to input shaft second end between have gap；And
One control assembly, the control assembly run the connecting sleeve along the axial direction for turning to input shaft,
It enables the connecting sleeve have and is limited in the first state for turning to input shaft, and the connection steering input shaft and steering
Output shaft, coaxial the second state for transmitting rotary force.
Preferably, the control assembly includes:
One electromagnet, the electromagnet sleeve are set to the steering input shaft, the downside of the electromagnet and the connector sleeve
Pipe magnetism is attracting；And
One controller, the controller are electrically connected the electromagnet, adsorb the connecting sleeve when the electromagnet is powered,
The steering input shaft is mutually separated with output shaft is turned to；When the electromagnet powers off, between the connecting sleeve falls described in
Gap, the second end of the connecting sleeve are socketed the first end for turning to output shaft, transmit the steering force from the steering wheel.
Preferably, further includes: a joint tongue is set to the first end for turning to output shaft, the periphery of the joint tongue
Along the positioning key being axially arranged with, the inner edge of the connecting sleeve second end is axially arranged with locating slot, when under the connecting sleeve
It falls, the locating slot of the connecting sleeve engages with the positioning key of the joint tongue, and the steering input shaft and steering output shaft are same
Axis rotation.
Preferably, further includes: a ring limit block is set to the first end for turning to output shaft, when the connector sleeve
Pipe falls, and the ring limit block engages the periphery of the second end of the connecting sleeve.
Preferably, further includes:
One automatic Pilot module, connects the controller；
One first motor connects the controller, according to the first output signal of the automatic Pilot module by the side
Corresponding rotation angle is rotated to disk；And
One second motor, connects the controller, is helped according to the second output signal of automatic Pilot module driving one
The movement of power steering assembly, the power assisted steering assembly connect vehicle bridge, are turned to.
Preferably, when the connecting sleeve, the electromagnet, which is powered, adsorbs the connecting sleeve, the connecting sleeve limit
In the steering input shaft, the first motor turns the steering wheel according to the first output signal of the automatic Pilot module
Corresponding rotation angle is moved, second motor drives the power-assisted to turn according to the second output signal of the automatic Pilot module
To component movement, turned to.
Preferably, when the connecting sleeve connects the steerings input shaft and turns to output shaft, the steering input shaft with
It turns to output shaft to rotate coaxially, second output signal Driven by Coaxial of second motor according to the automatic Pilot module, institute
Steering wheel, the steering angle for turning to input shaft and power assisted steering assembly movement are stated, is turned to；The first motor is stopped
It only works and the steering input shaft is followed to rotate, and the first motor detects the rotational angle for turning to input shaft.
Preferably, when the connecting sleeve connects the steering input shaft and turns to output shaft, the first motor is detected
It is described turn to input shaft rotational angle and the preset rotational angle of the second output signal it is inconsistent, the first motor with
Second motor stops working, and the output shaft that turns to is rotated by the steering force from the steering wheel.
Preferably, the connecting sleeve is metal sleeve, the axial length of the metal sleeve be greater than the gap away from
From.
The embodiment of the present invention also provides a kind of driving mode switching method of automatic Pilot, is driven automatically using such as above-mentioned
The driving mode switching system sailed, comprising:
When the connecting sleeve is limited in the steering input shaft, the steering input shaft is mutually separated with output shaft is turned to,
Respectively independent rotation；And
When the connecting sleeve connects the steering input shaft and steering output shaft, the steering input shaft and steering output
Axis rotates coaxially, and the connecting sleeve transmits the steering force from the steering wheel to the steering output shaft.
The embodiment of the present invention also provides the driving mode switching method of another automatic Pilot, using such as above-mentioned automatic
The driving mode switching system of driving, comprising the following steps:
S110, the electromagnet, which are powered, adsorbs the connecting sleeve, and the connecting sleeve is limited in the steering input shaft,
The steering wheel is rotated corresponding rotation angle according to the first output signal of the automatic Pilot module by the first motor,
Second motor drives the power assisted steering assembly to move according to the second output signal of the automatic Pilot module, is turned to；
S120, the same lane before being located at this vehicle travel in the same direction and the vehicle before this vehicle establishes a wagon flow
Group；
Whether the vehicle in S130, the prediction wagon flow group collides, if so, S140 is thened follow the steps, if it is not, then returning
Return step S110；
S140, the connecting sleeve connect the steering input shaft and turn to output shaft, the steering input shaft and steering
Output shaft rotates coaxially, and the first motor, which stops working, follows the steering input shaft to rotate, and second motor is according to institute
State the steering angle and the power assisted steering assembly of steering wheel described in the second output signal Driven by Coaxial of automatic Pilot module
Movement, is turned to；
S150, judge that the first motor detects the rotational angle for turning to input shaft and described the in preset threshold
Whether the preset rotational angle of two output signals is consistent, if so, return step S130, if it is not, thening follow the steps S160；And
S160, the first motor and second motor stop working, and the steering output shaft is by from the side
It is rotated to the steering force of disk.
Preferably, in the step S140, the electromagnet power-off, the connecting sleeve falls to the connecting sleeve
Second end is socketed the first end for turning to output shaft.
Preferably, in the step S160, the steering output shaft passes through the connecting sleeve and the steering input shaft
It rotates coaxially.
The embodiment of the present invention also provides a kind of driving mode switching equipment of automatic Pilot, comprising:
Processor；
Memory, wherein being stored with the executable instruction of the processor；
Wherein, the processor is configured to execute the driving mould of above-mentioned automatic Pilot via the executable instruction is executed
The step of formula switching method.
The embodiment of the present invention also provides a kind of computer readable storage medium, and for storing program, described program is held
The step of driving mode switching method of above-mentioned automatic Pilot is realized when row.
The purpose of the present invention is to provide driving mode switching system, method, equipment and the storage medium of automatic Pilot, energy
Enough free switchings under two different driving modes both ensure that the road feel after providing simulation under automatic driving mode was anti-
Feedback, and user's accurate control intuitively to drive a car manually can be provided, enhance driving pleasure, improves autonomous driving vehicle driving
Hommization experience, facilitate the promotion and popularization of autonomous driving vehicle.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon.
Fig. 1 is schematic diagram of the driving mode switching system for first state of automatic Pilot of the invention.
Fig. 2 is schematic diagram of the driving mode switching system for the second state of automatic Pilot of the invention.
Fig. 3 is the flow chart of the driving mode switching method of automatic Pilot of the invention.
Fig. 4 to 10 is the schematic diagram of the implementation process of the driving mode switching method of automatic Pilot of the invention.
Figure 11 is the structural schematic diagram of the driving mode switching equipment of automatic Pilot of the invention.And
Figure 12 is the structural schematic diagram of the computer readable storage medium of one embodiment of the invention.
1 steering wheel
2 turn to input shaft
3 electromagnet
4 connecting sleeves
5 first motors
6 controllers
7 second motors
8 joint tongues
9 ring limit blocks
10 turn to output shaft
11 turn to output precision
12 vehicle bridge
13 wheels
14 automatic Pilot modules
15 gaps
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to embodiment set forth herein.On the contrary, thesing embodiments are provided so that the present invention will
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.It is identical attached in figure
Icon note indicates same or similar structure, thus will omit repetition thereof.
Fig. 1 is schematic diagram of the driving mode switching system for first state of automatic Pilot of the invention.Fig. 2 is this hair
Schematic diagram of the driving mode switching system of bright automatic Pilot for the second state.As illustrated in fig. 1 and 2, of the invention automatic
The driving mode switching system of driving a, comprising: steering wheel 1, one turns to input shaft 2, a connecting sleeve 4, one turns to output shaft
10 and control assembly.Wherein, the first end for turning to input shaft 2 connects steering wheel 1.The first end of connecting sleeve 4, which is socketed, to be turned to
The second end of input shaft 2.Steering output shaft 10 and steering input shaft 2 are coaxially disposed, and are turned to the first end of output shaft 10 and turned
To between the second end of input shaft 2 have gap 15.Control assembly transports connecting sleeve 4 along the axial direction for turning to input shaft 2
Row enables connecting sleeve 4 have the first state for being limited in and turning to input shaft 2, and connection turns to input shaft 2 and turns to output shaft
10, coaxial the second state for transmitting rotary force.The driving mode switching system of automatic Pilot in the present invention can pass through connection
The switching of the first state role of casing 4 and the second state role, forms two different driving modes.
Wherein, control assembly includes an electromagnet 3 and a controller 6.Electromagnet 3, which is sheathed on, turns to input shaft 2, electromagnet
3 downside is magnetic attracting with connecting sleeve 4.Controller 6 is electrically connected electromagnet 3, adsorbs connecting sleeve 4 when electromagnet 3 is powered, turns
It is separated to input shaft 2 with 10 phase of output shaft is turned to.When electromagnet 3 powers off, connecting sleeve 4 falls by gap 15, connecting sleeve 4
Second end socket turn to output shaft 10 first end, transmit the steering force from steering wheel 1.
The driving mode switching system of automatic Pilot of the invention further include automatic Pilot module 14, first motor 5 and
Second motor 7.Automatic Pilot module 14 connects controller 6.First motor 5 connects controller 6, according to automatic Pilot module 14
Steering wheel 1 is rotated corresponding rotation angle by the first output signal, so that the good road feel that passenger inside the vehicle obtains.Second motor
7 connection controllers 6 drive a power assisted steering assembly 11 movement according to the second output signal of automatic Pilot module 14, and power-assisted turns
Vehicle bridge 12 is connected to component 11, the steering direction of the wheel 13 at 12 both ends of vehicle bridge is controlled, to accurately be turned to.
In a preferred embodiment, the driving mode switching system of automatic Pilot of the invention a further include: joint tongue
8, it is set to the first end for turning to output shaft 10, the positioning key that the outer periphery of joint tongue 8 is axially arranged with, 4 second end of connecting sleeve
Inner edge be axially arranged with locating slot, when connecting sleeve 4 falls, the positioning key card of the locating slot of connecting sleeve 4 and joint tongue 8
It closes, turn to input shaft 2 and turns to 10 coaxial rotating of output shaft.
In a preferred embodiment, the driving mode switching system of automatic Pilot of the invention further include: an annular limit
Position block 9, is set to the first end for turning to output shaft 10, and when connecting sleeve 4 falls, ring limit block 9 is connected together the of casing 4
The periphery at two ends.
In a preferred embodiment, connecting sleeve 4 is metal sleeve, and but not limited to this, and the axial direction of metal sleeve is long
Degree is greater than the distance in gap 15, to connect steering input shaft 2 across the distance in gap 15 and to turn to output shaft 10.
In a preferred embodiment, the driving mode switching system of automatic Pilot of the invention can have the first behaviour
Control state: when connecting sleeve 4, electromagnet 3, which is powered, adsorbs connecting sleeve 4, and connecting sleeve 4, which is limited in, turns to input shaft 2, the first electricity
Steering wheel 1 is rotated corresponding rotation angle, 7 basis of the second motor according to the first output signal of automatic Pilot module 14 by machine 5
The second output signal driving power assisted steering assembly 11 of automatic Pilot module 14 moves, and is turned to.
In a preferred embodiment, the driving mode switching system of automatic Pilot of the invention can also have second
Manipulation state: input shaft 2 and steering output shaft 10 are turned to when connecting sleeve 4 connects, input shaft 2 is turned to and turns to output shaft 10 together
Axis rotation, second output signal Driven by Coaxial of second motor 7 according to automatic Pilot module 14, steering wheel 1, steering input shaft 2
Steering angle and power assisted steering assembly 11 move, turned to；First motor 5, which stops working, follows 2 turns of input shaft of steering
It is dynamic, and the detection of first motor 5 turns to the rotational angle of input shaft.
In a preferred embodiment, the driving mode switching system of automatic Pilot of the invention can also have the third
Manipulation state: input shaft 2 and steering output shaft 10 are turned to when connecting sleeve 4 connects, the detection of first motor 5 turns to input shaft 2
Rotational angle and the preset rotational angle of the second output signal are inconsistent, and first motor 5 and the second motor 7 stop working, and turn
It is rotated to output shaft 10 by the steering force from steering wheel 1.
The embodiment of the present invention also provides a kind of driving mode switching method of automatic Pilot, is driven automatically using such as above-mentioned
The driving mode switching system sailed, including the switching between the first driving mode and second of driving mode.
The first driving mode: when connecting sleeve is limited in steering input shaft, steering input shaft and steering output shaft phase point
From respectively independent rotation.At this point, first motor steering wheel is rotated according to the first output signal of automatic Pilot module it is corresponding
Angle is rotated, the driving condition that current automobile is simulated by the rotation of steering wheel drives, and allow passenger to feel to feel at ease, even if but with
Family rotates steering wheel, can't also change the steering direction of vehicle, because steering input shaft and steering output shaft at this time is phase
It mutually separates, they respectively can independently be rotated.And the second motor is helped according to the driving of the second output signal of automatic Pilot module
The movement of power steering assembly, is turned to, autonomous driving vehicle fully belongs to automatic Pilot state at this moment.
Second of driving mode: input shaft and steering output shaft are turned to when connecting sleeve connects, turns to input shaft and steering
Output shaft rotates coaxially, and connecting sleeve transmits the steering force from steering wheel to output shaft is turned to.At this point, passenger can pass through rotation
Turn steering wheel, carrys out the steering direction of self-service manipulation autonomous driving vehicle, realize the enjoyment of autonomous driving.
So the present invention can under two different driving modes free switching, both ensure that in automatic driving mode
The lower road feel feedback provided after simulation, and user's accurate control intuitively to drive a car manually can be provided, enhance driving pleasure, mentions
The hommization experience that high autonomous driving vehicle drives, facilitates the promotion and popularization of autonomous driving vehicle.
Fig. 3 is the flow chart of the driving mode switching method of automatic Pilot of the invention.As shown in figure 3, reality of the invention
It applies example and the driving mode switching method of another automatic Pilot is also provided, switched using the driving mode of such as above-mentioned automatic Pilot
System, comprising the following steps:
S110, electromagnet, which are powered, adsorbs connecting sleeve, and connecting sleeve is limited in steering input shaft, and first motor is according to automatic
Steering wheel is rotated corresponding rotation angle by the first output signal for driving module, and the second motor is according to the of automatic Pilot module
Two output signals drive power assisted steering assembly movement, are turned to, under the state, the working condition of first motor, the second motor
Working condition and the position of connecting sleeve the first manipulation state is collectively formed, automobile is controlled by automatic Pilot completely
Traveling, user can not intervene manipulation；
S120, the same lane before being located at this vehicle travel in the same direction and the vehicle before this vehicle establishes a wagon flow
Group；
Whether the vehicle in S130, prediction wagon flow group collides, if so, S140 is thened follow the steps, if it is not, then returning to step
Rapid S110；
S140, connecting sleeve connection turn to input shaft and turn to output shaft, turn to input shaft and coaxially turn with output shaft is turned to
Dynamic, first motor, which stops working to follow, turns to input shaft rotation, and the second motor is according to the second output signal of automatic Pilot module
The steering angle and power assisted steering assembly of Driven by Coaxial steering wheel move, and are turned to；
S150, judge that the rotational angle of first motor detection steering input shaft and the second output signal are pre- in preset threshold
If rotational angle it is whether consistent, the value range of preset threshold is 0 second to 5 seconds, and but not limited to this, if so, return step
Rapid S130, if it is not, thening follow the steps S160.Such as: within 2 seconds, the second motor is according to the second of automatic Pilot module the output
Signal driving turns to output shaft and rotates 10 ° clockwise, but passes through first motor to the rotational angle for turning to input shaft
Detection, discovery turn to input shaft only have rotated 6 °, hence it is evident that during this, user interferes steering wheel, then executes
Step S160.Under the state, the position of the working condition of first motor, the working condition of the second motor and connecting sleeve is common
Second of manipulation state is formed, although still controlling the traveling of automobile by automatic Pilot, whether moment detection user has
Steering wheel (namely user intervenes the effect that automobile manipulates) is operated, if so, can then be switched at once has user's control completely
The third state.
In a change case, it can also judge to use by the way that the technological means such as angular transducer are arranged in steering input shaft
Whether family has operation steering wheel, cause turn to input shaft steering angle and the second motor plan export steering angle whether one
It causes, but not limited to this.
S160, first motor and the second motor stop working, and turn to output shaft and are rotated by the steering force from steering wheel.
Under the state, third is collectively formed in the position of the working condition of first motor, the working condition of the second motor and connecting sleeve
Kind manipulation state, is controlled the traveling of automobile, automatic Pilot is not involved in the direction controlling of automobile by user completely.
Preferably, in step S130, according to the spacing and two cars of the adjacent two cars in any pair of front and back in wagon flow group
Speed difference, obtain collision time of origin.Judge to collide whether time of origin is less than preset threshold, the value range of preset threshold
It is 0 second to 5 seconds, but not limited to this, if so, S140 is thened follow the steps, if it is not, then return step S110；But not limited to this.
It can also be using the technological means of other judgement collision time of origins of this field.
Preferably, in step S140, electromagnet power-off, the second end socket that connecting sleeve falls to connecting sleeve turns to defeated
The first end of shaft.
Preferably, in step S150, since first motor is mutually driven with input shaft is turned to, first motor can be passed through
Motion calculation goes out to turn to the rotational angle of input shaft.Such as: first motor is engaged with steering input shaft by chain, defeated when turning to
When entering axis rotation, it can also be rotated with first motor.In this case, it when user's active use direction disk, can hinder originally
There is second electrode to the rotational angle of steering wheel, steering input shaft etc., first motor passs on shape by detection steering input shaft
State, to judge whether user is intervened (use direction disk turns to) to steering wheel, but not limited to this.
Preferably, it in step S160, turns to output shaft and is rotated coaxially by connecting sleeve with input shaft is turned to.
As it can be seen that the position of the working condition of first motor of the invention, the working condition of the second motor and connecting sleeve
Three kinds of different manipulation states can be formed:
The first manipulation state, is controlled the traveling of automobile, user can not intervene manipulation by automatic Pilot completely.
Second of manipulation state, although still controlling the traveling of automobile by automatic Pilot, moment detection user is
It is no to have operation steering wheel, if so, can then be switched to the third state for having user's control completely at once.
The third manipulation state, is controlled the traveling of automobile by user completely, and automatic Pilot is not involved in the direction control of automobile
System.
The present invention can under three kinds of different manipulation states free switching, both ensure that and provided under automatic driving mode
Road feel feedback after simulation, can also detect user in time and intervene the movement driven, moreover it is possible to provide user and intuitively drive a car manually
Accurate control, enhance driving pleasure, improve autonomous driving vehicle driving hommization experience, and automatic Pilot judge
When mistake, user is automatically provided and has obtained the mode that automobile manipulation power is saved oneself in time, facilitated autonomous driving vehicle
Promotion and popularization.
Fig. 4 to 10 is the schematic diagram of the implementation process of the driving mode switching method of automatic Pilot of the invention.Such as Fig. 4 institute
Show, five vehicle A, vehicle B, vehicle C, vehicle D, vehicle E vehicles travel on three adjacent lanes in the same direction 11,12,13 respectively.
In the present embodiment, five vehicles of vehicle A, B, C, D, E are all the intelligent vehicles with car networking system.Using vehicle C as this vehicle, vehicle
The car networking system of C positions the vehicle location of vehicle C in real time, and the same lane before being located at this vehicle is travelled in the same direction
Vehicle A and vehicle B establishes a wagon flow group.For vehicle C at this time for automatic driving mode, electromagnet 3, which is powered, adsorbs connector sleeve
Pipe 4, connecting sleeve 4, which is limited in, turns to input shaft 2, and first motor 5 will be square according to the first output signal of automatic Pilot module 14
Corresponding rotation angle is rotated to disk 1, the second motor 7 drives power-assisted steering according to the second output signal of automatic Pilot module 14
Component 11 moves, and power assisted steering assembly 11 connects vehicle bridge 12, the steering direction of the wheel 13 at 12 both ends of vehicle bridge is controlled, to carry out
It is accurate to turn to (referring to Fig. 1, details are not described herein again).At this point, autonomous driving vehicle, for automatic driving mode, user can not be to vapour
The intervention that vehicle is driven.
As shown in figure 5, obtaining collision according to the speed difference of the spacing and two cars of vehicle A and vehicle B in wagon flow group
Time.Time of origin is collided when judgement and is less than preset threshold, then judges that vehicle A and vehicle B are possible to collide.
As shown in fig. 6, connecting sleeve 4 is lower to fall behind, and connection turns to input at this point, controller 6 controls 3 power on/off of electromagnet
Axis 2 and steering output shaft 10, turn to input shaft 2 and steering output shaft 10 rotates coaxially, and first motor 5 stops working, and follows and turns
It is rotated to input shaft 2.Second motor 7 is according to the steering of the second output signal Driven by Coaxial steering wheel 1 of automatic Pilot module 14
Angle and power assisted steering assembly movement 11, are turned to, and in the state, autonomous driving vehicle is still automatic Pilot, but is used
Family can intervene at any time, and adapter tube drives right.First motor real-time detection turns to the rotational angle of input shaft and the second output is believed
Whether number preset rotational angle is consistent, if rotational angle is consistent, illustrates that user does not intervene steering wheel 1, if rotational angle
It is inconsistent, then illustrate that user starts to intervene steering wheel 1.
As shown in FIG. 7 and 8, having a car accident as vehicle A and vehicle B, and automatic Pilot module 14 is not avoided
When operation, user can actively steering wheel 1 is turned to, cause first motor real-time detection turn to input shaft rotational angle with
The preset rotational angle of second output signal is inconsistent, and general, first motor 5 and the second motor 7 all stop working at once at this time, then
Turning to output shaft 10 will be completely by the steering force from steering wheel 1, and autonomous driving vehicle is complete for the manual driving mode of user
Automobile is driven by user entirely, autonomous driving vehicle carries out Emergency avoidance according to the driving of user.
As shown in Figures 9 and 10, when whithin a period of time, the distance between vehicle A and vehicle B are increasingly remoter, it is clear that will not
When having traffic accident generation, electromagnet 3, which is powered, adsorbs connecting sleeve 4, after the rising of connecting sleeve 4, is returned to steering input shaft, the
Steering wheel 1 is rotated corresponding rotation angle, the second motor 7 according to the first output signal of automatic Pilot module 14 by one motor 5
It drives power assisted steering assembly 11 to move according to the second output signal of automatic Pilot module 14, is turned to, at this point, automatic Pilot
Automobile is restored to fully automated driving mode again, and user can not be to the intervention that automobile is driven.
The present invention provides the driving mode switching methods of automatic Pilot to be judged automatically according to the driving condition of front truck
Any driving mode should be provided, and ensure that the continuity of automatic Pilot impression, user is capable of providing and accident is occurring
When emergent self-rescue operation, theres is a situation where collide when reducing automated driving system mistake, according to the dangerous situation of anticipation, guarantor
The right for having stayed user to think that intervention drives substantially increases the hommization experience of autonomous driving vehicle driving, facilitates automatic
The promotion and popularization of driving.
The embodiment of the present invention also provides a kind of double jump lamp control equipment, including processor.Memory, wherein being stored with processing
The executable instruction of device.Wherein, processor is configured to the driving mode for being performed automatic Pilot via executable instruction is executed
The step of switching method.
As it appears from the above, the embodiment can under two different driving modes free switching, both ensure that and driven automatically
The road feel feedback after simulation is provided under mode is sailed, and user's accurate control intuitively to drive a car manually can be provided, enhancing drives
Enjoyment improves the hommization experience of autonomous driving vehicle driving, facilitates the promotion and popularization of autonomous driving vehicle.
Person of ordinary skill in the field it is understood that various aspects of the invention can be implemented as system, method or
Program product.Therefore, various aspects of the invention can be embodied in the following forms, it may be assumed that complete hardware embodiment, complete
The embodiment combined in terms of full Software Implementation (including firmware, microcode etc.) or hardware and software, can unite here
Referred to as " circuit ", " module " or " platform ".
Figure 11 is the structural schematic diagram of double jump lamp control equipment of the invention.It is described according to the present invention referring to Figure 11
This embodiment electronic equipment 600.The electronic equipment 600 that Figure 11 is shown is only an example, should not be to the present invention
The function and use scope of embodiment bring any restrictions.
As shown in figure 11, electronic equipment 600 is showed in the form of universal computing device.The component of electronic equipment 600 can be with
Including but not limited to: at least one processing unit 610, at least one storage unit 620, connection different platform component (including are deposited
Storage unit 620 and processing unit 610) bus 630, display unit 640 etc..
Wherein, storage unit is stored with program code, and program code can be executed with unit 610 processed, so that processing is single
Member 610 executes various exemplary implementations according to the present invention described in this specification above-mentioned electronic prescription circulation processing method part
The step of mode.For example, processing unit 610 can execute step as shown in fig. 1.
Storage unit 620 may include the readable medium of volatile memory cell form, such as Random Access Storage Unit
(RAM) 6201 and/or cache memory unit 6202, it can further include read-only memory unit (ROM) 6203.
Storage unit 620 can also include program/utility with one group of (at least one) program module 6205
6204, such program module 6205 includes but is not limited to: operating system, one or more application program, other program moulds
It may include the realization of network environment in block and program data, each of these examples or certain combination.
Bus 630 can be to indicate one of a few class bus structures or a variety of, including storage unit bus or storage
Cell controller, peripheral bus, graphics acceleration port, processing unit use any bus structures in a variety of bus structures
Local bus.
Electronic equipment 600 can also be with one or more external equipments 700 (such as keyboard, sensing equipment, bluetooth equipment
Deng) communication, can also be enabled a user to one or more equipment interact with the electronic equipment 600 communicate, and/or with make
Any equipment (such as the router, modulation /demodulation that the electronic equipment 600 can be communicated with one or more of the other calculating equipment
Device etc.) communication.This communication can be carried out by input/output (I/O) interface 650.Also, electronic equipment 600 can be with
By network adapter 660 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network,
Such as internet) communication.Network adapter 660 can be communicated by bus 630 with other modules of electronic equipment 600.It should
Understand, although not shown in the drawings, other hardware and/or software module can be used in conjunction with electronic equipment 600, including but unlimited
In: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and number
According to backup storage platform etc..
The embodiment of the present invention also provides a kind of computer readable storage medium, and for storing program, program is performed reality
The step of driving mode switching method of existing automatic Pilot.In some possible embodiments, various aspects of the invention
It is also implemented as a kind of form of program product comprising program code, when program product is run on the terminal device, journey
Sequence code is for executing terminal device described in this specification above-mentioned electronic prescription circulation processing method part according to this hair
The step of bright various illustrative embodiments.
As it appears from the above, the embodiment can under two different driving modes free switching, both ensure that and driven automatically
The road feel feedback after simulation is provided under mode is sailed, and user's accurate control intuitively to drive a car manually can be provided, enhancing drives
Enjoyment improves the hommization experience of autonomous driving vehicle driving, facilitates the promotion and popularization of autonomous driving vehicle.
Figure 12 is the structural schematic diagram of computer readable storage medium of the invention.With reference to shown in Figure 12, basis is described
The program product 800 for realizing the above method of embodiments of the present invention can be deposited using portable compact disc is read-only
Reservoir (CD-ROM) and including program code, and can be run on terminal device, such as PC.However, of the invention
Program product is without being limited thereto, and in this document, readable storage medium storing program for executing can be any tangible medium for including or store program, should
Program can be commanded execution system, device or device use or in connection.
Program product can be using any combination of one or more readable mediums.Readable medium can be readable signal Jie
Matter or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can be but be not limited to electricity, magnetic, optical, electromagnetic, infrared ray or partly lead
System, device or the device of body, or any above combination.More specific example (the non exhaustive column of readable storage medium storing program for executing
Table) it include: the electrical connection with one or more conducting wires, portable disc, hard disk, random access memory (RAM), read-only storage
Device (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read only memory (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
Computer readable storage medium may include in a base band or as carrier wave a part propagate data-signal,
In carry readable program code.The data-signal of this propagation can take various forms, including but not limited to electromagnetic signal,
Optical signal or above-mentioned any appropriate combination.Readable storage medium storing program for executing can also be any readable Jie other than readable storage medium storing program for executing
Matter, the readable medium can send, propagate or transmit for by instruction execution system, device or device use or and its
The program of combined use.The program code for including on readable storage medium storing program for executing can transmit with any suitable medium, including but not
It is limited to wireless, wired, optical cable, RF etc. or above-mentioned any appropriate combination.
The program for executing operation of the present invention can be write with any combination of one or more programming languages
Code, programming language include object oriented program language-Java, C++ etc., further include conventional process
Formula programming language-such as " C " language or similar programming language.Program code can be calculated fully in user
It executes in equipment, partly execute on a user device, executing, as an independent software package partially in user calculating equipment
Upper part executes on a remote computing or executes in remote computing device or server completely.It is being related to remotely counting
In the situation for calculating equipment, remote computing device can pass through the network of any kind, including local area network (LAN) or wide area network
(WAN), it is connected to user calculating equipment, or, it may be connected to external computing device (such as utilize ISP
To be connected by internet).
To sum up, the purpose of the present invention is to provide the driving mode switching system of automatic Pilot, method, equipment and storages to be situated between
Matter, can under two different driving modes free switching, both ensure that under automatic driving mode provide simulation after road
Sense feedback, and user's accurate control intuitively to drive a car manually can be provided, enhance driving pleasure, improves autonomous driving vehicle
The hommization experience of driving, facilitates the promotion and popularization of autonomous driving vehicle.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (15)
1. a kind of driving mode switching system of automatic Pilot characterized by comprising
One steering wheel (1)；
One turns to input shaft (2), and the first end for turning to input shaft (2) connects the steering wheel (1)；
One connecting sleeve (4), the first end socket second end for turning to input shaft (2) of the connecting sleeve (4)；
One turns to output shaft (10), and the steering output shaft (10) and the steering input shaft (2) are coaxially disposed, and the steering
There is gap between the first end of output shaft (10) and the second end for turning to input shaft (2)；And
One control assembly, the control assembly transport the connecting sleeve (4) along the axial direction for turning to input shaft (2)
Row enables the connecting sleeve (4) to have and is limited in the first state for turning to input shaft (2), and the connection steering is defeated
Enter axis (2) and turns to output shaft (10), coaxial the second state for transmitting rotary force.
2. the driving mode switching system of automatic Pilot according to claim 1, which is characterized in that the control assembly packet
It includes:
One electromagnet (3), the electromagnet (3) are sheathed on the steering input shaft (2), the downside of the electromagnet (3) and institute
It is magnetic attracting to state connecting sleeve (4)；And
One controller (6), the controller (6) are electrically connected the electromagnet (3), when the electromagnet (3) are powered described in absorption
Connecting sleeve (4), the steering input shaft (2) mutually separate with output shaft (10) are turned to；It is described when the electromagnet (3) power-off
Connecting sleeve (4), which falls, passes through the gap, the second end socket of the connecting sleeve (4) is described turn to output shaft (10) the
One end, transmitting come from the steering force of the steering wheel (1).
3. the driving mode switching system of automatic Pilot according to claim 2, which is characterized in that further include: a connection
Tenon (8), be set to it is described turn to output shaft (10) first end, the positioning key that the outer periphery of the joint tongue (8) is axially arranged with,
The inner edge of connecting sleeve (4) second end is axially arranged with locating slot, when the connecting sleeve (4) whereabouts, the connector sleeve
The locating slot of pipe (4) engages with the positioning key of the joint tongue (8), and the steering input shaft (2) and steering output shaft (10) are same
Axis rotation.
4. the driving mode switching system of automatic Pilot according to claim 3, which is characterized in that further include: an annular
Limited block (9) is set to the first end for turning to output shaft (10), when the connecting sleeve (4) whereabouts, the annular stop
Block (9) engages the periphery of the second end of the connecting sleeve (4).
5. the driving mode switching system of automatic Pilot as claimed in any of claims 2 to 4, which is characterized in that
Further include:
One automatic Pilot module (14), connects the controller (6)；
One first motor (5) connects the controller (6), will according to the first output signal of the automatic Pilot module (14)
The steering wheel (1) rotates corresponding rotation angle；And
One second motor (7), connects the controller (6), is driven according to the second output signal of the automatic Pilot module (14)
Dynamic a power assisted steering assembly (11) movement, the power assisted steering assembly (11) connect vehicle bridge (12), are turned to.
6. the driving mode switching system of automatic Pilot according to claim 5, it is characterised in that: when the connecting sleeve
(4), the electromagnet (3), which is powered, adsorbs the connecting sleeve (4), and the connecting sleeve (4) is limited in the steering input shaft
(2), the first motor (5) rotates the steering wheel (1) according to the first output signal of the automatic Pilot module (14)
Corresponding rotation angle, second motor (7) is according to the driving of the second output signal of the automatic Pilot module (14)
Power assisted steering assembly (11) movement, is turned to.
7. the driving mode switching system of automatic Pilot according to claim 5, it is characterised in that: when the connecting sleeve
(4) it connects the steering input shaft (2) and turns to output shaft (10), the steering input shaft (2) and steering output shaft (10) are same
Axis rotation, second output signal Driven by Coaxial of second motor (7) according to the automatic Pilot module (14), the direction
Disk (1), the steering angle for turning to input shaft (2) and the power assisted steering assembly (11) movement, are turned to；First electricity
Machine (5), which stops working, follows the steering input shaft (2) to rotate, and the first motor (5) the detection steering input shaft
Rotational angle.
8. the driving mode switching system of automatic Pilot according to claim 7, it is characterised in that: when the connecting sleeve
(4) it connects the steering input shaft (2) and turns to output shaft (10), the first motor (5) detects the steering input shaft (2)
Rotational angle and the preset rotational angle of the second output signal it is inconsistent, the first motor (5) and it is described second electricity
Machine (7) stops working, and turn to output shaft (10) are rotated by the steering force from the steering wheel (1).
9. the driving mode switching system of automatic Pilot according to claim 1, it is characterised in that: the connecting sleeve
It (4) is metal sleeve, the axial length of the metal sleeve is greater than the distance in the gap.
10. a kind of driving mode switching method of automatic Pilot, which is characterized in that use and drive automatically as described in claim 1
The driving mode switching system sailed, comprising:
When the connecting sleeve is limited in the steering input shaft, the steering input shaft is mutually separated with output shaft is turned to, respectively
Independent rotation；And
When the connecting sleeve connects the steering input shaft and turns to output shaft, the steering input shaft and steering output shaft are same
Axis rotation, the connecting sleeve transmit the steering force from the steering wheel to the steering output shaft.
11. a kind of driving mode switching method of automatic Pilot, which is characterized in that use and drive automatically as claimed in claim 5
The driving mode switching system sailed, comprising the following steps:
S110, the electromagnet, which are powered, adsorbs the connecting sleeve, and the connecting sleeve is limited in the steering input shaft, described
The steering wheel is rotated corresponding rotation angle according to the first output signal of the automatic Pilot module by first motor, and second
Motor drives the power assisted steering assembly to move according to the second output signal of the automatic Pilot module, is turned to；
S120, the same lane before being located at this vehicle travel in the same direction and the vehicle before this vehicle establishes a wagon flow group；
Whether the vehicle in S130, the prediction wagon flow group collides, if so, S140 is thened follow the steps, if it is not, then returning to step
Rapid S110；
S140, the connecting sleeve connect the steering input shaft and turn to output shaft, the steering input shaft and steering output
Axis rotates coaxially, and the first motor, which stops working, follows the steering input shaft to rotate, second motor according to it is described oneself
The steering angle of steering wheel described in dynamic the second output signal Driven by Coaxial for driving module and power assisted steering assembly movement,
It is turned to；
S150, judge that the first motor detects the rotational angle for turning to input shaft and described second defeated in preset threshold
Whether the preset rotational angle of signal is consistent out, if so, return step S130, if it is not, thening follow the steps S160；And
S160, the first motor and second motor stop working, and the steering output shaft is by from the steering wheel
Steering force rotation.
12. the driving mode switching method of automatic Pilot according to claim 11, which is characterized in that the step S140
In, the electromagnet power-off, the second end that the connecting sleeve falls to the connecting sleeve is socketed the steering output shaft
First end.
13. the driving mode switching method of automatic Pilot according to claim 11, which is characterized in that the step S160
In, the steering output shaft is rotated coaxially by the connecting sleeve and the steering input shaft.
14. a kind of driving mode switching equipment of automatic Pilot characterized by comprising
Processor；
Memory, wherein being stored with the executable instruction of the processor；
Wherein, the processor is configured to come any one of perform claim requirement 1 to 6 institute via the execution executable instruction
The step of stating the driving mode switching method of automatic Pilot.
15. a kind of computer readable storage medium, for storing program, which is characterized in that described program is performed realization power
Benefit require any one of 1 to 6 described in automatic Pilot driving mode switching method the step of.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910599134.2A CN110217236B (en) | 2019-07-04 | 2019-07-04 | Driving mode switching system, method, apparatus and storage medium for automatic driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910599134.2A CN110217236B (en) | 2019-07-04 | 2019-07-04 | Driving mode switching system, method, apparatus and storage medium for automatic driving |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110217236A true CN110217236A (en) | 2019-09-10 |
| CN110217236B CN110217236B (en) | 2021-03-09 |
Family
ID=67812783
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910599134.2A Active CN110217236B (en) | 2019-07-04 | 2019-07-04 | Driving mode switching system, method, apparatus and storage medium for automatic driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110217236B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111605613A (en) * | 2020-06-30 | 2020-09-01 | 广州极飞科技有限公司 | Steering control device for driving system, and agricultural machine |
| CN111874085A (en) * | 2020-09-02 | 2020-11-03 | 北京九星智元科技有限公司 | Double-input steering device |
| CN112537395A (en) * | 2019-09-18 | 2021-03-23 | 亚庆股份有限公司 | Action controller for golf self-driving steering wheel |
| CN112572592A (en) * | 2019-09-30 | 2021-03-30 | 比亚迪股份有限公司 | Automobile, control method and control device thereof, and machine-readable storage medium |
| CN112572595A (en) * | 2019-09-30 | 2021-03-30 | 比亚迪股份有限公司 | Control method and system of steering wheel, steering system and automobile |
| CN112606820A (en) * | 2020-12-17 | 2021-04-06 | 山东得知科技发展有限公司 | Automobile safety system |
| CN112706827A (en) * | 2019-10-25 | 2021-04-27 | 比亚迪股份有限公司 | Steering system, axle sleeve and car |
| CN112706825A (en) * | 2019-10-25 | 2021-04-27 | 比亚迪股份有限公司 | Steering clutch, steering system and vehicle |
| CN112706828A (en) * | 2019-10-25 | 2021-04-27 | 比亚迪股份有限公司 | Clutch mechanism, steering system and automobile |
| CN112706826A (en) * | 2019-10-25 | 2021-04-27 | 比亚迪股份有限公司 | Clutch mechanism, steering system and automobile |
| CN114348024A (en) * | 2022-01-30 | 2022-04-15 | 中国第一汽车股份有限公司 | Vehicle and automatic driving system thereof |
| CN114560008A (en) * | 2020-11-27 | 2022-05-31 | 比亚迪股份有限公司 | Steering Systems and Vehicles |
| WO2023245227A1 (en) * | 2022-06-19 | 2023-12-28 | Mohideen Farlin Anooz | Vehicle control arrangement |
| DE102022124555A1 (en) * | 2022-09-23 | 2024-03-28 | Bayerische Motoren Werke Aktiengesellschaft | Steering for a motor vehicle and method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184352A (en) * | 2016-07-13 | 2016-12-07 | 吉林大学 | A kind of realize the multiple steering turning to pattern to switch |
| CN106627740A (en) * | 2017-03-08 | 2017-05-10 | 吉林大学 | Clutch device suitable for steer-by-wire |
| CN107215387A (en) * | 2017-05-11 | 2017-09-29 | 江苏保千里视像科技集团股份有限公司 | A kind of automobile double based on steering engagement drives dual control method and system |
| CN107953928A (en) * | 2017-12-15 | 2018-04-24 | 南京航空航天大学 | A kind of double generator redundancy steer by wire apparatus and its control method |
| JP2018065490A (en) * | 2016-10-20 | 2018-04-26 | 日立オートモティブシステムズ株式会社 | Power steering device |
-
2019
- 2019-07-04 CN CN201910599134.2A patent/CN110217236B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184352A (en) * | 2016-07-13 | 2016-12-07 | 吉林大学 | A kind of realize the multiple steering turning to pattern to switch |
| JP2018065490A (en) * | 2016-10-20 | 2018-04-26 | 日立オートモティブシステムズ株式会社 | Power steering device |
| CN106627740A (en) * | 2017-03-08 | 2017-05-10 | 吉林大学 | Clutch device suitable for steer-by-wire |
| CN107215387A (en) * | 2017-05-11 | 2017-09-29 | 江苏保千里视像科技集团股份有限公司 | A kind of automobile double based on steering engagement drives dual control method and system |
| CN107953928A (en) * | 2017-12-15 | 2018-04-24 | 南京航空航天大学 | A kind of double generator redundancy steer by wire apparatus and its control method |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112537395A (en) * | 2019-09-18 | 2021-03-23 | 亚庆股份有限公司 | Action controller for golf self-driving steering wheel |
| CN112537395B (en) * | 2019-09-18 | 2022-02-25 | 亚庆股份有限公司 | Motion Control Device for Golf Self-driving Steering Wheel |
| CN112572592B (en) * | 2019-09-30 | 2023-09-05 | 比亚迪股份有限公司 | Automobile, control method and control device thereof and machine-readable storage medium |
| CN112572595A (en) * | 2019-09-30 | 2021-03-30 | 比亚迪股份有限公司 | Control method and system of steering wheel, steering system and automobile |
| CN112572592A (en) * | 2019-09-30 | 2021-03-30 | 比亚迪股份有限公司 | Automobile, control method and control device thereof, and machine-readable storage medium |
| CN112706827B (en) * | 2019-10-25 | 2022-07-15 | 比亚迪股份有限公司 | Steering system, axle sleeve and car |
| CN112706827A (en) * | 2019-10-25 | 2021-04-27 | 比亚迪股份有限公司 | Steering system, axle sleeve and car |
| CN112706825A (en) * | 2019-10-25 | 2021-04-27 | 比亚迪股份有限公司 | Steering clutch, steering system and vehicle |
| CN112706828A (en) * | 2019-10-25 | 2021-04-27 | 比亚迪股份有限公司 | Clutch mechanism, steering system and automobile |
| CN112706826A (en) * | 2019-10-25 | 2021-04-27 | 比亚迪股份有限公司 | Clutch mechanism, steering system and automobile |
| CN112706828B (en) * | 2019-10-25 | 2022-08-09 | 比亚迪股份有限公司 | Clutch mechanism, steering system and automobile |
| CN111605613A (en) * | 2020-06-30 | 2020-09-01 | 广州极飞科技有限公司 | Steering control device for driving system, and agricultural machine |
| CN111605613B (en) * | 2020-06-30 | 2024-08-30 | 广州极飞科技股份有限公司 | Steering control device for steering system, and agricultural machine |
| CN111874085A (en) * | 2020-09-02 | 2020-11-03 | 北京九星智元科技有限公司 | Double-input steering device |
| CN114560008A (en) * | 2020-11-27 | 2022-05-31 | 比亚迪股份有限公司 | Steering Systems and Vehicles |
| CN114560008B (en) * | 2020-11-27 | 2024-03-19 | 比亚迪股份有限公司 | Steering systems and vehicles |
| CN112606820A (en) * | 2020-12-17 | 2021-04-06 | 山东得知科技发展有限公司 | Automobile safety system |
| CN114348024A (en) * | 2022-01-30 | 2022-04-15 | 中国第一汽车股份有限公司 | Vehicle and automatic driving system thereof |
| WO2023245227A1 (en) * | 2022-06-19 | 2023-12-28 | Mohideen Farlin Anooz | Vehicle control arrangement |
| AU2023289042B2 (en) * | 2022-06-19 | 2025-02-13 | Farlin Anooz MOHIDEEN | Vehicle control arrangement |
| DE102022124555A1 (en) * | 2022-09-23 | 2024-03-28 | Bayerische Motoren Werke Aktiengesellschaft | Steering for a motor vehicle and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110217236B (en) | 2021-03-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110217236A (en) | Driving mode switching system, method, equipment and the storage medium of automatic Pilot | |
| US10953881B2 (en) | System and method for automated lane change control for autonomous vehicles | |
| Buechel et al. | An automated electric vehicle prototype showing new trends in automotive architectures | |
| CN109032132B (en) | Vehicle driving system and method | |
| CN108045430B (en) | Dual redundant electric power steering | |
| CN110435569A (en) | Automatic driving vehicle redundancy control system, method, equipment and storage medium | |
| US20190071092A1 (en) | System and method for automated lane change control for autonomous vehicles | |
| CN110155047B (en) | Anti-collision control method, device and system and vehicle | |
| EP2810853B1 (en) | Actuator control apparatus | |
| US11639195B2 (en) | Lane change assistant | |
| RU2692415C1 (en) | Steering and braking control system and method | |
| US11249476B2 (en) | Steering holding determination device and autonomous driving system | |
| US9908557B2 (en) | Steering control device, steering control system, steering control method, and computer readable medium storing steering control program | |
| EP2759457A1 (en) | Vehicle steering system | |
| CN111344547B (en) | Method for testing at least one vehicle component of a vehicle | |
| WO2021208886A1 (en) | Method, device and system for monitoring motion trajectory of vehicle | |
| AU2019257245A1 (en) | System and method for automated lane change control for autonomous vehicles | |
| CN109649492A (en) | Vehicle and its power steering control method, system, equipment and storage medium | |
| US20110184603A1 (en) | Direction determination for active park assist | |
| US9731715B2 (en) | Semi-automatic method for assisting with parking a motor vehicle and associated device | |
| CN113226891A (en) | Wire control independent steering mechanism with redundancy function and control method | |
| CN112805212B (en) | Method and control device for configuring a vehicle | |
| CN110138485A (en) | On-vehicle information broadcast system, method, equipment and storage medium | |
| CN110104063A (en) | Automobile assisted power steering control method, system, equipment and storage medium | |
| KR20150018989A (en) | Apparatus and method for controlling autonomous driving of vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20230131 Granted publication date: 20210309 |
|
| PP01 | Preservation of patent right | ||
| PD01 | Discharge of preservation of patent |
Date of cancellation: 20240108 Granted publication date: 20210309 |
|
| PD01 | Discharge of preservation of patent | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20240227 Granted publication date: 20210309 |
|
| PP01 | Preservation of patent right |