The invention discloses a driving mode switching method, and the method comprises the steps: obtaining vehicle speed information and vehicle acceleration information at a current moment in response to an automatic driving activation instruction of a driver; performing speed prediction based on the vehicle speed information and the vehicle acceleration information to obtain target speed information; obtaining vehicle system error information, wherein the vehicle system error information is determined based on historical vehicle speed information and historical instrument speed information corresponding to the historical vehicle speed information; performing speed correction on the vehicle speed information based on the target speed information and the vehicle system error information to obtain a vehicle correction speed; and controlling the vehicle to be switched to an automatic driving mode according to the vehicle correction speed. The vehicle speed control logic at the moment of activation of the automatic driving system is optimized, smooth transition from manual driving to automatic driving is achieved, and the problem of vehicle longitudinal control jittering in the take-over process of the automatic driving system is solved.

    本申请公开了一种驾驶模式的切换方法,该方法通过响应于驾驶员的自动驾驶激活指令,获取当前时刻的车辆速度信息和车辆加速度信息;基于所述车辆速度信息和所述车辆加速度信息进行速度预测,得到目标速度信息;获取车辆系统误差信息,所述车辆系统误差信息是基于历史车辆速度信息和所述历史车辆速度信息对应的历史仪表速度信息确定的;基于所述目标速度信息和所述车辆系统误差信息对所述车辆速度信息进行速度修正,得到车辆修正速度;控制车辆按照所述车辆修正速度切换至自动驾驶模式。通过优化了自动驾驶系统激活瞬间的车速控制逻辑,实现手动驾驶切换到自动驾驶平滑过度,解决了自动驾驶系统接管过程中的车辆纵向控制抖动的问题。


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    Title :

    Driving mode switching method and device, equipment and storage medium


    Additional title:

    驾驶模式的切换方法、装置、设备及存储介质


    Contributors:

    Publication date :

    2025-02-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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