CN116674578A - Control method and system based on vehicle display control system - Google Patents
Control method and system based on vehicle display control system Download PDFInfo
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- CN116674578A CN116674578A CN202310967941.1A CN202310967941A CN116674578A CN 116674578 A CN116674578 A CN 116674578A CN 202310967941 A CN202310967941 A CN 202310967941A CN 116674578 A CN116674578 A CN 116674578A
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Classifications
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- 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
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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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
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/12—Trucks; Load vehicles
- B60W2300/125—Heavy duty trucks
- B60W2300/128—Silo or fluid transporting vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The application provides a control method and a control system based on a vehicle display control system. According to the method, a driving mode switching instruction is acquired through a touch screen when a controller determines that a vehicle is in a running state currently, then, the controller sends a self-checking instruction to each device to be controlled in response to the driving mode switching instruction, so that each device to be controlled enters a self-checking state in response to the self-checking instruction, a self-checking result is fed back to the controller, and a timing instruction is sent to the touch screen by the controller, so that the touch screen is timed according to a preset time period in response to the timing instruction, then, the controller generates a corresponding device state set to be controlled according to the self-checking state fed back by each device to be controlled in the device set to be controlled, and after the preset time period is ended, the controller determines a target driving mode according to the device state set to be controlled and a preset driving mode selection model, so that safety of switching the vehicle from a manual driving mode to an automatic driving mode in the running state is ensured.
Description
Technical Field
The application relates to a data processing technology, in particular to a control method and a control system based on a vehicle display control system.
Background
The special vehicle display control gateway (Special Vehicle Control Gateway) is a system integrating control and data processing functions, and is generally composed of two parts, namely hardware and software. The system is a control system for special vehicles, can monitor and control the states of all parts of the vehicles, and makes relevant decisions and controls, so that the performance and reliability of the vehicles are improved, and meanwhile, the system is also a necessary system for realizing automatic driving of the special vehicles (such as oil tank trucks).
In terms of hardware, the special vehicle display control gateway is generally composed of a plurality of components such as a computer, a sensor, an actuator and the like. The computer is typically an embedded computer supporting a variety of interface protocols, such as CAN, ethernet, USB, etc., to connect the sensor and the actuator. The sensors are responsible for collecting status information of various components of the vehicle, such as position, speed, temperature, pressure, vibration, etc. The actuator then controls various components of the vehicle, such as the engine, steering, brakes, airbags, etc., in accordance with the control command. In terms of software, the special vehicle display control gateway generally runs a real-time operating system and is loaded with various application software. Such applications include, but are not limited to, vehicle condition monitoring, fault diagnosis, driver operation control, data logging, and the like. Through the processing of the data of the vehicle sensor, the display control gateway can monitor the vehicle state in real time, remind the driver of paying attention to safety, and simultaneously transmit the data to the background server for big data analysis, thereby providing support for vehicle operation and management.
However, when the special vehicle is directly switched from the manual mode to the automatic driving mode in the vehicle driving state, a fault or abnormal situation may occur, for example, a sensor required to be used in the automatic driving mode is faulty, and thus, an error may occur in automatic driving, so that a safety accident may occur.
Disclosure of Invention
The application provides a control method and a control system based on a vehicle display control system, which are used for solving the technical problem that faults or abnormal conditions possibly occur when a vehicle is directly switched from a manual mode to an automatic driving mode in a running state of the vehicle.
In a first aspect, the present application provides a control method based on a vehicle display control system, applied to the vehicle display control system, where the vehicle display control system includes: the touch screen, the controller and the equipment to be controlled set, wherein each equipment to be controlled in the touch screen and the equipment to be controlled set is connected with the controller through a CAN bus, and the method comprises the following steps:
acquiring a driving mode switching instruction through the touch screen when the controller determines that the vehicle is currently in a driving state, wherein the driving mode switching instruction is used for indicating to switch the current manual driving mode of the vehicle to an automatic driving mode;
Responding to the driving mode switching instruction, the controller sends a self-checking instruction to each device to be controlled, so that each device to be controlled enters a self-checking state in response to the self-checking instruction, and a self-checking result is fed back to the controller;
the controller sends a timing instruction to the touch screen so that the touch screen can respond to the timing instruction to perform timing according to a preset duration, wherein the vehicle keeps the manual driving mode within the preset duration;
the controller generates a corresponding to-be-controlled device state set according to the self-checking state fed back by each to-be-controlled device in the to-be-controlled device set, wherein the self-checking state is one of a normal state, an abnormal state and a overtime state, and the overtime state is a state corresponding to the non-feedback self-checking state within the preset duration;
after the preset duration is over, the controller determines a target driving mode according to the state set of the equipment to be controlled and a preset driving mode selection model, wherein the target driving mode is one automatic driving mode in a manual driving mode or an automatic driving mode set.
Optionally, the determining, by the controller, the target driving mode according to the to-be-controlled device state set and a preset driving mode selection model includes:
If the self-checking states fed back by the equipment to be controlled in the equipment state set to be controlled are all the normal states, the controller determines that the target driving mode is a first automatic driving mode in the automatic driving mode set;
if the self-checking states fed back by all the to-be-controlled devices in the to-be-controlled running device state sets are the normal states, and the self-checking states fed back by the to-be-controlled devices in the to-be-controlled non-running device state sets in the to-be-controlled device state sets are the abnormal states or the overtime states, the controller determines that the target driving mode is a second automatic driving mode in the automatic driving mode set, the grade of the first automatic driving mode is higher than that of the second automatic driving mode, the to-be-controlled running device state sets are subsets of the to-be-controlled device state sets, and the to-be-controlled running device sets corresponding to the to-be-controlled running device state sets comprise vehicle driving devices, vehicle power supply devices, vehicle steering devices and vehicle sensing devices;
and if the self-checking state fed back by the to-be-controlled equipment exists in the to-be-controlled running equipment state set and is the abnormal state or the overtime state, the controller determines that the target driving mode is the manual driving mode.
Optionally, if the controller determines that the target driving mode is the first automatic driving mode, after the preset duration is over, the controller controls the touch screen to display first indication information, where the first indication information is used for indicating to enter the first automatic driving mode;
if the controller determines that the target driving mode is the second automatic driving mode, after the preset duration is over, the controller controls the touch screen to display second indication information and controls the steering wheel to vibrate, wherein the second indication information is used for indicating to enter the second automatic driving mode and indicating a user to hold the steering wheel;
and if the controller determines that the target driving mode is the manual driving mode, after the preset duration is over, the controller controls the touch screen to display third indication information, controls the steering wheel to vibrate and controls the seat to vibrate, wherein the third indication information is used for indicating failure of switching of the driving mode and indicating a user to hold the steering wheel and to brake or accelerate.
Optionally, the controller sends a self-checking instruction to each device to be controlled, including:
Within a preset first duration, the controller sends a self-checking instruction to each device to be controlled in the set of the devices to be controlled;
if the self-checking state fed back by each device to be controlled in the set of devices to be controlled is the normal state, the controller sends the self-checking instruction to each device to be controlled in the set of devices to be controlled corresponding to the set of devices to be controlled in the non-driving state to be controlled within a preset second duration, wherein the preset duration sequentially comprises the preset first duration and the preset second duration according to time sequence;
if the self-checking state fed back by each device to be controlled in the set of running devices to be controlled is a pending state, the controller sends the self-checking instruction to the device to be controlled corresponding to the pending state and each device to be controlled in the set of non-running devices to be controlled within the preset second duration, wherein the pending state is a state corresponding to no feedback information within the preset first duration.
Optionally, if the self-checking state fed back by each device to be controlled in the set of driving devices to be controlled is the normal state, before the controller determines the target driving mode according to the set of device to be controlled and a preset driving mode selection model, the method further includes:
The controller acquires a road image and an obstacle vehicle image in the running direction of the vehicle through a visual sensor in the vehicle sensing device within the preset second time period;
determining a switching safety coefficient according to the road image, the obstacle vehicle image and a preset mode switching model;
and if the switching safety coefficient is larger than a preset safety coefficient threshold value, switching the driving mode of the vehicle into the first automatic driving mode after the controller determines the target driving mode according to the state set of the equipment to be controlled and a preset driving mode selection model.
Optionally, the determining the switching safety coefficient according to the road image, the obstacle vehicle image and the preset mode switching model includes:
determining the switching safety coefficient T according to the road image, the obstacle vehicle image and the following formula:
wherein L is the road width determined by the road image,for the distance between the vehicle and the obstacle vehicle determined by the obstacle vehicle image,/v>For the current speed of the vehicle, +.>For the speed of the obstacle vehicle, t is the preset second time period, and +. >For the radius of curvature of the road at the location of the vehicle determined from the road image, +.>A road curvature change rate for a position of the obstacle vehicle determined from the road image.
Optionally, before the controller sends a timing instruction to the touch screen, so that the touch screen responds to the timing instruction to perform timing according to a preset duration, the method further includes:
the controller obtains liquid level height information in a tank body of the vehicle, wherein the vehicle is an oil tank truck;
and determining the preset time length according to the liquid level height information, wherein the preset time length and the liquid level height in the liquid level height information are positively correlated.
In a second aspect, the present application provides a vehicle display control system, comprising: the device comprises a touch screen, a controller and a set of devices to be controlled, wherein each device to be controlled in the touch screen and the set of devices to be controlled is connected with the controller through a CAN bus;
acquiring a driving mode switching instruction through the touch screen when the controller determines that the vehicle is currently in a driving state, wherein the driving mode switching instruction is used for indicating to switch the current manual driving mode of the vehicle to an automatic driving mode;
Responding to the driving mode switching instruction, the controller sends a self-checking instruction to each device to be controlled, so that each device to be controlled enters a self-checking state in response to the self-checking instruction, and a self-checking result is fed back to the controller;
the controller sends a timing instruction to the touch screen so that the touch screen can respond to the timing instruction to perform timing according to a preset duration, wherein the vehicle keeps the manual driving mode within the preset duration;
the controller generates a corresponding device state set to be controlled according to the self-checking state fed back by each device to be controlled in the device set to be controlled, wherein the self-checking state is one of a normal state, an abnormal state and a overtime state, and the overtime state is a state corresponding to the self-checking state which is not fed back in the preset time period;
and the controller determines a target driving mode according to the state set of the equipment to be controlled and a preset driving mode selection model, wherein the target driving mode is one automatic driving mode in a manual driving mode or an automatic driving mode set.
Optionally, if the self-checking states fed back by each device to be controlled in the device state set to be controlled are all the normal states, the controller determines that the target driving mode is a first automatic driving mode in the automatic driving mode set;
If the self-checking states fed back by all the to-be-controlled devices in the to-be-controlled running device state sets are the normal states, and the self-checking states fed back by the to-be-controlled devices in the to-be-controlled non-running device state sets in the to-be-controlled device state sets are the abnormal states or the overtime states, the controller determines that the target driving mode is a second automatic driving mode in the automatic driving mode set, the grade of the first automatic driving mode is higher than that of the second automatic driving mode, the to-be-controlled running device state sets are subsets of the to-be-controlled device state sets, and the to-be-controlled running device sets corresponding to the to-be-controlled running device state sets comprise vehicle driving devices, vehicle power supply devices, vehicle steering devices and vehicle sensing devices;
and if the self-checking state fed back by the to-be-controlled equipment exists in the to-be-controlled running equipment state set and is the abnormal state or the overtime state, the controller determines that the target driving mode is the manual driving mode.
Optionally, if the controller determines that the target driving mode is the first automatic driving mode, after the preset duration is over, the controller controls the touch screen to display first indication information, where the first indication information is used for indicating to enter the first automatic driving mode;
If the controller determines that the target driving mode is the second automatic driving mode, after the preset duration is over, the controller controls the touch screen to display second indication information and controls the steering wheel to vibrate, wherein the second indication information is used for indicating to enter the second automatic driving mode and indicating a user to hold the steering wheel;
and if the controller determines that the target driving mode is the manual driving mode, after the preset duration is over, the controller controls the touch screen to display third indication information, controls the steering wheel to vibrate and controls the seat to vibrate, wherein the third indication information is used for indicating failure of switching of the driving mode and indicating a user to hold the steering wheel and to brake or accelerate.
Optionally, in a preset first duration, the controller sends a self-checking instruction to each device to be controlled in the set of devices to be controlled;
if the self-checking state fed back by each device to be controlled in the set of devices to be controlled is the normal state, the controller sends the self-checking instruction to each device to be controlled in the set of devices to be controlled corresponding to the set of devices to be controlled in the non-driving state to be controlled within a preset second duration, wherein the preset duration sequentially comprises the preset first duration and the preset second duration according to time sequence;
If the self-checking state fed back by each device to be controlled in the set of running devices to be controlled is a pending state, the controller sends the self-checking instruction to the device to be controlled corresponding to the pending state and each device to be controlled in the set of non-running devices to be controlled within the preset second duration, wherein the pending state is a state corresponding to no feedback information within the preset first duration.
Optionally, if the self-checking state fed back by each device to be controlled in the set of driving devices to be controlled is the normal state, before the controller determines the target driving mode according to the set of device to be controlled and a preset driving mode selection model, the method further includes:
the controller acquires a road image and an obstacle vehicle image in the running direction of the vehicle through a visual sensor in the vehicle sensing device within the preset second time period;
determining a switching safety coefficient according to the road image, the obstacle vehicle image and a preset mode switching model;
and if the switching safety coefficient is larger than a preset safety coefficient threshold value, switching the driving mode of the vehicle into the first automatic driving mode after the controller determines the target driving mode according to the state set of the equipment to be controlled and a preset driving mode selection model.
Optionally, the controller determines the switching safety coefficient T according to the road image, the obstacle-vehicle image, and the following formula:
wherein L is the road width determined by the road image,for the distance between the vehicle and the obstacle vehicle determined by the obstacle vehicle image,/v>For the current speed of the vehicle, +.>For the speed of the obstacle vehicle, t is the preset second time period, and +.>For the radius of curvature of the road at the location of the vehicle determined from the road image, +.>A road curvature change rate for a position of the obstacle vehicle determined from the road image.
Optionally, the controller obtains liquid level height information in a tank body of the vehicle, wherein the vehicle is an oil tank truck;
the controller determines the preset time length according to the liquid level height information, wherein the preset time length and the liquid level height in the liquid level height information are in positive correlation.
In a third aspect, the present application provides an electronic device comprising:
a processor; the method comprises the steps of,
a memory for storing executable instructions of the processor;
Wherein the processor is configured to perform any one of the possible methods described in the first aspect via execution of the executable instructions.
In a fourth aspect, the present application provides a computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out any one of the possible methods described in the first aspect.
According to the control method and system based on the vehicle display control system, the controller determines that the vehicle is in the running state currently, the driving mode switching instruction is acquired through the touch screen, then, the controller sends the self-checking instruction to each device to be controlled in response to the driving mode switching instruction, so that each device to be controlled enters the self-checking state in response to the self-checking instruction, the self-checking result is fed back to the controller, the controller sends the timing instruction to the touch screen, the touch screen is enabled to respond to the timing instruction to perform timing according to the preset duration, then, the controller generates the corresponding state set of the device to be controlled according to the self-checking state fed back by each device to be controlled in the set of the device to be controlled, and after the preset duration is finished, the controller determines the target driving mode according to the state set of the device to be controlled and the preset driving mode selection model, so that the safety of the vehicle in the running state is switched from the manual driving mode to the automatic driving mode is ensured.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
FIG. 1 is a flow chart illustrating a control method based on a vehicle display control system according to an example embodiment of the present application;
FIG. 2 is a flow chart diagram illustrating a control method based on a vehicle display control system according to another example embodiment of the application;
FIG. 3 is a schematic diagram of a vehicle display control system according to an example embodiment of the application;
fig. 4 is a schematic structural view of an electronic device according to an exemplary embodiment of the present application.
Specific embodiments of the present application have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
Fig. 1 is a flow chart illustrating a control method based on a vehicle display control system according to an exemplary embodiment of the present application. As shown in fig. 1, the method provided in this embodiment includes:
s101, acquiring a driving mode switching instruction through a touch screen when the controller determines that the vehicle is in a running state currently.
The method provided in the embodiment may be applied to a vehicle display control system, where the vehicle display control system includes: the touch screen, the controller and the equipment to be controlled are connected with the controller through a controller area network (Controller Area Network, CAN) bus.
In this step, when the controller determines that the vehicle is currently in a running state, a driving mode switching instruction is acquired through the touch screen, and the driving mode switching instruction is used for instructing to switch the current manual driving mode of the vehicle to the automatic driving mode.
S102, responding to a driving mode switching instruction, the controller sends a self-checking instruction to each device to be controlled, so that each device to be controlled enters a self-checking state in response to the self-checking instruction, and a self-checking result is fed back to the controller.
In this step, the controller may send a self-checking instruction to each device to be controlled in response to the driving mode switching instruction, so that each device to be controlled enters a self-checking state in response to the self-checking instruction, and feedback a self-checking result to the controller.
In a possible implementation manner, the controller sends the self-checking instruction to each device to be controlled, specifically, may send the self-checking instruction to each device to be controlled in the set of devices to be controlled within a preset first time period, if the self-checking state fed back by each device to be controlled in the set of devices to be controlled is a normal state, in a preset second time period, the controller sends the self-checking instruction to each device to be controlled in the set of devices to be controlled corresponding to the set of devices to be controlled not to be controlled, where the preset time period sequentially includes a preset first time period and a preset second time period according to a time sequence.
If the self-checking state fed back by each device to be controlled in the set of running devices to be controlled is a state to be determined, the controller sends self-checking instructions to the device to be controlled corresponding to the state to be determined and each device to be controlled in the set of non-running devices to be controlled within a preset second time period, wherein the state to be determined is a state corresponding to no feedback information within the preset first time period. In the step, the self-checking is preferably performed on each device to be controlled in the set of the running devices to be controlled, so that the device to be controlled with strong dependence on the automatic driving mode is ensured to be in a normal state, and meanwhile, excessive occupation of vehicle computing resources and data transmission resources of a CAN bus is avoided when all the devices are subjected to self-checking at the same time.
And S103, the controller sends a timing instruction to the touch screen so that the touch screen can respond to the timing instruction to perform timing according to the preset duration.
In this step, the controller may send a timing instruction to the touch screen, so that the touch screen may perform timing according to a preset duration in response to the timing instruction, where the vehicle maintains the manual driving mode within the preset duration. It should be appreciated that when the vehicle is directly switched from the manual mode to the automatic driving mode, a fault or abnormal situation may occur, for example, a fault occurs in a sensor that needs to be used in the automatic driving mode, which may cause an error in automatic driving, so as to cause a safety accident. Therefore, the controller can send a timing instruction to the touch screen, so that the touch screen can respond to the timing instruction to perform timing according to the preset duration, and the driver is prompted to keep in the manual driving state.
S104, the controller generates a corresponding to-be-controlled device state set according to the self-checking state fed back by each to-be-controlled device in the to-be-controlled device set.
In this step, the controller generates a corresponding set of states of the to-be-controlled devices according to the self-checking states fed back by each to-be-controlled device in the set of to-be-controlled devices, where the self-checking states are one of a normal state, an abnormal state and a timeout state, and the timeout state is a state corresponding to a state in which the self-checking state is not fed back within a preset period of time.
And S105, after the preset duration is over, the controller determines a target driving mode according to the state set of the equipment to be controlled and the preset driving mode selection model.
After the preset duration is over, the controller determines a target driving mode according to the state set of the equipment to be controlled and a preset driving mode selection model, wherein the target driving mode is one automatic driving mode of a manual driving mode or an automatic driving mode set.
Optionally, for determining, by the controller, the target driving mode according to the set of states of the devices to be controlled and the preset driving mode selection model, specifically, when the self-checking states fed back by the devices to be controlled in the set of states of the devices to be controlled are all normal states, the controller determines that the target driving mode is the first automatic driving mode in the set of automatic driving modes. If the self-checking states fed back by the devices to be controlled in the state sets of the devices to be controlled are all normal states, the self-checking states fed back by the devices to be controlled in the state sets of the non-driving devices to be controlled are abnormal states or overtime states, and the devices to be controlled in the state sets of the non-driving devices to be controlled in the state sets to be controlled can be head-up display devices, the controller determines that the target driving mode is a second automatic driving mode in the automatic driving mode set, the grade of the first automatic driving mode is higher than that of the second automatic driving mode, the state sets of the devices to be controlled are subsets of the state sets of the devices to be controlled, and the state sets of the devices to be controlled corresponding to the state sets of the devices to be controlled comprise vehicle driving devices, vehicle power supply devices, vehicle steering devices and vehicle sensing devices. If the self-checking state fed back by the to-be-controlled equipment exists in the to-be-controlled running equipment state set and is an abnormal state or a overtime state, the controller determines that the target driving mode is a manual driving mode.
Further, if the controller determines that the target driving mode is the first automatic driving mode, after the preset duration is over, the controller controls the touch screen to display first indication information, wherein the first indication information is used for indicating to enter the first automatic driving mode. If the controller determines that the target driving mode is the second automatic driving mode, after the preset duration is over, the controller controls the touch screen to display second indication information and controls the steering wheel to vibrate, wherein the second indication information is used for indicating to enter the second automatic driving mode and indicating a user to hold the steering wheel. Through the reminding of the steering wheel, a driver can obtain the indication information of the steering wheel which still needs to be held by hand more accurately. If the controller determines that the target driving mode is the manual driving mode, after the preset duration is over, the controller controls the touch screen to display third indication information, controls the steering wheel to vibrate and controls the seat to vibrate, wherein the third indication information is used for indicating that the driving mode is failed to switch, indicating that the user holds the steering wheel and indicating that braking or acceleration is performed. In addition to the vibration reminding through the steering wheel, further seat vibration reminding can enable a driver to obtain the operation of stepping on the accelerator or the brake by foot more accurately.
If the self-checking state fed back by each device to be controlled in the set of devices to be controlled is a normal state, the controller can acquire a road image and an obstacle vehicle image in the running direction of the vehicle through a visual sensor in the vehicle sensing device within a preset second duration before determining a target driving mode according to the set of states of the devices to be controlled and a preset driving mode selection model. Then, a switching safety coefficient is determined according to the road image, the obstacle vehicle image and the preset mode switching model. If the switching safety coefficient is larger than the preset safety coefficient threshold value, after the controller determines the target driving mode according to the state set of the equipment to be controlled and the preset driving mode selection model, the driving mode of the vehicle is switched to the first automatic driving mode.
The method for determining the switching safety coefficient according to the road image, the obstacle vehicle image and the preset mode switching model comprises the following steps: determining a switching safety coefficient T according to a road image, an obstacle vehicle image and the following formula:
where L is the road width determined by the road image,for the distance between vehicle to obstacle vehicle determined by obstacle vehicle image, +. >For the current speed of the vehicle, < > for>For the speed of the obstacle vehicle, t is a preset second period of time,/for the obstacle vehicle>Road radius of curvature for the position of the vehicle determined from the road image, +.>The rate of change of road curvature for the position of the obstacle vehicle determined from the road image.
It should be noted that the determination of the radius of curvature of the lane by the road image can be divided into the following steps:
1. lane line extraction: and extracting the lane lines from the images by using image processing technologies (such as Canny edge detection, hough transformation and the like) to obtain the coordinate information of the lane lines.
2. Lane line fitting: fitting the extracted lane lines, and fitting the lane lines into a quadratic equation by adopting a quadratic curve fitting method. And calculating the approximate value of the curvature radius of the lane line according to the coefficient of the lane line equation.
3. Coordinate conversion: the lane line coordinates are converted into a real world coordinate system. The actual length and width of the lane lines in the image first need to be determined, which can be obtained by measuring or referencing standard lane line dimensions. And then determining the relative position and the relative angle of the lane lines, carrying out positioning and attitude measurement through an on-board sensor or a GPS, and converting the coordinates of the lane lines into a real world coordinate system.
4. Radius of curvature calculation: and calculating the accurate value of the curvature radius of the lane line according to the coefficient of the lane line quadratic equation and the coordinate conversion result.
In this embodiment, a driving mode switching instruction is obtained through a touch screen when a controller determines that a vehicle is currently in a driving state, then, in response to the driving mode switching instruction, the controller sends a self-checking instruction to each device to be controlled, so that each device to be controlled enters a self-checking state in response to the self-checking instruction, a self-checking result is fed back to the controller, and the controller sends a timing instruction to the touch screen, so that the touch screen is timed according to a preset duration in response to the timing instruction, then, the controller generates a corresponding set of states of the devices to be controlled according to the self-checking state fed back by each device to be controlled in the set of the devices to be controlled, and after the preset duration is finished, the controller determines a target driving mode according to the set of states of the devices to be controlled and a preset driving mode selection model, so that safety of switching the vehicle from a manual driving mode to an automatic driving mode in the driving state is ensured.
FIG. 2 is a flow chart illustrating a control method based on a vehicle display and control system according to another example embodiment of the application
S201, when the controller determines that the vehicle is in a running state currently, a driving mode switching instruction is acquired through the touch screen.
The method provided in the embodiment may be applied to a vehicle display control system, where the vehicle display control system includes: the touch control device comprises a touch control screen, a controller and a set of devices to be controlled, wherein each device to be controlled in the touch control screen and the set of devices to be controlled is connected with the controller through a CAN bus. It should be noted that the vehicle display and control system of the present embodiment may be a system configured on a tank truck, for assisting the tank truck to realize automatic driving.
In this step, when the controller determines that the vehicle is currently in a running state, a driving mode switching instruction is acquired through the touch screen, and the driving mode switching instruction is used for instructing to switch the current manual driving mode of the vehicle to the automatic driving mode.
S202, responding to a driving mode switching instruction, the controller sends a self-checking instruction to each device to be controlled, so that each device to be controlled enters a self-checking state in response to the self-checking instruction, and a self-checking result is fed back to the controller.
In this step, the controller may send a self-checking instruction to each device to be controlled in response to the driving mode switching instruction, so that each device to be controlled enters a self-checking state in response to the self-checking instruction, and feedback a self-checking result to the controller.
In a possible implementation manner, the controller sends the self-checking instruction to each device to be controlled, specifically, may send the self-checking instruction to each device to be controlled in the set of devices to be controlled within a preset first time period, if the self-checking state fed back by each device to be controlled in the set of devices to be controlled is a normal state, in a preset second time period, the controller sends the self-checking instruction to each device to be controlled in the set of devices to be controlled corresponding to the set of devices to be controlled not to be controlled, where the preset time period sequentially includes a preset first time period and a preset second time period according to a time sequence.
If the self-checking state fed back by each device to be controlled in the set of running devices to be controlled is a state to be determined, the controller sends self-checking instructions to the device to be controlled corresponding to the state to be determined and each device to be controlled in the set of non-running devices to be controlled within a preset second time period, wherein the state to be determined is a state corresponding to no feedback information within the preset first time period. In the step, the self-checking is preferably performed on each device to be controlled in the set of the running devices to be controlled, so that the device to be controlled with strong dependence on the automatic driving mode is ensured to be in a normal state, and meanwhile, excessive occupation of vehicle computing resources and data transmission resources of a CAN bus is avoided when all the devices are subjected to self-checking at the same time.
S203, the controller acquires liquid level height information in a tank body of the vehicle.
In this step, the controller acquires current liquid level height information through a liquid level sensor provided in the tank body of the tank truck.
S204, determining preset duration according to the liquid level height information.
And determining a preset time length according to the liquid level height information, wherein the preset time length is positively correlated with the liquid level height in the liquid level height information. The tank truck is one type of special vehicles, and is characterized in that the weight difference between an empty vehicle and a full vehicle is large, and in addition, the danger degree caused by accidents in the empty vehicle and the full vehicle is also large, so that when the liquid level in the tank truck is higher, the duration of reserved driving switching is longer, and the tank truck is convenient to switch to an automatic driving mode after the equipment to be controlled participating in automatic driving is started and the equipment to be controlled participates in vehicle driving is in a certain duration. In addition, the longer the reserved time for driving switching is, the more comprehensive and sufficient the sensor can acquire surrounding data, so that a more reliable basis is provided for automatic driving decision, and the safety of automatic driving mode switching of the tank truck in a driving state is further improved.
S205, the controller sends a timing instruction to the touch screen so that the touch screen can respond to the timing instruction to perform timing according to a preset duration.
In this step, the controller may send a timing instruction to the touch screen, so that the touch screen may perform timing according to a preset duration in response to the timing instruction, where the vehicle maintains the manual driving mode within the preset duration. It should be appreciated that when the vehicle is directly switched from the manual mode to the automatic driving mode, a fault or abnormal situation may occur, for example, a fault occurs in a sensor that needs to be used in the automatic driving mode, which may cause an error in automatic driving, so as to cause a safety accident. Therefore, the controller can send a timing instruction to the touch screen, so that the touch screen can respond to the timing instruction to perform timing according to the preset duration, and the driver is prompted to keep in the manual driving state.
S206, the controller generates a corresponding to-be-controlled device state set according to the self-checking state fed back by each to-be-controlled device in the to-be-controlled device set.
In this step, the controller generates a corresponding set of states of the to-be-controlled devices according to the self-checking states fed back by each to-be-controlled device in the set of to-be-controlled devices, where the self-checking states are one of a normal state, an abnormal state and a timeout state, and the timeout state is a state corresponding to a state in which the self-checking state is not fed back within a preset period of time.
S207, after the preset duration is over, the controller determines a target driving mode according to the state set of the equipment to be controlled and the preset driving mode selection model.
After the preset duration is over, the controller determines a target driving mode according to the state set of the equipment to be controlled and a preset driving mode selection model, wherein the target driving mode is one automatic driving mode of a manual driving mode or an automatic driving mode set.
Optionally, for determining, by the controller, the target driving mode according to the set of states of the devices to be controlled and the preset driving mode selection model, specifically, when the self-checking states fed back by the devices to be controlled in the set of states of the devices to be controlled are all normal states, the controller determines that the target driving mode is the first automatic driving mode in the set of automatic driving modes. If the self-checking states fed back by the devices to be controlled in the state sets of the devices to be controlled are all normal states, the self-checking states fed back by the devices to be controlled in the state sets of the non-driving devices to be controlled are abnormal states or overtime states, and the devices to be controlled in the state sets of the non-driving devices to be controlled in the state sets to be controlled can be head-up display devices, the controller determines that the target driving mode is a second automatic driving mode in the automatic driving mode set, the grade of the first automatic driving mode is higher than that of the second automatic driving mode, the state sets of the devices to be controlled are subsets of the state sets of the devices to be controlled, and the state sets of the devices to be controlled corresponding to the state sets of the devices to be controlled comprise vehicle driving devices, vehicle power supply devices, vehicle steering devices and vehicle sensing devices. If the self-checking state fed back by the to-be-controlled equipment exists in the to-be-controlled running equipment state set and is an abnormal state or a overtime state, the controller determines that the target driving mode is a manual driving mode.
Further, if the controller determines that the target driving mode is the first automatic driving mode, after the preset duration is over, the controller controls the touch screen to display first indication information, wherein the first indication information is used for indicating to enter the first automatic driving mode. If the controller determines that the target driving mode is the second automatic driving mode, after the preset duration is over, the controller controls the touch screen to display second indication information and controls the steering wheel to vibrate, wherein the second indication information is used for indicating to enter the second automatic driving mode and indicating a user to hold the steering wheel. Through the reminding of the steering wheel, a driver can obtain the indication information of the steering wheel which still needs to be held by hand more accurately. If the controller determines that the target driving mode is the manual driving mode, after the preset duration is over, the controller controls the touch screen to display third indication information, controls the steering wheel to vibrate and controls the seat to vibrate, wherein the third indication information is used for indicating that the driving mode is failed to switch, indicating that the user holds the steering wheel and indicating that braking or acceleration is performed. In addition to the vibration reminding through the steering wheel, further seat vibration reminding can enable a driver to obtain the operation of stepping on the accelerator or the brake by foot more accurately.
If the self-checking state fed back by each device to be controlled in the set of devices to be controlled is a normal state, the controller can acquire a road image and an obstacle vehicle image in the running direction of the vehicle through a visual sensor in the vehicle sensing device within a preset second duration before determining a target driving mode according to the set of states of the devices to be controlled and a preset driving mode selection model. Then, a switching safety coefficient is determined according to the road image, the obstacle vehicle image and the preset mode switching model. If the switching safety coefficient is larger than the preset safety coefficient threshold value, after the controller determines the target driving mode according to the state set of the equipment to be controlled and the preset driving mode selection model, the driving mode of the vehicle is switched to the first automatic driving mode.
The method for determining the switching safety coefficient according to the road image, the obstacle vehicle image and the preset mode switching model comprises the following steps: determining a switching safety coefficient T according to a road image, an obstacle vehicle image and the following formula:
where L is the road width determined by the road image,for the distance between vehicle to obstacle vehicle determined by obstacle vehicle image, +. >For the current speed of the vehicle, < > for>For the speed of the obstacle vehicle, t is a preset second period of time,/for the obstacle vehicle>Road radius of curvature for the position of the vehicle determined from the road image, +.>The rate of change of road curvature for the position of the obstacle vehicle determined from the road image.
Fig. 3 is a schematic structural view of a display control system for a vehicle according to an exemplary embodiment of the present application. As shown in fig. 3, the vehicle display control system 300 provided in this embodiment includes:
the touch screen 320, the controller 310 and the equipment to be controlled set 330, wherein each equipment to be controlled in the touch screen 320 and the equipment to be controlled set 330 is connected with the controller 310 through a CAN bus;
acquiring a driving mode switching instruction through the touch screen 320 when the controller 310 determines that the vehicle is currently in a driving state, wherein the driving mode switching instruction is used for indicating to switch the current manual driving mode of the vehicle to an automatic driving mode;
in response to the driving mode switching instruction, the controller 310 sends a self-checking instruction to each device to be controlled, so that each device to be controlled enters a self-checking state in response to the self-checking instruction, and feeds back a self-checking result to the controller 310;
The controller 310 sends a timing instruction to the touch screen 320, so that the touch screen 320 performs timing according to a preset duration in response to the timing instruction, wherein the vehicle maintains the manual driving mode within the preset duration;
the controller 310 generates a corresponding set of device to be controlled according to the self-checking states fed back by each device to be controlled in the set of devices to be controlled 330, where the self-checking state is one of a normal state, an abnormal state and a timeout state, and the timeout state is a state corresponding to a state in which the self-checking state is not fed back within the preset duration;
the controller 310 determines a target driving mode according to the state set of the device to be controlled and a preset driving mode selection model, where the target driving mode is one automatic driving mode of a manual driving mode or an automatic driving mode set.
Optionally, if the self-checking states fed back by each device to be controlled in the device state set to be controlled are all the normal states, the controller 310 determines that the target driving mode is a first automatic driving mode in the automatic driving mode set;
if the self-checking states fed back by the respective devices to be controlled in the device to be controlled state sets are the normal states, and the self-checking states fed back by the devices to be controlled in the non-driving device to be controlled state sets in the device to be controlled state sets are the abnormal states or the overtime states, the controller 310 determines that the target driving mode is a second automatic driving mode in the automatic driving mode set, the level of the first automatic driving mode is higher than that of the second automatic driving mode, the device to be controlled state sets are subsets of the device to be controlled state sets, and the device to be controlled corresponding to the device to be controlled state sets to be controlled includes vehicle driving devices, vehicle power supply devices, vehicle steering devices and vehicle sensing devices;
If the self-checking state fed back by the to-be-controlled device exists in the to-be-controlled running device state set and is the abnormal state or the overtime state, the controller 310 determines that the target driving mode is the manual driving mode.
Optionally, if the controller 310 determines that the target driving mode is the first automatic driving mode, after the preset duration is over, the controller 310 controls the touch screen 320 to display first indication information, where the first indication information is used to indicate entering the first automatic driving mode;
if the controller 310 determines that the target driving mode is the second automatic driving mode, after the preset duration is over, the controller 310 controls the touch screen 320 to display second indication information and controls the steering wheel to vibrate, where the second indication information is used to indicate entering the second automatic driving mode and indicate the user to hold the steering wheel;
if the controller 310 determines that the target driving mode is the manual driving mode, after the preset duration is over, the controller 310 controls the touch screen 320 to display third indication information, controls the steering wheel to vibrate, and controls the seat to vibrate, where the third indication information is used to indicate that the driving mode is failed to switch, indicates that the user holds the steering wheel with his/her hand, and indicates that braking or acceleration is performed.
Optionally, within a preset first duration, the controller 310 sends a self-checking instruction to each to-be-controlled device in the to-be-controlled running device set;
if the self-checking state fed back by each device to be controlled in the set of devices to be controlled is the normal state, the controller 310 sends the self-checking instruction to each device to be controlled in the set of devices to be controlled corresponding to the set of devices to be controlled not to be controlled in a preset second duration, where the preset duration sequentially includes the preset first duration and the preset second duration according to a time sequence;
if the self-checking state fed back by each device to be controlled in the set of running devices to be controlled is a pending state, the controller 310 sends the self-checking instruction to the device to be controlled corresponding to the pending state and each device to be controlled in the set of non-running devices to be controlled within the preset second duration, where the pending state is a state corresponding to no feedback information within the preset first duration.
Optionally, if the self-checking state fed back by each device to be controlled in the set of driving devices to be controlled is the normal state, before the controller 310 determines the target driving mode according to the set of device to be controlled and the preset driving mode selection model, the method further includes:
The controller 310 acquires a road image in the traveling direction of the vehicle and an obstacle vehicle image through a vision sensor in the vehicle sensing device within the preset second period;
determining a switching safety coefficient according to the road image, the obstacle vehicle image and a preset mode switching model;
if the switching safety factor is greater than a preset safety factor threshold, the controller 310 switches the driving mode of the vehicle to the first automatic driving mode after determining the target driving mode according to the state set of the device to be controlled and a preset driving mode selection model.
Optionally, the controller 310 determines the switching safety factor T according to the road image, the obstacle-vehicle image, and the following formula:
wherein L is the road width determined by the road image,for the distance between the vehicle and the obstacle vehicle determined by the obstacle vehicle image,/v>For the current speed of the vehicle, +.>For the speed of the obstacle vehicle, t is the preset second time period, and +.>The road curvature radius at the position of the vehicle determined by the road image is the road curvature change rate at the position of the obstacle vehicle determined by the road image.
Optionally, the controller 310 obtains liquid level height information in a tank of the vehicle, where the vehicle is a tank truck;
the controller 310 determines the preset time period according to the liquid level height information, wherein the preset time period and the liquid level height in the liquid level height information are in positive correlation.
Fig. 4 is a schematic structural view of an electronic device according to an exemplary embodiment of the present application. As shown in fig. 4, an electronic device 400 provided in this embodiment includes: a processor 401 and a memory 402; wherein:
a memory 402 for storing a computer program, which memory may also be a flash memory.
A processor 401 for executing the execution instructions stored in the memory to implement the steps in the above method. Reference may be made in particular to the description of the embodiments of the method described above.
Alternatively, the memory 402 may be separate or integrated with the processor 401.
When the memory 402 is a device separate from the processor 401, the electronic apparatus 400 may further include:
a bus 403 for connecting the memory 402 and the processor 401.
The present embodiment also provides a readable storage medium having a computer program stored therein, which when executed by at least one processor of an electronic device, performs the methods provided by the various embodiments described above.
The present embodiment also provides a program product comprising a computer program stored in a readable storage medium. The computer program may be read from a readable storage medium by at least one processor of an electronic device, and executed by the at least one processor, causes the electronic device to implement the methods provided by the various embodiments described above.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. The control method based on the vehicle display control system is characterized by being applied to the vehicle display control system, and the vehicle display control system comprises the following steps: the touch screen, the controller and the equipment to be controlled set, wherein each equipment to be controlled in the touch screen and the equipment to be controlled set is connected with the controller through a CAN bus, and the method comprises the following steps:
acquiring a driving mode switching instruction through the touch screen when the controller determines that the vehicle is currently in a driving state, wherein the driving mode switching instruction is used for indicating to switch the current manual driving mode of the vehicle to an automatic driving mode;
responding to the driving mode switching instruction, the controller sends a self-checking instruction to each device to be controlled, so that each device to be controlled enters a self-checking state in response to the self-checking instruction, and a self-checking result is fed back to the controller;
the controller sends a timing instruction to the touch screen so that the touch screen can respond to the timing instruction to perform timing according to a preset duration, wherein the vehicle keeps the manual driving mode within the preset duration;
the controller generates a corresponding to-be-controlled device state set according to the self-checking state fed back by each to-be-controlled device in the to-be-controlled device set, wherein the self-checking state is one of a normal state, an abnormal state and a overtime state, and the overtime state is a state corresponding to the non-feedback self-checking state within the preset duration;
After the preset duration is over, the controller determines a target driving mode according to the state set of the equipment to be controlled and a preset driving mode selection model, wherein the target driving mode is one automatic driving mode in a manual driving mode or an automatic driving mode set.
2. The control method based on a vehicle display control system according to claim 1, wherein the controller determining a target driving mode according to the set of device states to be controlled and a preset driving mode selection model includes:
if the self-checking states fed back by the equipment to be controlled in the equipment state set to be controlled are all the normal states, the controller determines that the target driving mode is a first automatic driving mode in the automatic driving mode set;
if the self-checking states fed back by all the to-be-controlled devices in the to-be-controlled running device state sets are the normal states, and the self-checking states fed back by the to-be-controlled devices in the to-be-controlled non-running device state sets in the to-be-controlled device state sets are the abnormal states or the overtime states, the controller determines that the target driving mode is a second automatic driving mode in the automatic driving mode set, the grade of the first automatic driving mode is higher than that of the second automatic driving mode, the to-be-controlled running device state sets are subsets of the to-be-controlled device state sets, and the to-be-controlled running device sets corresponding to the to-be-controlled running device state sets comprise vehicle driving devices, vehicle power supply devices, vehicle steering devices and vehicle sensing devices;
And if the self-checking state fed back by the to-be-controlled equipment exists in the to-be-controlled running equipment state set and is the abnormal state or the overtime state, the controller determines that the target driving mode is the manual driving mode.
3. The control method based on a vehicle display control system according to claim 2, wherein if the controller determines that the target driving mode is the first automatic driving mode, after the preset duration is over, the controller controls the touch screen to display first indication information, where the first indication information is used for indicating to enter the first automatic driving mode;
if the controller determines that the target driving mode is the second automatic driving mode, after the preset duration is over, the controller controls the touch screen to display second indication information and controls the steering wheel to vibrate, wherein the second indication information is used for indicating to enter the second automatic driving mode and indicating a user to hold the steering wheel;
and if the controller determines that the target driving mode is the manual driving mode, after the preset duration is over, the controller controls the touch screen to display third indication information, controls the steering wheel to vibrate and controls the seat to vibrate, wherein the third indication information is used for indicating failure of switching of the driving mode and indicating a user to hold the steering wheel and to brake or accelerate.
4. The control method based on the vehicle display control system according to claim 3, wherein the controller sends a self-checking instruction to each device to be controlled, comprising:
within a preset first duration, the controller sends a self-checking instruction to each device to be controlled in the set of the devices to be controlled;
if the self-checking state fed back by each device to be controlled in the set of devices to be controlled is the normal state, the controller sends the self-checking instruction to each device to be controlled in the set of devices to be controlled corresponding to the set of devices to be controlled in the non-driving state to be controlled within a preset second duration, wherein the preset duration sequentially comprises the preset first duration and the preset second duration according to time sequence;
if the self-checking state fed back by each device to be controlled in the set of running devices to be controlled is a pending state, the controller sends the self-checking instruction to the device to be controlled corresponding to the pending state and each device to be controlled in the set of non-running devices to be controlled within the preset second duration, wherein the pending state is a state corresponding to no feedback information within the preset first duration.
5. The control method based on a vehicle display control system according to claim 4, wherein if the self-checking state fed back by each device to be controlled in the set of driving devices to be controlled is the normal state, before the controller determines the target driving mode according to the set of device to be controlled and a preset driving mode selection model, the method further comprises:
the controller acquires a road image and an obstacle vehicle image in the running direction of the vehicle through a visual sensor in the vehicle sensing device within the preset second time period;
determining a switching safety coefficient according to the road image, the obstacle vehicle image and a preset mode switching model;
and if the switching safety coefficient is larger than a preset safety coefficient threshold value, switching the driving mode of the vehicle into the first automatic driving mode after the controller determines the target driving mode according to the state set of the equipment to be controlled and a preset driving mode selection model.
6. The control method based on a vehicle display control system according to claim 5, wherein the determining a switching safety factor according to the road image, the obstacle vehicle image, and a preset mode switching model includes:
Determining the switching safety coefficient T according to the road image, the obstacle vehicle image and the following formula:
wherein L is the road width determined by the road image, < >>For the distance between the vehicle and the obstacle vehicle determined by the obstacle vehicle image,/v>For the current speed of the vehicle, +.>For the speed of the obstacle vehicle, t is the preset second time period, and +.>For the radius of curvature of the road at the location of the vehicle determined from the road image, +.>A road curvature change rate for a position of the obstacle vehicle determined from the road image.
7. The control method based on a vehicle display control system according to any one of claims 1 to 6, further comprising, before the controller sends a timing instruction to the touch screen to cause the touch screen to perform timing according to a preset duration in response to the timing instruction:
the controller obtains liquid level height information in a tank body of the vehicle, wherein the vehicle is an oil tank truck;
and determining the preset time length according to the liquid level height information, wherein the preset time length and the liquid level height in the liquid level height information are positively correlated.
8. A vehicle display control system, comprising: the device comprises a touch screen, a controller and a set of devices to be controlled, wherein each device to be controlled in the touch screen and the set of devices to be controlled is connected with the controller through a CAN bus;
acquiring a driving mode switching instruction through the touch screen when the controller determines that the vehicle is currently in a driving state, wherein the driving mode switching instruction is used for indicating to switch the current manual driving mode of the vehicle to an automatic driving mode;
responding to the driving mode switching instruction, the controller sends a self-checking instruction to each device to be controlled, so that each device to be controlled enters a self-checking state in response to the self-checking instruction, and a self-checking result is fed back to the controller;
the controller sends a timing instruction to the touch screen so that the touch screen can respond to the timing instruction to perform timing according to a preset duration, wherein the vehicle keeps the manual driving mode within the preset duration;
the controller generates a corresponding device state set to be controlled according to the self-checking state fed back by each device to be controlled in the device set to be controlled, wherein the self-checking state is one of a normal state, an abnormal state and a overtime state, and the overtime state is a state corresponding to the self-checking state which is not fed back in the preset time period;
And the controller determines a target driving mode according to the state set of the equipment to be controlled and a preset driving mode selection model, wherein the target driving mode is one automatic driving mode in a manual driving mode or an automatic driving mode set.
9. An electronic device, comprising:
a processor; the method comprises the steps of,
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the method of any one of claims 1 to 7 via execution of the executable instructions.
10. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310967941.1A CN116674578B (en) | 2023-08-03 | 2023-08-03 | Control method and system based on vehicle display control system |
Applications Claiming Priority (1)
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