CN108791296A - A kind of vehicle control system and control method for vehicle - Google Patents
A kind of vehicle control system and control method for vehicle Download PDFInfo
- Publication number
- CN108791296A CN108791296A CN201810618925.0A CN201810618925A CN108791296A CN 108791296 A CN108791296 A CN 108791296A CN 201810618925 A CN201810618925 A CN 201810618925A CN 108791296 A CN108791296 A CN 108791296A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- driver
- steering shaft
- manual drive
- mentioned
- 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 40
- 238000001514 detection method Methods 0.000 claims abstract description 79
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 claims description 31
- 206010016256 fatigue Diseases 0.000 claims description 28
- 230000006399 behavior Effects 0.000 claims description 14
- 208000019914 Mental Fatigue Diseases 0.000 claims description 13
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 230000008921 facial expression Effects 0.000 claims description 10
- 238000000926 separation method Methods 0.000 claims description 9
- 238000007689 inspection Methods 0.000 claims description 4
- 206010039203 Road traffic accident Diseases 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 16
- 238000010586 diagram Methods 0.000 description 13
- 238000003860 storage Methods 0.000 description 13
- 230000006870 function Effects 0.000 description 12
- 210000000515 tooth Anatomy 0.000 description 11
- 230000033001 locomotion Effects 0.000 description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 238000003466 welding Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 229910003460 diamond Inorganic materials 0.000 description 2
- 239000010432 diamond Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000001815 facial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000007704 transition 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
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention provides a kind of vehicle control system and control method for vehicle, the vehicle for having automatic Pilot, the vehicle control system includes：Detection module, the capacity for detecting driver；And control module, for judging whether the capacity of the driver meets manual drive requirement, if not meeting manual drive requirement, the manual drive control unit of vehicle described in locking simultaneously enters automatic driving mode.Vehicle control system and control method for vehicle provided by the invention, the manual drive and automatic driving mode that by judging driver whether there is the ability driven to adjust vehicle in time, so that vehicle is in safe and reliable control always, effectively avoids dangerous driving caused by operating and controlling vehicle and the possible traffic accident caused without driving ability due to driver.
Description
Technical field
The present invention relates to field of vehicle control, more particularly to the field of vehicle control with Function for Automatic Pilot.
Background technology
With advances in technology, pilotless automobile develops rapidly.2013, National Highway Traffic safety management bureau
(NHTSA, National Highway Traffic Safety Administration) has issued the Pyatyi of automotive automation
Standard, to cope with the explosive growth of automobile active safety technology, specifically：Level 0：Without automatic Pilot：Completely by driver
Moment manipulates the traveling of automobile, including braking, steering, throttle and power transmission.Any driving ancillary technique, as long as there is still a need for
People controls automobile, belongs to Level 0.
Level 1：Automatic Pilot with specific function, driver is still responsible for traffic safety, but certain functions are
Through carrying out automatically, for example, common adaptive cruise (Adaptive Cruise Control, ACC), emergency brake auxiliary
(Emergency Brake Assist, EBA), track keep (Lane-Keep Support, LKS).Feature is Level 1
There are simple function, driver that can not do in one's hands and foot while not manipulate.
Level 2：Automatic Pilot with complex function, driver can not operate automobile under certain default environment,
I.e. trick leaves control simultaneously, but driver still needs responsible to driving safety, and is ready to the take over vapour in the short time
Vehicle drives power.Such as combine that ACC and LKS formed with vehicle function.The core of Level 2 is not lain in will be there are two above work(
Can, and it is the driver person that can not be re-used as primary operational.
Level 3：With the unmanned of restrictive condition, in preset section (such as high speed and the less city road of the stream of people
Section), automatic driving and the responsibility for undertaking posture safety, driver have enough there is still a need in sometimes take over automobile
Pre-warning time, will such as enter the section (Road work ahead) repaired the roads.Level 3 will liberate driver, i.e., to driving
Safety is no longer responsible for, it is not necessary to monitor condition of road surface.
Level 4：Full working scope is unmanned.There is no drivers, it is only necessary to which beginning and end information, automobile will be negative in whole process
Traffic safety is blamed, and does not depend on driver's interference completely.It can be taken with nobody (such as empty wagons shipping) when driving.
Automotive engineer association of the U.S. (SAE, Society of Automotive Engineers) issues for 2013
The standard of similar automotive automation has refined the state between Level3 to the Level4 of NHTSA publications, specifically：Level
0 (no automation)：Automobile is operated by human driver's full powers, can be alerted and be protected in the process of moving the auxiliary of system
It helps.
Level 1 (drive supporting)：An operation in steering wheel and acceleration and deceleration is provided by driving environment and drives branch
It helps, other driver behaviors is all operated by human driver.
Level 2 (partial automation)：By driving environment driving is provided to the multi-mode operation in steering wheel and acceleration and deceleration
It supports, other driver behaviors are all operated by human driver.
Level 3 (automation of having ready conditions)：All driver behaviors are completed by Unmanned Systems.According to system request,
Human driver provides response appropriate
Level 4 (increasingly automated)：All driver behaviors are completed by Unmanned Systems.According to system request, people
Class driver is not necessarily required to respond all system requests, limits road and environmental condition etc..
Level 5 (full automation)：All driver behaviors are completed by Unmanned Systems.Human driver is possible
In the case of take over.It is driven under all roads and environmental condition.
Having unmanned function, is especially being configured with L3 or the L4 even vapour of the unmanned function of the above rank
Vehicle if situations such as drunk driving, drunk driving, fatigue driving occurs in driver, allows driver to intervene and drives operating and controlling vehicle in use
It is easy to cause dangerous driving instead, in this case, is not suitable for driver and intervenes control vehicle traveling, therefore, there is an urgent need for one kind
Automotive control system and control method, can judge whether driver has driving ability, and occur being not suitable for driver
In the case of intervention, prevents driver from manually controlling vehicle, switch to and automatically control vehicle mode.
Invention content
A brief summary of one or more aspects is given below to provide to the basic comprehension in terms of these.This general introduction is not
The extensive overview of all aspects contemplated, and be both not intended to identify critical or decisive element in all aspects also non-
Attempt to define the range in terms of any or all.Its unique purpose is to provide the one of one or more aspects in simplified form
A little concepts are with the sequence for more detailed description given later.
In order to achieve the above object, prevent the driver without driving ability from operating vehicle, the present invention provides one kind
Controller of vehicle, a kind of vehicle control system, the vehicle for having automatic Pilot, above-mentioned vehicle control system include：Inspection
Survey module, the capacity for detecting driver；And control module, for judge above-mentioned driver capacity whether
Meet manual drive requirement, if not meeting manual drive requirement, the manual drive control unit of the above-mentioned vehicle of locking simultaneously enters
Automatic driving mode.
Such as above-mentioned vehicle control system, optionally, above-mentioned detection module includes：Alcohol detection unit is driven for detecting
The internal alcohol content of the person of sailing, above-mentioned control module judge above-mentioned driving based on above-mentioned alcohol content more than the first predetermined threshold value
The behavior of member does not meet manual drive ability.
Such as above-mentioned vehicle control system, optionally, above-mentioned alcohol detection unit include expiration alcohol detection sub-unit and/
Or skin alcohol detection unit.
Such as above-mentioned vehicle control system, optionally, above-mentioned detection module includes：Fatigue driving detection unit, for examining
Survey driver mental fatigue index, fatigue exponent of the above-mentioned control module based on above-mentioned driver more than the second predetermined threshold value and
Judge that the behavior of above-mentioned driver does not meet manual drive ability.
Such as above-mentioned vehicle control system, optionally, above-mentioned fatigue driving detection unit includes face recognition sensor, is used
Above-mentioned mental fatigue index is calculated in the facial expression feature for detecting driver and based on above-mentioned facial expression feature.
Such as above-mentioned vehicle control system, optionally, above-mentioned manual drive control unit includes being connected to above-mentioned vehicle
Steering column structure between steering wheel and turning machine, if not meeting manual drive requirement, above-mentioned turn of above-mentioned control module locking
To tubular column structure.
Such as above-mentioned vehicle control system, optionally, above-mentioned steering column structure includes steering column tube and passes through above-mentioned steering
The steering shaft of column tube, which is characterized in that above-mentioned steering shaft surface carries spline structure, and above-mentioned steering shaft includes first turn of separation
To axis and the second steering shaft, above-mentioned first steering shaft is coupled with above-mentioned steering wheel, above-mentioned second steering shaft and above-mentioned turning machine coupling
It connects, sliding sleeve pipe is equipped in above-mentioned steering column tube, the inner surface of above-mentioned sliding sleeve pipe carries spline corresponding with above-mentioned steering shaft surface
Structure, above-mentioned sliding sleeve pipe are located in above-mentioned steering column tube with the first position and the second position in axial direction, above-mentioned sliding sleeve pipe
When above-mentioned first position, above-mentioned sliding sleeve pipe by above-mentioned spline structure respectively with above-mentioned first steering shaft and above-mentioned second steering shaft
Coupling, above-mentioned first steering shaft link with above-mentioned second steering shaft to form the linkage status of steering column structure, if not meeting hand
Dynamic driving demand, above-mentioned control module control above-mentioned sliding sleeve pipe and move to said second position, and above-mentioned sliding sleeve pipe passes through above-mentioned flower
Bond structure is coupled with one of above-mentioned first steering shaft and above-mentioned second steering shaft, above-mentioned first steering shaft and above-mentioned second
Steering shaft is detached to form the discrete state of steering column structure.
Such as above-mentioned vehicle control system, optionally, above-mentioned manual drive control unit includes brake pedal structure, if not
Meet manual drive requirement, the above-mentioned above-mentioned brake pedal structure of control module locking.
Such as above-mentioned vehicle control system, optionally, above-mentioned brake pedal structure includes pedal arm, is set on above-mentioned pedal arm
It is equipped with rotatable block, above-mentioned brake pedal structure includes the baffle with through-hole, the shape of above-mentioned through-hole and above-mentioned block
Contour shape it is consistent, above-mentioned brake pedal structure includes unlocked state and lock-out state, when above-mentioned block rotate to it is above-mentioned
Through-hole match corresponding precalculated position when, above-mentioned block moves across above-mentioned through-hole with above-mentioned pedal arm, forms above-mentioned solution
Lock status, if not meeting manual drive requirement, above-mentioned control module controls above-mentioned block and rotates to deviateing above-mentioned precalculated position, on
It states block and above-mentioned lock-out state is formed to prevent above-mentioned pedal arm from moving by above-mentioned baffle.
Such as above-mentioned vehicle control system, optionally, above-mentioned control module includes VCU controllers.
The present invention also provides a kind of control method for vehicle, the vehicle for having automatic Pilot, above-mentioned vehicle includes inspection
Module is surveyed, above-mentioned control method for vehicle includes：Control the capacity of detection module detection driver；And judge above-mentioned driving
Whether the capacity of member meets manual drive requirement, if not meeting manual drive requirement, the above-mentioned vehicle of locking is driven manually
It sails control unit and enters automatic driving mode.
Such as above-mentioned control method for vehicle, optionally, above-mentioned detection module includes alcohol detection unit, above-mentioned control detection
The capacity of module detection driver includes the alcohol content in the above-mentioned alcohol detection unit detection driver's body of control, above-mentioned
Judge whether the capacity of above-mentioned driver meets manual drive and require to include that be more than first based on above-mentioned alcohol content default
Threshold value and judge the behavior of above-mentioned driver and do not meet manual drive ability.
Such as above-mentioned control method for vehicle, optionally, above-mentioned detection module includes fatigue driving detection unit, above-mentioned control
The capacity of detection module detection driver includes the mental fatigue of the above-mentioned fatigue driving detection unit detection driver of control
Index, whether the above-mentioned capacity for judging above-mentioned driver, which meets manual drive, requires to include the fatigue based on above-mentioned driver
Index judges the behavior of above-mentioned driver and does not meet manual drive ability more than the second predetermined threshold value.
Such as above-mentioned control method for vehicle, optionally, above-mentioned fatigue driving detection unit includes face recognition sensor, on
It includes controlling above-mentioned face recognition sensor to state and control the mental fatigue index of above-mentioned fatigue driving detection unit detection driver
It detects the facial expression feature of driver and above-mentioned mental fatigue index is calculated based on above-mentioned facial expression feature.
Such as above-mentioned control method for vehicle, optionally, above-mentioned manual drive control unit includes being connected to above-mentioned vehicle
The manual drive control unit of steering column structure between steering wheel and turning machine, the above-mentioned above-mentioned vehicle of locking includes on locking
State steering column structure.
Such as above-mentioned control method for vehicle, optionally, above-mentioned steering column structure includes steering column tube and passes through above-mentioned steering
The steering shaft of column tube, which is characterized in that above-mentioned steering shaft surface carries spline structure, and above-mentioned steering shaft includes first turn of separation
To axis and the second steering shaft, above-mentioned first steering shaft is coupled with above-mentioned steering wheel, above-mentioned second steering shaft and above-mentioned turning machine coupling
It connects, sliding sleeve pipe is equipped in above-mentioned steering column tube, the inner surface of above-mentioned sliding sleeve pipe carries spline corresponding with above-mentioned steering shaft surface
Structure, above-mentioned sliding sleeve pipe are located in above-mentioned steering column tube with the first position and the second position in axial direction, above-mentioned sliding sleeve pipe
When above-mentioned first position, above-mentioned sliding sleeve pipe by above-mentioned spline structure respectively with above-mentioned first steering shaft and above-mentioned second steering shaft
Coupling, above-mentioned first steering shaft and above-mentioned second steering shaft link to form the linkage status of steering column structure, on above-mentioned locking
It includes controlling above-mentioned sliding sleeve pipe to move to said second position to state steering column structure, and above-mentioned sliding sleeve pipe passes through above-mentioned spline structure
It is coupled with one of above-mentioned first steering shaft and above-mentioned second steering shaft, above-mentioned first steering shaft and above-mentioned second steering shaft
Separation is to form the discrete state of steering column structure.
Such as above-mentioned control method for vehicle, optionally, above-mentioned manual drive control unit includes brake pedal structure, above-mentioned
The manual drive control unit of the above-mentioned vehicle of locking includes the above-mentioned brake pedal structure of locking.
Such as above-mentioned control method for vehicle, optionally, above-mentioned brake pedal structure includes pedal arm, is set on above-mentioned pedal arm
It is equipped with rotatable block, above-mentioned brake pedal structure includes the baffle with through-hole, the shape of above-mentioned through-hole and above-mentioned block
Contour shape it is consistent, above-mentioned brake pedal structure includes unlocked state and lock-out state, when above-mentioned block rotate to it is above-mentioned
Through-hole match corresponding precalculated position when, above-mentioned block moves across above-mentioned through-hole with above-mentioned pedal arm, forms above-mentioned solution
Lock status, the above-mentioned above-mentioned brake pedal structure of locking include controlling above-mentioned block to rotate to deviateing above-mentioned precalculated position, above-mentioned gear
Block forms above-mentioned lock-out state by above-mentioned baffle to prevent above-mentioned pedal arm from moving.
The present invention also provides a kind of controller of vehicle, the vehicle for having automatic Pilot, including processor and coupling
It is bonded to the memory of above-mentioned processor, computer instruction is stored on above-mentioned memory, above-mentioned processor is executing above-mentioned calculating
Implement such as the step of above-mentioned control method for vehicle when machine instructs.
The present invention also provides a kind of computer-readable mediums, are stored thereon with computer-readable instruction, above computer
Readable instruction is implemented when executed by the processor such as the step of above-mentioned control method for vehicle.
According to vehicle control system provided by the present invention and control method for vehicle, driven by judging whether driver has
The ability sailed adjusts the manual drive and automatic driving mode of vehicle in time, and vehicle is made to be in safe and reliable control always,
Effectively avoid dangerous driving caused by operating and controlling vehicle and the possible traffic accident caused without driving ability due to driver.
Description of the drawings
After reading the detailed description of embodiment of the disclosure in conjunction with the following drawings, it better understood when the present invention's
Features described above and advantage.In the accompanying drawings, each component is not necessarily drawn to scale, and has similar correlation properties or feature
Component may have same or similar reference numeral.
Figure 1A shows the schematic diagram of vehicle control system provided by the invention.
Figure 1B shows the flow diagram of control method for vehicle provided by the invention.
Fig. 2 shows one embodiment schematic diagrams of detection module provided by the invention.
Fig. 3 shows one embodiment schematic diagram of control module provided by the invention.
Fig. 4 shows one embodiment schematic diagram of manual drive component provided by the invention.
Fig. 5 shows the front view of brake pedal provided by the invention.
Fig. 6 A show close-up schematic view when brake pedal first embodiment unlocked state provided by the invention.
Fig. 6 B show close-up schematic view when brake pedal first embodiment lock-out state provided by the invention.
Fig. 7 A show close-up schematic view when brake pedal second embodiment unlocked state provided by the invention.
Fig. 7 B show close-up schematic view when brake pedal second embodiment lock-out state provided by the invention.
Fig. 8 A show close-up schematic view when brake pedal 3rd embodiment unlocked state provided by the invention.
Fig. 8 B show close-up schematic view when brake pedal 3rd embodiment lock-out state provided by the invention.
Fig. 9 A show close-up schematic view when brake pedal fourth embodiment unlocked state provided by the invention.
Fig. 9 B show close-up schematic view when brake pedal fourth embodiment lock-out state provided by the invention.
Figure 10 A show close-up schematic view when the 5th embodiment unlocked state of brake pedal provided by the invention.
Figure 10 B show close-up schematic view when the 5th embodiment lock-out state of brake pedal provided by the invention.
Figure 11 shows the structural schematic diagram of steering column structure discrete state provided by the invention.
Figure 12 shows the structural schematic diagram of steering column structure linkage status provided by the invention.
Figure 13 A show the structural schematic diagram of one embodiment of sliding sleeve pipe provided by the invention.
Figure 13 B show the partial enlarged view of one embodiment of sliding sleeve pipe provided by the invention.
Reference numeral
Detection module 100
Alcohol detection unit 110
Fatigue driving detection unit 120
Control module 200
VCU controllers 210
Manual drive component 300
Brake pedal 400
Brake pedal pedestal 411
Pedal arm 412
Block 413,423,433,443,453,463
Main part 4231
Scotch 4232
Baffle 414,424,434,444,454,464
Through-hole 4241,4341,4441,4541,4641
Block shaft 425
Electric rotating machine 426
Steering column 500
First steering shaft 511
Second steering shaft 512
Steering column tube 520
Scotch 521
Sliding sleeve pipe 530
Sliding sleeve inner tube 531
Sliding sleeve outer tube 532
Bearing 533
Stop tooth 534
Driving mechanism 540
Specific implementation mode
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.Note that below in conjunction with attached drawing and specifically real
The aspects for applying example description is merely exemplary, and is understood not to carry out any restrictions to protection scope of the present invention.
As described above, the present invention provides a kind of vehicle control system, the vehicle for having automatic Pilot.Figure 1A is shown
The schematic diagram of vehicle control system provided by the invention, vehicle control system include：Detection module 100 drives for detecting
The capacity of member；And control module 200, for judging whether the capacity of driver meets manual drive requirement, if
Do not meet manual drive requirement, then the manual drive control unit 300 of locking vehicle and enter automatic driving mode.
Figure 1B shows the flow diagram of control method for vehicle provided by the invention.It is ready in step S101 vehicles
In the case of, step S102, the capacity of control detection module detection driver are executed, and send testing result to control
Module then executes step S102 control modules and judges whether the capacity of driver meets manual drive according to detection data
It is required that if meeting, step S101 is returned to, and prepares to detect the capacity of driver again during form.If not being inconsistent
It closes, thens follow the steps S104, control module controls the manual drive control unit of locking vehicle, vehicle is made to enter automatic Pilot mould
Formula.
Specifically, detection module 100 provided by the invention may include alcohol detection unit 110 and/or fatigue driving inspection
Unit 120 is surveyed, as shown in Figure 2.
In the embodiment that detection module 100 includes alcohol detection unit 110, in step S102, control module 200 controls
The capacity that detection module 100 detects driver includes controlling the alcohol that alcohol detection unit 110 detects in driver's body to contain
Amount.In step S103, judges whether the capacity of driver meets manual drive and require to include and contained based on the alcohol detected
Amount judges the behavior of driver and does not meet manual drive ability more than the first predetermined threshold value.More specifically, alcohol detection unit
110 can be pre-set expiration alcohol detection sub-unit and/or skin alcohol detection unit.Those skilled in the art should
Know, alcohol detection unit 110 can also device existing by other or that some is detected to human body alcohol content concentration,
And it is not limited to the example above.
In the embodiment that detection module 100 includes fatigue driving detection unit 120, in step S102, control module 200
The capacity that control detection module 100 detects driver includes the essence for controlling fatigue driving detection unit 120 and detecting driver
Refreshing fatigue exponent.In step S103, judge whether the capacity of driver meets manual drive and require to include based on driver
Fatigue exponent judge the behavior of driver more than the second predetermined threshold value and do not meet manual drive ability.More specifically, tired
It can be face recognition sensor to drive detection unit 120, be the reality of face recognition sensor in fatigue driving detection unit 120
It applies in example, in step S102, control module 200 controls the mental fatigue index that fatigue driving detection unit 230 detects driver
The facial expression feature of driver is detected including the facial identification sensor of control and mental fatigue is calculated based on facial expression feature
Index.It will be appreciated by those skilled in the art that fatigue driving detection unit 120 can also it is existing by other or by some to
The device of human body mental fatigue degree is detected, and is not limited to the example above.
As shown in figure 3, control module 200 provided by the invention can be VCU controllers 210.VCU controllers 210 are can
To realize the core electron control unit of full-vehicle control decision.VCU controllers 210 can be by acquiring gas pedal, gear, brake
The signals such as vehicle pedal judge the driving intention of driver.Can by monitor vehicle-state (speed, temperature etc.) information, by
After 210 judgement of VCU controllers processing, the operating status control instruction of vehicle is sent to dynamical system, electrokinetic cell system, simultaneously
Control the operating mode of vehicle-mounted attachment electric power system.VCU controllers 210 also have the protection of Full Vehicle System fault diagnosis and store work(
Energy.
As shown in figure 4, manual drive component 300 provided by the invention may include brake pedal 400 and/or steering column
500.Brake pedal 400, which has, corresponds to the unlocked state for allowing manual drive state and corresponding to the lock for not allowing manual drive
Determine state.Steering column 500, which has, corresponds to the linkage status for allowing manual drive state and corresponding to not allowing manual drive
Discrete state.
Incorporated by reference to Fig. 5-Figure 10 B, to understand the detail of brake pedal 400 provided by the invention.Fig. 5 shows this hair
The front view of the brake pedal of bright offer.As shown in figure 5, brake pedal structure is arranged on brake pedal pedestal 411, braking is stepped on
Plate arm 412 tramples reciprocating motion in response to driver's, according to the degree of movement, is converted into frictional force of the wheel to ground, from
And play the role of braking.Rotatable block 413 is arranged on pedal arm 412, with pedal arm 412 in response to driver
Trample reciprocating motion, meanwhile, block 413 can be in 413 place plane internal rotation of block.Brake pedal structure includes to carry through-hole
Baffle 414, the shape for the through-hole being arranged on baffle 414 is consistent with the contour shape of block 413.Brake pedal structure includes solution
Lock status and locking transition, when the rotation of block 413 extremely matches corresponding precalculated position with through-hole, block 413 is with pedal arm
412 move across through-hole, form unlocked state；When block 413 rotation to out of position when, block 413 is by baffle 414
Blocking forms lock-out state to prevent pedal arm 412 from moving.
Above-mentioned unlocked state corresponds to the foregoing state for allowing driver to intervene Driving control vehicle, above-mentioned locking
State drunk driving, drunk driving, fatigue driving etc. occurs corresponding to foregoing driver does not allow driver to intervene Driving control vehicle
State.
When block 413 is in above-mentioned precalculated position, the shape that block 413 is projected in 414 plane of baffle can be complete
The shape of through holes covering being arranged on baffle 414, thus, in above-mentioned precalculated position, block 413 and the position of through-hole match
Alignment, to which in above-mentioned precalculated position, block 413 can successfully pass through above-mentioned through-hole under the drive of pedal arm 412.It is solving
Under lock status, block 413 does not play a part of to stop that pedal arm 412 moves.When block, which deviates 413, deviates above-mentioned precalculated position,
The shape that block 413 is projected in 414 plane of baffle can not be arranged on the covering of the shape of through holes on baffle 414 completely, because
And in the case of deviateing above-mentioned precalculated position, do not stopped by baffle 414 by 413 part of block that shape of through holes covers, to
Pedal arm 412 is prevented to move.
Fig. 6 A and Fig. 6 B are respectively brake pedal structure first embodiment unlocked state provided by the invention and lock-out state
When close-up schematic view.In the first embodiment of brake pedal structure as shown in Figure 6 A and 6 B, the shape of block 423
Shape is set as including main part 4231 and two scotch 4232, and scotch 4232 is arranged on main part 4231, and along main body
Portion 4231 extends outwardly.
As shown in Figure 6A, the shape that the through-hole 4241 on baffle 424 is arranged is consistent with the profile of block 423, is unlocking
Under state, block 423 successfully passes through through-hole 4241 in precalculated position as shown with the movement of pedal arm 412.
As shown in Figure 6B, when block 423 out of position when, scotch 4232 and 424 phase of baffle at through-hole 4241
It supports, to prevent block 423 from being passed through from through-hole 4241, prevents the movement of pedal arm 412.
It will be appreciated by those skilled in the art that the quantity of scotch 4232 is not limited to two in embodiment, it can basis
Need, at least one brake block 4232 be set, block 423 rotation to out of position when, can make scotch 4232 with
Baffle 424 at through-hole 4241 offsets.Those skilled in the art are arranged it is to be understood that when scotch 4232 is two
Position and extension direction be not limited to as shown in fig. 6 a or fig. 6b be located at straight line on.Also, it is counted in scotch 4232
When amount is not 2, the direction of position and extension that scotch 4232 is arranged can be equally arranged as required to.
In embodiment as shown in Figure 6 A and 6 B, show that block 423 is connected to electric rotating by block shaft 425
Machine 426, to be arranged on pedal arm 412.Electric rotating machine 426 drives block 423 to exist by controlling the rotation of block shaft 425
423 place plane internal rotation of block is to precalculated position or out of position, and to realize under specific circumstances, locking braking is stepped on
The movement of plate arm 412, the case where preventing dangerous driving.
Specifically, electric rotating machine 426 is connect by cable with control module 200.Control module 200 passes through detection module
100 sensing signal judges whether the state of driver allows intervention control vehicle, and result is exported to electric rotating machine 426,
To control 426 rotary block 423 of electric rotating machine to corresponding precalculated position or out of position, the unlock of brake pedal is formed
Or lock-out state.
In the above-described embodiment, block 423 and block shaft 425 can be integral structures, can also by welding or
Bearing connects.Block 423 and the connection type of block shaft 425 can be set as needed, and offer convenience for manufacturing process.When
When block 423 is connect by way of welding or bearing with block shaft 425, the block 423 of the intensity of connection compared with integral structure
It is weak with block shaft 425, but in the scene that should be intervened by driver, if there is 426 maloperation of electric rotating machine, block 423
It is rotated into lock-out state, when driver is unable to control pedal, the side of brake pedal can be stepped on suddenly by applying larger external force
The block 423 that formula keeps bonding strength relatively weak is detached from block shaft 425, to make brake pedal free movement.
Similarly, baffle 424, which is fixed on brake pedal pedestal, may be used integrally formed mode and fixes, and can also adopt
It is fixed with the mode of welding.Baffle 424 and the connection type of brake pedal pedestal can be set as needed, and be manufacturing process band
To facilitate.When baffle 424 is connect with brake pedal pedestal by welding, the baffle of the intensity of connection compared with integral structure
424 is weak with brake pedal pedestal, but in the scene that should be intervened by driver, if there is 426 maloperation of electric rotating machine, block
423 rotations are to lock-out state, when driver is unable to control pedal, can step on brake pedal suddenly by applying larger external force
The baffle 424 that mode keeps bonding strength relatively weak is detached from brake pedal pedestal, to make the block 423 on brake pedal will not
Stopped by baffle 424, brake pedal free movement.
Fig. 7 A, 7B respectively illustrate brake pedal structure second embodiment unlocked state provided by the invention and lock-out state
When close-up schematic view.In the present embodiment, the through-hole 4341 of ellipse, the shape of block 433 are provided on baffle 434
For ellipse, correspond to the shape of through-hole 4341.
Fig. 8 A, 8B respectively illustrate brake pedal structure 3rd embodiment unlocked state provided by the invention and lock-out state
When close-up schematic view.In the present embodiment, the through-hole 4441 of triangle, the shape of block 443 are provided on baffle 444
For triangle, correspond to the shape of through-hole 4441.
Fig. 9 A, 9B respectively illustrate brake pedal structure fourth embodiment unlocked state provided by the invention and lock-out state
When close-up schematic view.In the present embodiment, the through-hole 4541 of rectangle is provided on baffle 454, the shape of block 453 is
Rectangle corresponds to the shape of through-hole 4541.
Figure 10 A, 10B respectively illustrate the 5th embodiment unlocked state of brake pedal structure provided by the invention and locking shape
Close-up schematic view when state.In the present embodiment, the through-hole 4641 of diamond shape, the shape of block 463 are provided on baffle 464
For diamond shape, correspond to the shape of through-hole 4641.
It will be appreciated by those skilled in the art that the shape of block is other than the shape of circular, it can be according to actual need
Arbitrary setting is wanted, and is not limited to the shape mentioned in above-mentioned cited embodiment.Due to the shape of through holes and block of baffle
Contour shape it is consistent, there is precalculated position always, block made to move across above-mentioned through-hole with pedal arm.Block can be with simultaneously
Rotation, when block out of position when, the position of block and through-hole is staggered so that block and the baffle of through hole offset, closely
And block prevents pedal arm from moving by baffle.The shape of block can be set as needed, and be brought just for manufacturing process
Profit.
Incorporated by reference to Figure 11-Figure 13 B, to understand the detail of steering column 500 provided by the invention.As shown in Figure 10,
Steering column structure is connected between the steering wheel of automobile and turning machine, including steering column tube 520 and steering shaft, and steering shaft is turning to
Rotation by the steering force from steering wheel to pass to turning machine in column tube 520, to control wheel steering.
In the present invention, the steering shaft provided be separation the first steering shaft 511 and the second steering shaft 512, first turn
Spline structure is carried to the surface of axis 511 and the second steering shaft 512.Wherein, the first steering shaft 511 is coupled with steering wheel, and second
Steering shaft 512 is coupled with turning machine, it will be appreciated by those skilled in the art that the first steering shaft 511 and steering wheel and second turn
Include but not limited to spline or bearing connection to the connection type between axis 512 and turning machine, meanwhile, the first steering shaft 511 with
Include but not limited to be directly connected between steering wheel and between the second steering shaft 512 and turning machine.
Sliding sleeve pipe 530 is provided in steering column tube 520,530 inner surface of sliding sleeve pipe carries flower corresponding with steering shaft surface
Bond structure.Sliding sleeve pipe 530 can be in steering column tube 520 axially movable, and Figure 11 shows that sliding sleeve pipe 530 passes through driving mechanism
540 move to the second position of discrete state in steering column tube 520.As shown in figure 11, the flower that sliding sleeve pipe 530 passes through inner surface
Bond structure and the first steering shaft 511 couple, and are disconnected with the second steering shaft 512, therefore, the first steering shaft 511 and second turn
It is in discrete state to axis 512, the steering force from steering wheel is aborted transmission.
Figure 12 shows the structural schematic diagram of steering column structure linkage status provided by the invention.Turn in as shown in figure 12
Into rod structure, sliding sleeve pipe 530 moves to the first position of linkage status by driving mechanism 540 in steering column tube 520, sliding
Casing 530 is coupled with the first steering shaft 511 and the second steering shaft 512 respectively by the spline structure of inner surface, to come from
The steering force of steering wheel passes to the second steering shaft 512, the first steering shaft 511 via the first steering shaft 511 by sliding sleeve pipe 530
It is realized and is linked by sliding sleeve pipe 530 and the second steering shaft 512.
Above-mentioned linkage status corresponds to the foregoing state for allowing driver to intervene Driving control vehicle, above-mentioned separation
State drunk driving, drunk driving, fatigue driving etc. occurs corresponding to foregoing driver does not allow driver to intervene Driving control vehicle
State.
Specifically, driving mechanism 540 is connect by cable with control module 200.Control module 200 passes through detection module
100 sensing signal judges whether the state of driver allows intervention control vehicle, and result is exported to driving mechanism 540,
Drive sliding sleeve pipe to corresponding first position or the second position to control driving mechanism 540, formed steering column structure linkage or
Discrete state.In one embodiment, driving mechanism 540 is arranged to drive sliding sleeve pipe when the first steering shaft is no rotary
530 axially movable.
More specifically, Figure 13 A show the structural schematic diagram of one embodiment of sliding sleeve pipe provided by the invention.In such as Figure 13 A
Shown in the present embodiment, the sliding sleeve pipe that is provided is double-deck sliding sleeve pipe, including sliding sleeve inner tube 531 and sliding sleeve outer tube 532, sliding
It is connected by bearing 533 between set inner tube 531 and sliding sleeve outer tube 532, therefore, sliding sleeve inner tube 531 is by bearing 533 outside sliding sleeve
It can in an axial direction be moved synchronously with sliding sleeve outer tube 532 while rotation in pipe 532.
In the embodiment that above-mentioned sliding sleeve pipe is double-deck, driving mechanism is coupled with sliding sleeve outer tube, to drive sliding sleeve outer tube
532 axially movable, meanwhile, as described above, by bearing 533, sliding sleeve inner tube 531 is synchronously transported with sliding sleeve outer tube in an axial direction
It is dynamic.Therefore, in above-mentioned implementation, driving mechanism can be set to drive the axial fortune of sliding sleeve pipe when arbitrary
It is dynamic, whether do not have to distinguish the first steering shaft in the state rotated.
More specifically, driving mechanism may include push-and-pull servo mechanism and drive shaft, and push-and-pull servo mechanism has along axis
The function of push and pull, drive shaft are connect with push-and-pull servo mechanism and sliding sleeve outer tube respectively, so that the axial direction of push-and-pull servo mechanism
Push-and-pull is converted into the axial movement of sliding sleeve outer tube.In the above-described embodiments, driving mechanism can be arranged in the outside of pipeline column tube,
Drive shaft passes through steering column tube connection push-and-pull servo mechanism and sliding sleeve outer tube.
Sliding sleeve pipe as shown in FIG. 13A, sliding sleeve inner tube 531 is arranged to be longer than sliding sleeve outer tube 532, also, is being longer than cunning
The parts sliding sleeve inner tube 531A of outer tube 532 are covered, the outer surface of sliding sleeve inner tube 531A is provided with stop tooth, and Figure 13 B show amplification
The parts sliding sleeve inner tube 531A structural schematic diagram, several stop tooths 534 are arranged in the outer surface of sliding sleeve inner tube 531.
Figure 11, Figure 12 are can refer to provided in the embodiment of stop tooth 534 above-mentioned, the inner surface of steering column tube 520 is matched
It is provided at least one scotch 521 engaged with stop tooth 534 with closing.More specifically, in conjunction with Fig. 1, in discrete state, stop
Block 521 is caught between adjacent stop tooth 534, to prevent sliding sleeve inner tube from rotating；In conjunction with Fig. 2, in linkage status, scotch 521
It is mutually staggered with stop tooth 534, does not influence the rotation of sliding sleeve inner tube.
It will be appreciated by those skilled in the art that above-mentioned stop tooth includes but not limited to be arranged in the reality with the double-deck sliding sleeve pipe
On the outer surface for applying the sliding sleeve inner tube in example, the outer surface of the sliding sleeve pipe of single layer also may be provided at.
It is provided in the embodiment of stop tooth in above-mentioned sliding sleeve tube outer surface, under discrete state, sliding sleeve pipe and first turn
It is coupled to axis, the scotch being used cooperatively with above-mentioned stop tooth is positioned close to the steering column tube inner surface of steering wheel side.It is logical
Cross aforesaid way, under discrete state, by way of controlling stop sliding sleeve pipe the first steering shaft of stop and with first turn to
The steering wheel of axis coupling so that under discrete state, driver has no idea steering wheel rotation.Steering wheel can not arbitrarily be turned
In the case of dynamic, thus the associated vehicle information of middle control instrument board will not be rotated after steering wheel blocked, driver is still
It can check information of vehicles on middle control instrument board.
It will be appreciated by those skilled in the art that being provided with stop tooth in sliding sleeve tube outer surface, there is in steering column tube cooperation
In the case of the scotch used, the steering shaft for connecting steering wheel and turning machine can be set to be a complete steering
Axis, and the steering shaft of separate type provided by the present invention can better ensure that the effect of separation transmission, for more preferably embodiment.
Sliding sleeve pipe is set to exist by the way that the steering shaft and sliding sleeve pipe of separation is arranged according to steering column structure provided by the present invention
Linkage status and discrete state switching so that under discrete state, the steering force from steering wheel is interrupted, driver without
Method controls the steering of vehicle by steering wheel rotation, and then prevents from pushing way by shoving or bumping since vehicle occurs in driver's dangerous driving
The case where, cause danger.
The present invention also provides a kind of controller of vehicle, the vehicle for having automatic Pilot, including processor and coupling
It is bonded to the memory of processor, computer instruction is stored on memory, processor is implemented in computer instructions such as this
Invention provides the step of control method for vehicle.
The present invention also provides a kind of computer readable storage mediums, are stored thereon with computer-readable instruction, the calculating
The step in the above method is realized when machine readable instruction is executed by processor.
Wherein, the specific implementation side of controller of vehicle and computer readable storage medium and specific module therein
Formula and technique effect can be found in the embodiment of above-mentioned controller of vehicle and control method, and details are not described herein.
Those skilled in the art will further appreciate that, the various illustratives described in conjunction with the embodiments described herein
Logic plate, module, circuit and algorithm steps can be realized as electronic hardware, computer software or combination of the two.It is clear
Explain to Chu this interchangeability of hardware and software, various illustrative components, frame, module, circuit and step be above with
Its functional form makees generalization description.Such functionality be implemented as hardware or software depend on concrete application and
It is applied to the design constraint of total system.Technical staff can realize each specific application described with different modes
Functionality, but such realization decision should not be interpreted to cause departing from the scope of the present invention.
Although to simplify explanation to illustrate the above method and being described as a series of actions, it should be understood that and understand,
The order that these methods are not acted is limited, because according to one or more embodiments, some actions can occur in different order
And/or with from it is depicted and described herein or herein it is not shown and describe but it will be appreciated by those skilled in the art that other
Action concomitantly occurs.
In conjunction with presently disclosed embodiment describe various illustrative logic modules and circuit can use general processor,
Digital signal processor (DSP), application-specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic
Device, discrete door or transistor logic, discrete hardware component or its be designed to carry out any group of function described herein
It closes to realize or execute.General processor can be microprocessor, but in alternative, which can be any routine
Processor, controller, microcontroller or state machine.Processor is also implemented as the combination of computing device, such as DSP
With the combination of microprocessor, multi-microprocessor, one or more microprocessors to cooperate with DSP core or any other this
Class configures.
It can be embodied directly in hardware, in by processor in conjunction with the step of method or algorithm that embodiment disclosed herein describes
It is embodied in the software module of execution or in combination of the two.Software module can reside in RAM memory, flash memory, ROM and deposit
Reservoir, eprom memory, eeprom memory, register, hard disk, removable disk, CD-ROM or known in the art appoint
In the storage medium of what other forms.Exemplary storage medium is coupled to processor so that the processor can be from/to the storage
Medium reads and writees information.In alternative, storage medium can be integrated into processor.Pocessor and storage media can
It resides in ASIC.ASIC can reside in user terminal.In alternative, pocessor and storage media can be used as discrete sets
Part is resident in the user terminal.
In one or more exemplary embodiments, described function can be in hardware, software, firmware, or any combination thereof
Middle realization.If being embodied as computer program product in software, each function can be used as the instruction of one or more items or generation
Code may be stored on the computer-readable medium or is transmitted by it.Computer-readable medium includes computer storage media and communication
Both media comprising any medium for facilitating computer program to shift from one place to another.Storage medium can be can quilt
Any usable medium that computer accesses.It is non-limiting as example, such computer-readable medium may include RAM, ROM,
EEPROM, CD-ROM or other optical disc storage, disk storage or other magnetic storage apparatus can be used to carrying or store instruction
Or data structure form desirable program code and any other medium that can be accessed by a computer.Any connection is also by by rights
Referred to as computer-readable medium.For example, if software is using coaxial cable, fiber optic cables, twisted-pair feeder, digital subscriber line
(DSL) or the wireless technology of such as infrared, radio and microwave etc is passed from web site, server or other remote sources
It send, then the coaxial cable, fiber optic cables, twisted-pair feeder, DSL or such as infrared, radio and microwave etc is wireless
Technology is just included among the definition of medium.Disk (disk) and dish (disc) as used herein include compression dish
(CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and blu-ray disc, which disk (disk) are often reproduced in a manner of magnetic
Data, and dish (disc) with laser reproduce data optically.Combinations of the above should also be included in computer-readable medium
In the range of.
Offer is that can make or use this public affairs to make any person skilled in the art all to the previous description of the disclosure
It opens.The various modifications of the disclosure all will be apparent for a person skilled in the art, and as defined herein general
Suitable principle can be applied to spirit or scope of other variants without departing from the disclosure.The disclosure is not intended to be limited as a result,
Due to example described herein and design, but should be awarded and principle disclosed herein and novel features phase one
The widest scope of cause.
Claims (20)
1. a kind of vehicle control system, the vehicle for having automatic Pilot, the vehicle control system include：
Detection module, the capacity for detecting driver；And
Control module is driven for judging whether the capacity of the driver meets manual drive requirement if not meeting manually
Sail requirement, then the manual drive control unit of vehicle described in locking and enter automatic driving mode.
2. vehicle control system as described in claim 1, which is characterized in that the detection module includes：
Alcohol detection unit, for detecting the alcohol content in driver's body,
The control module is judged the behavior of the driver and not met based on the alcohol content more than the first predetermined threshold value
Manual drive ability.
3. vehicle control system as claimed in claim 2, which is characterized in that the alcohol detection unit includes expiration alcohol inspection
Survey subelement and/or skin alcohol detection unit.
4. vehicle control system as described in claim 1, which is characterized in that the detection module includes：
Fatigue driving detection unit, the mental fatigue index for detecting driver,
Fatigue exponent of the control module based on the driver judges the row of the driver more than the second predetermined threshold value
Not meet manual drive ability.
5. vehicle control system as claimed in claim 4, which is characterized in that the fatigue driving detection unit includes that face is known
Individual sensor, facial expression feature for detecting driver simultaneously calculate the mental fatigue based on the facial expression feature and refer to
Number.
6. vehicle control system as described in claim 1, which is characterized in that the manual drive control unit includes being connected to
Steering column structure between the steering wheel and turning machine of the vehicle, if not meeting manual drive requirement, the control module
Steering column structure described in locking.
7. vehicle control system as claimed in claim 6, which is characterized in that the steering column structure includes steering column tube and wears
Cross the steering shaft of the steering column tube, which is characterized in that the steering shaft surface carries spline structure, and the steering shaft includes point
From the first steering shaft and the second steering shaft, first steering shaft and the steering wheel couple, second steering shaft and institute
Turning machine coupling is stated, sliding sleeve pipe is equipped in the steering column tube, the inner surface of the sliding sleeve pipe carries and the steering shaft surface
Corresponding spline structure, the sliding sleeve pipe have first position and the second position in axial direction in the steering column tube,
When the sliding sleeve pipe is located at the first position, the sliding sleeve pipe is turned to described first respectively by the spline structure
Axis is coupled with second steering shaft, and first steering shaft links with second steering shaft to form the connection of steering column structure
Dynamic state,
If not meeting manual drive requirement, the control module controls the sliding sleeve pipe and moves to the second position, the cunning
Casing is coupled by the spline structure and one of first steering shaft and second steering shaft, described first turn
It is detached to axis with second steering shaft to form the discrete state of steering column structure.
8. vehicle control system as described in claim 1, which is characterized in that the manual drive control unit includes that braking is stepped on
Harden structure, if not meeting manual drive requirement, brake pedal structure described in the control module locking.
9. vehicle control system as claimed in claim 8, which is characterized in that the brake pedal structure includes pedal arm, institute
It states and is provided with rotatable block on pedal arm, the brake pedal structure includes the baffle with through-hole, the shape of the through-hole
Shape is consistent with the contour shape of the block, and the brake pedal structure includes unlocked state and lock-out state, when the block
Rotation to the through-hole match corresponding precalculated position when, the block is described logical with moving across for the pedal arm
Hole forms the unlocked state,
If not meeting manual drive requirement, the control module controls the block and rotates to deviateing the precalculated position, described
Block forms the lock-out state by the baffle to prevent the pedal arm from moving.
10. vehicle control system as described in claim 1, which is characterized in that the control module includes VCU controllers.
11. a kind of control method for vehicle, the vehicle for having automatic Pilot, the vehicle include detection module, the vehicle
Control method includes：
Control the capacity of detection module detection driver；And
Judge whether the capacity of the driver meets manual drive requirement, if not meeting manual drive requirement, locking
The manual drive control unit of the vehicle simultaneously enters automatic driving mode.
12. control method for vehicle as claimed in claim 11, which is characterized in that the detection module includes alcohol detection list
Member,
The capacity of the control detection module detection driver includes controlling the alcohol detection unit to detect driver's body
Interior alcohol content,
Whether the capacity for judging the driver, which meets manual drive, is required to include and is more than based on the alcohol content
First predetermined threshold value and judge the behavior of the driver and do not meet manual drive ability.
13. control method for vehicle as claimed in claim 11, which is characterized in that the detection module includes fatigue driving detection
Unit,
The capacity of the control detection module detection driver includes controlling the fatigue driving detection unit detection to drive
The mental fatigue index of member,
Whether the capacity for judging the driver, which meets manual drive, requires to include the fatigue based on the driver
Index judges the behavior of the driver and does not meet manual drive ability more than the second predetermined threshold value.
14. vehicle control system as claimed in claim 13, which is characterized in that the fatigue driving detection unit includes face
Identification sensor,
The mental fatigue index of the control fatigue driving detection unit detection driver includes controlling the face recognition
Sensor detects the facial expression feature of driver and calculates the mental fatigue index based on the facial expression feature.
15. control method for vehicle as claimed in claim 11, which is characterized in that the manual drive control unit includes connection
Steering column structure between the steering wheel and turning machine of the vehicle, the manual drive control unit of vehicle described in the locking
Part includes steering column structure described in locking.
16. control method for vehicle as claimed in claim 15, which is characterized in that the steering column structure include steering column tube and
Across the steering shaft of the steering column tube, which is characterized in that the steering shaft surface carries spline structure, and the steering shaft includes
The first steering shaft and the second steering shaft of separation, first steering shaft and the steering wheel couple, second steering shaft with
The turning machine coupling, the steering column tube is interior to be equipped with sliding sleeve pipe, and the inner surface of the sliding sleeve pipe carries and the steering shaft table
The corresponding spline structure in face, the sliding sleeve pipe is in the steering column tube with the first position and the second position in axial direction, institute
When stating sliding sleeve pipe and being located at the first position, the sliding sleeve pipe by the spline structure respectively with first steering shaft and institute
The coupling of the second steering shaft is stated, first steering shaft links with second steering shaft to form the linkage shape of steering column structure
State,
Steering column structure described in the locking includes controlling the sliding sleeve pipe to move to the second position, and the sliding sleeve pipe is logical
The spline structure and one of first steering shaft and second steering shaft is crossed to couple, first steering shaft with
The second steering shaft separation is to form the discrete state of steering column structure.
17. control method for vehicle as claimed in claim 11, which is characterized in that the manual drive control unit includes braking
The manual drive control unit of pedal structure, vehicle described in the locking includes brake pedal structure described in locking.
18. control method for vehicle as claimed in claim 17, which is characterized in that the brake pedal structure includes pedal arm,
Rotatable block is provided on the pedal arm, the brake pedal structure includes the baffle with through-hole, the through-hole
Shape is consistent with the contour shape of the block, and the brake pedal structure includes unlocked state and lock-out state, when the gear
Block rotate to the through-hole match corresponding precalculated position when, the block is described logical with moving across for the pedal arm
Hole forms the unlocked state,
Brake pedal structure described in the locking includes controlling the block to rotate to deviateing the precalculated position, the block quilt
The baffle forms the lock-out state to prevent the pedal arm from moving.
19. a kind of controller of vehicle, the vehicle for having automatic Pilot, including processor and being coupled to the processor
Memory, computer instruction is stored on the memory, and the processor is implemented when executing the computer instruction as weighed
Profit requires the step of method described in any one of 11-18.
20. a kind of computer-readable medium is stored thereon with computer-readable instruction, the computer-readable instruction is by handling
The step of implementing the method described in any one of claim 11-18 when device executes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810618925.0A CN108791296B (en) | 2018-06-15 | 2018-06-15 | Vehicle control system and vehicle control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810618925.0A CN108791296B (en) | 2018-06-15 | 2018-06-15 | Vehicle control system and vehicle control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108791296A true CN108791296A (en) | 2018-11-13 |
| CN108791296B CN108791296B (en) | 2020-08-18 |
Family
ID=64086347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810618925.0A Active CN108791296B (en) | 2018-06-15 | 2018-06-15 | Vehicle control system and vehicle control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108791296B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070076915A (en) * | 2006-01-20 | 2007-07-25 | 김형섭 | Apparatus preventing from being robbed vehicle |
| CN101244716A (en) * | 2007-02-15 | 2008-08-20 | 冯建中 | Anti-stealing device for vehicle and steering wheel having the anti-stealing device for vehicle |
| JP2009126220A (en) * | 2007-11-20 | 2009-06-11 | Yasutaka Noguchi | Automobile with safety drive diagnosing system |
| CN204915314U (en) * | 2015-07-21 | 2015-12-30 | 戴井之 | Car safe driving device |
| CN105857091A (en) * | 2016-04-21 | 2016-08-17 | 陈昌志 | New-energy electric automobile |
-
2018
- 2018-06-15 CN CN201810618925.0A patent/CN108791296B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070076915A (en) * | 2006-01-20 | 2007-07-25 | 김형섭 | Apparatus preventing from being robbed vehicle |
| CN101244716A (en) * | 2007-02-15 | 2008-08-20 | 冯建中 | Anti-stealing device for vehicle and steering wheel having the anti-stealing device for vehicle |
| JP2009126220A (en) * | 2007-11-20 | 2009-06-11 | Yasutaka Noguchi | Automobile with safety drive diagnosing system |
| CN204915314U (en) * | 2015-07-21 | 2015-12-30 | 戴井之 | Car safe driving device |
| CN105857091A (en) * | 2016-04-21 | 2016-08-17 | 陈昌志 | New-energy electric automobile |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108791296B (en) | 2020-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111492419B (en) | Vehicle, and control system and control method thereof | |
| KR20220093095A (en) | Automatic parking control method and device | |
| CN109421739A (en) | Method and apparatus for monitoring autonomous vehicle | |
| US11560156B2 (en) | Vehicle control interface, vehicle system, and automated-driving platform | |
| CN112440981A (en) | Method for executing automatic passenger-replacing parking | |
| CN109421740A (en) | Method and apparatus for monitoring autonomous vehicle | |
| CN109421743A (en) | Method and apparatus for monitoring autonomous vehicle | |
| CN108974003A (en) | A kind of exchange method | |
| CN106043303A (en) | Vehicle control in traffic conditions | |
| WO2018163550A1 (en) | Automatic driving support device, method, and program | |
| CN110290985A (en) | Control the movement of vehicle | |
| CN109426244A (en) | Servomechanism | |
| CN103523016A (en) | Method for operating a vehicle during coasting | |
| CN110356471A (en) | Vehicle control system | |
| RU2692415C1 (en) | Steering and braking control system and method | |
| CN104602990B (en) | Select to turn to the system and method for pattern | |
| JP6982108B2 (en) | Vehicle control devices, vehicle control methods and programs | |
| WO2019116458A1 (en) | Vehicle, and control system and control method therefor | |
| CN208585313U (en) | A kind of steering column structure and steering system and vehicle comprising steering column structure | |
| CN105620463A (en) | Vehicle control system and method of using the same | |
| CN110226142B (en) | Apparatus and method for controlling movement of vehicle | |
| CN109795506A (en) | A kind of driving control method, device and vehicle | |
| CN113492872A (en) | Driving mode switching method, system and computer readable storage medium | |
| CN108791191A (en) | A kind of vehicle control system and control method for vehicle | |
| CN208585228U (en) | A kind of brake pedal structure and braking system and vehicle comprising brake pedal structure |
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 |