CN110901643A - Autonomous driving active takeover system and method - Google Patents

Autonomous driving active takeover system and method Download PDF

Info

Publication number
CN110901643A
CN110901643A CN201911233218.0A CN201911233218A CN110901643A CN 110901643 A CN110901643 A CN 110901643A CN 201911233218 A CN201911233218 A CN 201911233218A CN 110901643 A CN110901643 A CN 110901643A
Authority
CN
China
Prior art keywords
automatic driving
driving active
active takeover
steering wheel
hands
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.)
Pending
Application number
CN201911233218.0A
Other languages
Chinese (zh)
Inventor
孟庆雪
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Zhixing Technology Shanghai Co ltd
Original Assignee
Continental Automotive Technologies GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Continental Automotive Technologies GmbH filed Critical Continental Automotive Technologies GmbH
Priority to CN201911233218.0A priority Critical patent/CN110901643A/en
Publication of CN110901643A publication Critical patent/CN110901643A/en
Pending legal-status Critical Current

Links

Images

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)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention provides an automatic driving active takeover system and method carried on a vehicle. The automatic driving active takeover system comprises: an automatic driving active takeover function switching part which starts the automatic driving active takeover function under the condition that the automatic driving mode is closed and closes the automatic driving active takeover function under the condition that the automatic driving mode is opened; and an automatic driving active pipe receiving part which switches the vehicle to an automatic driving mode if a situation that both hands are away from the steering wheel is detected in a state that the automatic driving active pipe receiving function is opened.

Description

Automatic driving active takeover system and method
Technical Field
The invention relates to an autonomous driving active takeover system and method for a vehicle having an autonomous driving mode.
Background
With the development of science and technology, the automatic driving technology of the vehicle is gradually mature. Autonomous vehicles having an autonomous driving mode and a manual driving mode are known. In the automatic driving mode, the speed and steering of the vehicle are controlled by the vehicle control system without manual operation by the driver. In the manual driving mode, the driver has the right to control the vehicle and controls the speed and steering of the vehicle. The driver can switch the automatic driving mode and the manual driving mode according to the road condition and the self intention.
However, in the existing automatic driving vehicle, after the driver turns off the automatic driving function of the vehicle actively, even if the driver cannot control the vehicle for a short time due to some special situations, the vehicle does not turn on the automatic driving mode actively to take over the automatic driving actively, so that there is a risk of traffic accidents.
The following technologies also exist: the automatic driving mode and the manual driving mode are switched only by a sensing signal of the steering wheel, that is, the automatic driving mode and the manual driving mode are switched to each other when the steering wheel detects that the driver's hand touches or presses the steering wheel, and the automatic driving mode is switched to each other when the driver's hand does not detect that the driver's hand touches or presses the steering wheel. In this case, there is a disadvantage in that the automatic driving mode is erroneously switched to the manual driving mode regardless of the driver's own intention.
Disclosure of Invention
The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide an autonomous driving active takeover system and method that can actively switch a vehicle to an autonomous driving mode when a driver cannot control the vehicle when the driver autonomously turns off the autonomous driving mode of the vehicle.
According to one aspect of the present invention, there is provided an automatic drive active takeover system mounted on a vehicle, comprising: an automatic driving active takeover function switching part which starts an automatic driving active takeover function when an automatic driving mode is turned off and which closes the automatic driving active takeover function when the automatic driving mode is turned on; and an automatic driving active pipe receiving part which switches the vehicle into an automatic driving mode if a situation that both hands leave a steering wheel is detected in a state that the automatic driving active pipe receiving function is opened.
Therefore, under the condition that the automatic driving mode of the vehicle is automatically turned off by the driver, when the driver leaves the steering wheel with both hands due to some special conditions and cannot control the vehicle, the vehicle can be actively switched into the automatic driving mode. Therefore, traffic accidents are prevented when the driver cannot control the vehicle due to special conditions, and the driving safety is improved.
In a certain embodiment, the autonomous driving active takeover system further comprises: and an automatic driving mode switch judging part which judges the switching state of the automatic driving mode in real time and outputs the result to the automatic driving active takeover function switching part.
In a certain embodiment, the autonomous driving active takeover system further comprises: the hand leaves steering wheel detection portion, and this hand leaves whether driver's both hands have in real time to the steering wheel detection portion detects to give with the testing result output the autopilot initiative is connect the pipe portion.
In one embodiment, the hand-off steering wheel detecting unit includes a plurality of sensors provided on the steering wheel to detect whether or not the driver's hands are off the steering wheel.
In a certain embodiment, the plurality of said sensors comprises at least one of: a capacitive sensor for detecting whether an object contacts the steering wheel; and a pressure sensor for detecting whether an object presses the steering wheel.
In one embodiment, the hand-off steering wheel detecting unit includes a camera provided in the vehicle to photograph the entire steering wheel, and analyzes whether or not the driver's hands are off the steering wheel from the photographed image.
In a certain embodiment, only the automatic driving active takeover function switching section can turn off the automatic driving active takeover function.
Since only the automatic driving active takeover function switching section can turn off the automatic driving active takeover function without providing a separate function switch separately, it is possible to prevent the driver from turning off the function autonomously. Thereby further improving the driving safety.
According to another aspect of the present invention, an autonomous driving active takeover method is characterized by comprising the steps of: an automatic driving active takeover function starting step, wherein in the automatic driving active takeover function starting step, the automatic driving active takeover function is started under the condition that an automatic driving mode is closed, and the automatic driving active takeover function is closed under the condition that the automatic driving mode is opened; and an automatic driving active takeover step, wherein in the automatic driving active takeover step, under the state that the automatic driving active takeover function is started, if the condition that two hands leave the steering wheel is detected, the vehicle is switched to an automatic driving mode.
In a certain embodiment, the autonomous driving active takeover method further comprises the steps of: and judging an automatic driving mode switch, wherein in the judging step of the automatic driving mode switch, the switching state of an automatic driving mode is judged in real time, and the result is provided for the automatic driving active takeover function switch.
In a certain embodiment, the autonomous driving active takeover method further comprises the steps of: and a hand-off steering wheel detection step, wherein in the hand-off steering wheel detection step, the condition that the two hands of the driver leave the steering wheel is detected in real time, and the detection result is provided for the automatic driving active takeover step.
Drawings
Fig. 1 is a schematic block diagram showing an autonomous driving active takeover system according to an embodiment of the present invention.
Fig. 2 is a flowchart illustrating an autonomous driving active takeover method according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
First, an application scenario related to the embodiment of the present invention is described.
Existing autonomous vehicles generally include an autonomous driving mode and a manual driving mode, and a driver may switch the autonomous driving mode and the manual driving mode according to a road condition and his/her own intention. When the driver actively turns off the automatic driving mode and switches to the manual driving mode based on his or her own intention, sometimes the driver may temporarily disengage the steering wheel with both hands due to some special circumstances, and the vehicle may not be controlled. In this case, if the autonomous driving system of the vehicle cannot actively take over the vehicle, that is, if the autonomous driving mode is switched, the risk of occurrence of an accident increases.
Based on such a scenario, an embodiment of the present invention provides an autonomous driving active takeover system.
Fig. 1 is a schematic block diagram of an autonomous driving active takeover system according to an embodiment of the present invention. As shown in fig. 1, the automatic driving active takeover system 100 is mounted on a vehicle 2 having an automatic driving function, and includes an automatic driving active takeover function switch unit 110, an automatic driving active takeover function pipe unit 120, an automatic driving mode switch determination unit 130, and a hands-off steering wheel detection unit 140.
The automated driving mode switch determination section 130 determines whether the vehicle 2 is currently in the automated driving mode off state, and outputs the determination result to the automated driving active takeover function switch section 110.
The automatic driving active takeover function switching section 110 turns on or off the automatic driving active takeover function based on the determination result of the automatic driving mode switch determining section 130, and when the determination result of the automatic driving mode switch determining section 130 is that the current vehicle 2 is in the state where the automatic driving mode is off, the automatic driving active takeover function switching section 110 turns on the automatic driving active takeover function, that is, sets the automatic driving active takeover function flag to "on", and when the determination result of the automatic driving mode switch determining section 130 is that the current vehicle 2 is in the state where the automatic driving mode is on, the automatic driving active takeover function switching section 110 turns off the automatic driving active takeover function, that is, sets the automatic driving active takeover function flag to "off".
The hands-off steering wheel detection unit 140 detects whether or not the driver has left the steering wheel with both hands, and outputs the result to the automatic driving active pipe unit 120. The hands-off steering wheel detection unit 140 may always perform detection at a certain time interval after the vehicle is started, or may perform detection only in a state where the automatic driving active takeover function is on. In the present embodiment, the hands-off steering wheel detection unit 140 detects only when the automatic driving active takeover function is on, that is, only when the automatic driving active takeover function is marked "on".
The hands-off steering wheel detecting unit 140 may detect whether an object touches the steering wheel using a plurality of capacitance sensors mounted on the steering wheel, may detect whether an object presses the steering wheel using a plurality of pressure sensors, or may detect whether the driver's hands are off the steering wheel by analyzing a camera that captures an image of the entire steering wheel. In the present embodiment, a plurality of capacitive sensors are used for detection. A capacitive sensor is a touch-based sensing device for detecting the presence of a conductive object, such as the driver's hand.
In a state where the automatic driving active takeover function is on, that is, in a state where the automatic driving active takeover function flag is "on", if the detection result of the hands-off steering wheel detecting section 140 is that there is a case where both hands of the driver leave the steering wheel, the automatic driving active takeover section 120 switches the vehicle 2 to the automatic driving mode, thereby realizing the automatic driving active takeover.
According to the automatic driving active takeover system, even after the automatic driving mode is actively closed by the driver, if the driver temporarily separates hands from the steering wheel due to some special conditions, the automatic driving system can take over and switch the vehicle to the automatic driving mode, so that the driving safety is ensured.
In addition, since the safety level of the autopilot active takeover function is extremely high and it is necessary to always turn on the autopilot mode in a state where the autopilot mode is turned off, the switch (button/key) for turning off the autopilot active takeover function is not separately provided, and only the autopilot active takeover function switching section 110 of the autopilot active takeover system 100 can turn off the autopilot active takeover function. This prevents the driver from turning off the function autonomously.
In addition, the autonomous driving active takeover system 100 according to the present embodiment includes the autonomous driving mode switch determination unit 130 and the hands-off steering wheel detection unit 140, but the present invention is not limited thereto, and the autonomous driving mode switch determination unit 130 and the hands-off steering wheel detection unit 140 may be provided outside the autonomous driving active takeover system 100, and the determination result and the detection result may be provided to the autonomous driving active takeover system 100.
In the description of the autonomous driving active takeover system 100 according to the above embodiment, the above-described division of the functional units is merely exemplified, but the present invention is not limited thereto. In practical applications, the above function distribution may be performed by different functional units according to needs, that is, the internal structure of the system is divided into different functional units to perform all or part of the above described functions.
An autonomous driving active takeover method relating to the autonomous driving active takeover system is described below with reference to fig. 2.
Fig. 2 shows a flow chart of an autonomous driving active takeover method. First, the autonomous driving active takeover system 100 performs system initialization including self-tests of various relevant sensors as hardware and initialization of various parameters of software at a preset period t (S101). After the system initialization is completed, the process proceeds from step S101 to step S102.
In step S102, the automated driving mode switch determination unit 130 determines whether or not the automated driving mode is off, and if it is determined that the automated driving mode is off (yes), the process proceeds to step S104, and if it is determined that the automated driving mode is on (no), the process proceeds to step S103.
In step S103, the autopilot active takeover function switching section 110 turns off the autopilot active takeover function, that is, sets the autopilot active takeover function flag to off, and returns to step S101.
In step S104, since the automatic driving mode switch determination unit 130 determines that the automatic driving mode is off, in this case, in order to improve the driving safety, the automatic driving active takeover function switch unit 110 turns on the automatic driving active takeover function, that is, sets the automatic driving active takeover function flag to "on", and proceeds to step S105.
In step S105, the hands-off steering wheel detection unit 140 detects whether or not the driver has left the steering wheel with both hands, and if there is a case where the driver has left the steering wheel with both hands (yes), the process proceeds to step S106, and if there is no case where the driver has left the steering wheel with both hands (no), the process returns to step S101.
In step S106, the automated driving active pipe segment 120 switches the vehicle (2) to the automated driving mode, and then returns to step S101.
Thus, the above steps S101 to S106 are executed cyclically at a predetermined period t.
In order to prevent a safety accident and improve driving safety, it is necessary to turn on the automatic driving active takeover function in real time after the automatic driving mode is turned off, and therefore, it is necessary to execute the above steps at a short period t, and the predetermined period t is preferably several milliseconds, and more preferably several zero milliseconds. Therefore, the on-off state of the automatic driving mode can be judged in real time, and the condition that whether the driver has hands separated from the steering wheel or not can be detected in real time.
In the present embodiment, the hands-off steering wheel detection unit 140 detects the hands-off by using a plurality of capacitance sensors attached to the steering wheel, but other sensors may be used. For example, a pressure sensor mounted on a steering wheel is used, and unlike a capacitive sensor, the pressure sensor cannot output a sensing signal only by contact, and the pressure sensor needs to output a sensing signal only by applying a certain force. The hands-off steering wheel detection unit 140 may detect whether or not the hands are off the steering wheel by using a camera provided in the vehicle, the camera being configured to capture an image of the entire steering wheel, and analyze the captured image by using an image analysis system, thereby detecting whether or not the hands are off the steering wheel.
The parts related to the embodiments of the present invention may be implemented in a software manner, or may be implemented in a hardware manner.
Although the present invention has been described with reference to the present specific embodiments, it will be appreciated by those skilled in the art that the scope of the invention herein involved is not limited to the specific combination of the above features, but also encompasses other embodiments formed by any combination of the above features or their equivalents without departing from the inventive concept. For example, the above features and (but not limited to) features having similar functions disclosed in the present invention are mutually replaced to form the technical solution.

Claims (10)

1.一种自动驾驶主动接管系统，该自动驾驶主动接管系统搭载于车辆，其特征在于，包括：1. an automatic driving active takeover system, the automatic driving active takeover system is mounted on a vehicle, it is characterized in that, comprises: 自动驾驶主动接管功能开关部，该自动驾驶主动接管功能开关部在自动驾驶模式关闭的情况下开启自动驾驶主动接管功能，在自动驾驶模式开启的情况下关闭所述自动驾驶主动接管功能；以及an automatic driving active takeover function switch part, the automatic driving active takeover function switch part turns on the automatic driving active takeover function when the automatic driving mode is turned off, and turns off the automatic driving active takeover function when the automatic driving mode is turned on; and 自动驾驶主动接管部，在所述自动驾驶主动接管功能开启的状态下，若检测到双手离开方向盘的情况，则该自动驾驶主动接管部使所述车辆切换成自动驾驶模式。The automatic driving active takeover unit, when the automatic driving active takeover function is turned on, if it is detected that the hands are off the steering wheel, the automatic driving active takeover unit switches the vehicle to the automatic driving mode. 2.如权利要求1所述的自动驾驶主动接管系统，其特征在于，还包括：2. The automatic driving active takeover system of claim 1, further comprising: 自动驾驶模式开关判断部，该自动驾驶模式开关判断部实时地对自动驾驶模式的开关状态进行判断，并将结果输出给所述自动驾驶主动接管功能开关部。An automatic driving mode switch judgment unit, which judges the switching state of the automatic driving mode in real time, and outputs the result to the automatic driving active takeover function switch unit. 3.如权利要求1或2所述的自动驾驶主动接管系统，其特征在于，还包括：3. The automatic driving active takeover system according to claim 1 or 2, characterized in that, further comprising: 手离方向盘检测部，该手离方向盘检测部实时地对驾驶员的双手有无离开所述方向盘进行检测，并将检测结果输出给所述自动驾驶主动接管部。The hands-off steering wheel detection unit detects in real time whether the driver's hands are off the steering wheel, and outputs the detection result to the automatic driving active takeover unit. 4.如权利要求3所述的自动驾驶主动接管系统，其特征在于，4. The automatic driving active takeover system according to claim 3, characterized in that, 所述手离方向盘检测部包括设置于所述方向盘上的多个传感器，以用于检测所述驾驶员的双手有无离开所述方向盘。The hand-off-steering-wheel detection unit includes a plurality of sensors disposed on the steering wheel, so as to detect whether the driver's hands are off the steering wheel. 5.如权利要求4所述的自动驾驶主动接管系统，其特征在于，5. The automatic driving active takeover system according to claim 4, wherein, 多个所述传感器包括以下至少一项：电容传感器，用于检测是否有物体接触所述方向盘；以及压力传感器，用于检测是否有物体按压所述方向盘。The plurality of the sensors include at least one of: a capacitive sensor for detecting whether an object is touching the steering wheel; and a pressure sensor for detecting whether an object is pressing on the steering wheel. 6.如权利要求3所述的自动驾驶主动接管系统，其特征在于，6. The automatic driving active takeover system according to claim 3, wherein, 所述手离方向盘检测部包括设置于所述车辆的摄像头，以用于拍摄所述方向盘的整体，通过拍摄到的图像来分析所述驾驶员的双手有无离开所述方向盘。The hands-off-steering-wheel detection unit includes a camera installed on the vehicle for photographing the entirety of the steering wheel, and analyzes whether the driver's hands are off the steering wheel through the photographed image. 7.如权利要求1或2所述的自动驾驶主动接管系统，其特征在于，7. The automatic driving active takeover system according to claim 1 or 2, characterized in that, 仅所述自动驾驶主动接管功能开关部能关闭所述自动驾驶主动接管功能。Only the automatic driving active takeover function switch unit can turn off the automatic driving active takeover function. 8.一种自动驾驶主动接管方法，其特征在于，包括如下步骤：8. A method for taking over automatically by automatic driving, comprising the steps of: 自动驾驶主动接管功能开启步骤，该自动驾驶主动接管功能开启步骤中，在自动驾驶模式关闭的情况下开启自动驾驶主动接管功能，在自动驾驶模式开启的情况下关闭自动驾驶主动接管功能；以及The step of enabling the automatic driving active takeover function, in the step of enabling the automatic driving active takeover function, the automatic driving active takeover function is turned on when the automatic driving mode is turned off, and the automatic driving active takeover function is turned off when the automatic driving mode is turned on; and 自动驾驶主动接管步骤，该自动驾驶主动接管步骤中，在自动驾驶主动接管功能开启的状态下，若检测到双手离开方向盘的情况，则使车辆切换成自动驾驶模式。The automatic driving active takeover step, in the automatic driving active takeover step, when the automatic driving active takeover function is turned on, if it is detected that the hands leave the steering wheel, the vehicle is switched to the automatic driving mode. 9.如权利要求8所述的自动驾驶主动接管方法，其特征在于，还包括如下步骤：9. The automatic driving active takeover method of claim 8, further comprising the steps of: 自动驾驶模式开关判断步骤，该自动驾驶模式开关判断步骤中，实时地对自动驾驶模式的开关状态进行判断，并将结果提供给所述自动驾驶主动接管功能开关步骤。The automatic driving mode switch judgment step, in the automatic driving mode switch judgment step, the switch state of the automatic driving mode is judged in real time, and the result is provided to the automatic driving active takeover function switch step. 10.如权利要求8所述的自动驾驶主动接管方法，其特征在于，还包括如下步骤：10. The automatic driving active takeover method of claim 8, further comprising the steps of: 手离方向盘检测步骤，该手离方向盘检测步骤中，实时地对驾驶员的双手离开所述方向盘的情况进行检测，并将检测结果提供给所述自动驾驶主动接管步骤。In the hands off steering wheel detection step, the hands off the steering wheel are detected in real time, and the detection result is provided to the automatic driving active takeover step.
CN201911233218.0A 2019-12-05 2019-12-05 Autonomous driving active takeover system and method Pending CN110901643A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911233218.0A CN110901643A (en) 2019-12-05 2019-12-05 Autonomous driving active takeover system and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911233218.0A CN110901643A (en) 2019-12-05 2019-12-05 Autonomous driving active takeover system and method

Publications (1)

Publication Number Publication Date
CN110901643A true CN110901643A (en) 2020-03-24

Family

ID=69822850

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911233218.0A Pending CN110901643A (en) 2019-12-05 2019-12-05 Autonomous driving active takeover system and method

Country Status (1)

Country Link
CN (1) CN110901643A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115042780A (en) * 2022-05-25 2022-09-13 江铃汽车股份有限公司 A method and system for taking over of a lateral assisted driving system
CN115959189A (en) * 2023-01-16 2023-04-14 顺达（芜湖）汽车饰件有限公司 Hands-off induction steering wheel and control method thereof

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5906645A (en) * 1995-12-04 1999-05-25 Toyota Jidosha Kabushiki Kaisha Auto-drive control unit for vehicles
KR20150010435A (en) * 2013-07-19 2015-01-28 주식회사 만도 Driver's Steering Intention Judging Apparatus for Vehicle and Driver's Steering Intention Judging Method Using the Same
CN105270407A (en) * 2015-10-20 2016-01-27 广州橙行智动汽车科技有限公司 Driving mode switching method and system for automatic driving automobile
US20170151950A1 (en) * 2015-11-27 2017-06-01 Hon Hai Precision Industry Co., Ltd. Driving mode switching system and method for automobile
CN106809216A (en) * 2015-11-27 2017-06-09 鸿富锦精密工业（深圳）有限公司 Vehicle driving model switching system and method
CN107031468A (en) * 2015-11-24 2017-08-11 株式会社斯巴鲁 The control device and armrest system of handrail
CN107848542A (en) * 2015-08-03 2018-03-27 标致雪铁龙汽车股份有限公司 Operation method of automatic driving assistance system of motor vehicle
CN107848538A (en) * 2015-07-29 2018-03-27 日本艺美极株式会社 The automated driving system of vehicle
CN109229092A (en) * 2017-06-16 2019-01-18 现代自动车株式会社 Autonomous driving control equipment, autonomous driving control method and the Vehicular system of vehicle
CN109318906A (en) * 2018-10-30 2019-02-12 奇瑞汽车股份有限公司 Intelligent vehicle takeover detection method, device and storage medium

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5906645A (en) * 1995-12-04 1999-05-25 Toyota Jidosha Kabushiki Kaisha Auto-drive control unit for vehicles
KR20150010435A (en) * 2013-07-19 2015-01-28 주식회사 만도 Driver's Steering Intention Judging Apparatus for Vehicle and Driver's Steering Intention Judging Method Using the Same
CN107848538A (en) * 2015-07-29 2018-03-27 日本艺美极株式会社 The automated driving system of vehicle
CN107848542A (en) * 2015-08-03 2018-03-27 标致雪铁龙汽车股份有限公司 Operation method of automatic driving assistance system of motor vehicle
CN105270407A (en) * 2015-10-20 2016-01-27 广州橙行智动汽车科技有限公司 Driving mode switching method and system for automatic driving automobile
CN107031468A (en) * 2015-11-24 2017-08-11 株式会社斯巴鲁 The control device and armrest system of handrail
US20170151950A1 (en) * 2015-11-27 2017-06-01 Hon Hai Precision Industry Co., Ltd. Driving mode switching system and method for automobile
CN106809216A (en) * 2015-11-27 2017-06-09 鸿富锦精密工业（深圳）有限公司 Vehicle driving model switching system and method
CN109229092A (en) * 2017-06-16 2019-01-18 现代自动车株式会社 Autonomous driving control equipment, autonomous driving control method and the Vehicular system of vehicle
CN109318906A (en) * 2018-10-30 2019-02-12 奇瑞汽车股份有限公司 Intelligent vehicle takeover detection method, device and storage medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115042780A (en) * 2022-05-25 2022-09-13 江铃汽车股份有限公司 A method and system for taking over of a lateral assisted driving system
CN115959189A (en) * 2023-01-16 2023-04-14 顺达（芜湖）汽车饰件有限公司 Hands-off induction steering wheel and control method thereof

Similar Documents

Publication Publication Date Title
CN103241241B (en) Cruise control convenience
US20170305425A1 (en) Driverless vehicle, driverless vehicle control method and driverless vehicle control apparatus
EP3336643B1 (en) Autonomous driving system
CN103124662B (en) Vehicle emergency withdrawal device
CN105711596B (en) For controlling the method for motor vehicle and its equipment
KR102299825B1 (en) Apparatus for detecting obstacle in vehicle and control method thereof
US9888875B2 (en) Driver monitoring apparatus
US20140121927A1 (en) Vehicle emergency evacuation device
US20170166114A1 (en) Apparatus and method for controlling turn signal for electronic multifunction switch
JP2017077823A (en) Stop control device
JP2019533604A (en) Method and apparatus for assisting a driver when the vehicle's highly automatic driving mode is stopped
CN108944950B (en) Method and device for switching control of vehicle driving mode
CN110740911A (en) Vehicle driving support method and driving support device
CN109703559B (en) Vehicle speed limit safety control method and device
CN110446645A (en) vehicle control device
CN110901643A (en) Autonomous driving active takeover system and method
JP2018160169A (en) Controller of lane departure warning system, vehicle and lane departure warning control method
CN113428149A (en) Vehicle control device and vehicle control method
JP2022164725A (en) Operation takeover control device, method and program
CN102700461A (en) Audible and visual alarm method of full electric vehicle when driver leaves position
CN108216246B (en) Automatic safe driving interaction system and decision-making method thereof
JP2016215793A (en) Automatic operation control device
JP2018127066A (en) Parking support device
CN110341707B (en) Lane keeping control system, lane keeping control method, and vehicle
JP6401559B2 (en) Crew state estimation device

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
TA01 Transfer of patent application right
TA01 Transfer of patent application right

Effective date of registration: 20230417

Address after: Building 7, No. 600 Xingxian Road, Jiading District, Shanghai, 201815

Applicant after: Continental Zhixing Technology (Shanghai) Co.,Ltd.

Address before: No. 600, Xingxian Road, industrial zone, Jiading District, Shanghai, 201815

Applicant before: Continental tamic Automotive Systems (Shanghai) Co.,Ltd.

CB02 Change of applicant information
CB02 Change of applicant information

Country or region after: China

Address after: Building 7, No. 600 Xingxian Road, Jiading District, Shanghai, 201815

Applicant after: Oumeiweizhixing Technology (Shanghai) Co., Ltd.

Address before: Building 7, No. 600 Xingxian Road, Jiading District, Shanghai, 201815

Applicant before: Continental Zhixing Technology (Shanghai) Co.,Ltd.

Country or region before: China

RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20200324