Control method for guiding a vehicle to automatically park and vehicle

Abstract

The present application provides a control method and a vehicle for guiding automatic vehicle parking. The control method includes: step S100, receiving a trigger signal for triggering the automatic parking mode; step S200, determining whether the distance between the vehicle and the following vehicle meets a set distance Sset for releasing a parking warning device; and step S300, when the determination result is yes, calculating a release time point t2 of the parking warning device based on a running distance Sstop of the vehicle from triggering the automatic parking mode to parking and a specified distance Slegal between the vehicle and the parking warning device; step S400, releasing the parking warning device when the release time point t2 is reached. According to the control method and the vehicle for guiding automatic vehicle parking of the present application, it is determined whether the distance for automatic vehicle parking is appropriate through step S200, and a calculation method for the release time point of the parking warning device is specifically proposed through step S300, thereby proposing a practical control process for automatic vehicle parking, meeting regulatory requirements and having high safety at the same time.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle autonomous driving, and more specifically, to a control method and a vehicle for guiding a vehicle to automatically park. Background Art

[0002] In the prior art, for a vehicle including an autonomous driving system, during its operation, for example, when it is running on a highway, it is generally desired that the autonomous driving system can autonomously take over the vehicle and achieve automatic parking when various abnormal conditions occur during the operation of the vehicle. For such parking scenarios, it is usually also necessary for the autonomous driving system to control the throwing of a parking warning device before parking, so as to be able to play a sufficient warning role for the following vehicles. Although such concepts have been proposed, how to specifically implement the pre-judgment, process operation, and post-processing of automatic parking is still being continuously explored and practiced. For example, regarding its pre-judgment, how to determine whether the current vehicle meets the safety requirements and regulatory requirements for automatic parking has become an urgent problem to be solved. And for the process operation, how to determine the timing of throwing the parking warning device has also become an urgent problem to be solved. Summary of the Invention

[0003] The present application aims to provide an improved control method and a vehicle for guiding a vehicle to automatically park, so as to effectively solve or alleviate at least one problem in the prior art.

[0004] According to one aspect of the present application, there is provided a control method for guiding a vehicle to automatically park, which includes: step S100, receiving a trigger signal for triggering the automatic parking mode; step S200, determining whether the distance between the vehicle and the following vehicle meets a set distance S for releasing a parking warning device set ; and step S300, when the judgment result is yes, calculating a release time point t2 of the parking warning device based on the running distance S of the vehicle from triggering the automatic parking mode to parking stop and the specified distance S between the vehicle and the parking warning device legal ; step S400, releasing the parking warning device when the release time point t2 is reached.

[0005] According to another aspect of the present application, there is provided a vehicle, which includes an autonomous driving system having an automatic parking mode; and the autonomous driving system is used to execute the control method as described above.

[0006] According to the control method and the vehicle for guiding a vehicle to automatically park of the present application, step S200 is used to judge whether the distance for the vehicle to automatically park is appropriate, and step S300 specifically proposes a calculation method for the release time point of the parking warning device, thereby proposing a practical vehicle automatic parking control process, which meets regulatory requirements and has high safety. Brief Description of the Drawings

[0007] Referring to the following detailed description of the specific embodiments in conjunction with the accompanying drawings, the present application will be more fully understood. The same reference numerals in the drawings refer to the same elements in the views. Among them:

[0008] Figure 1 is a schematic diagram of an embodiment of the vehicle automatic parking of the present application.

[0009] Figure 2 is a control flowchart of an embodiment of the control method for guiding the vehicle to automatically park of the present application. Specific Embodiments

[0010] First of all, it should be noted that the following will illustrate the control method for guiding the vehicle to automatically park according to the present application, as well as the composition, working principle, characteristics and advantages of the vehicle by way of examples. However, it should be understood that all the descriptions are only given for the purpose of illustration, and thus should not be construed as any limitation to the present application.

[0011] In addition, for any single technical feature described or implied in the embodiments mentioned herein, or any single technical feature shown or implied in the respective drawings, the present application still allows any combination or deletion to continue between these technical features (or their equivalents) without any technical obstacles, thereby obtaining more other embodiments of the present application that may not be directly mentioned herein.

[0012] See Figure 1 , which shows an embodiment of the vehicle automatic parking of the present application. The vehicle 100 should at least include an autonomous driving system with an automatic parking mode to facilitate the execution of the control method for guiding the vehicle to automatically park. Based on the existing autonomous driving technology classification level, such an autonomous driving system is usually defined as having a highway assist function (HWA) or an autonomous driving classification above L2. In practical applications, such an autonomous driving system can specifically be presented as an advanced driver assistance system (ADAS) or an autonomous driving system (AD). The vehicle arranged in this way provides support in terms of some software or hardware, enabling its automatic parking function to be reliably realized.

[0013] On the other hand, the vehicle is also provided with a parking warning device release device 110, which is communicatively connected to the autonomous driving system and controllably releases the parking warning device 120 from the vehicle. This arrangement provides hardware support for the release of the parking warning device 120, enabling the warning function to be reliably realized.

[0014] Furthermore, the vehicle may also be provided with a sensor group for detecting various parameters to assist in performing automatic parking control. For example, these sensors can be respectively used to detect the distance between the vehicle and the following vehicle, and the speeds of the vehicle and the following vehicle to assist in determining whether the current distance and speed are sufficient to reserve a margin for automatic parking; for another example, these sensors can also respectively detect a driver abnormal signal for determining that the driver is in an abnormal state and a vehicle fault signal for determining that the vehicle is in a fault state, to assist in determining whether the automatic driving system needs to take over the vehicle and execute the automatic parking mode. Of course, it should be understood that some of the aforementioned sensors are not necessarily sensors dedicated to performing the automatic parking function, and they can also be existing relevant settings in the vehicle and can be used to perform other functions. In this case, the automatic driving system can simply call this part of the parameters.

[0015] Here, in combination with the vehicle in the foregoing embodiment or a vehicle with similar software or hardware support, an embodiment of a control method for guiding a vehicle to automatically park is described to specifically implement the control process of automatic parking. Specifically, the control method includes: First, execute step S100 to receive a trigger signal for triggering the automatic parking mode, so that the control system of vehicle 100 starts the automatic parking mode; Second, execute step S200 to determine whether the distance between vehicle 100 and the following vehicle meets the set distance S for releasing the parking warning device 120 set ; if the set distance S is not met set , it is determined that the current situation is not suitable for executing the automatic parking mode; and if the set distance S is met set , then continue to execute step S300 to calculate the release time point t2 of the parking warning device 120 based on the running distance S of the vehicle from triggering the automatic parking mode to parking stop and the specified distance S between the vehicle and the parking warning device 120 legal ; and then execute step S400 to release the parking warning device 120 when the release time point t2 is reached. According to the control method for guiding a vehicle to automatically park according to an embodiment of the present application, it is possible to determine whether the distance for automatic parking of the vehicle is appropriate through step S200, and a calculation method for the release time point of a parking warning device is specifically proposed through step S300, thereby proposing a practical vehicle automatic parking control process, meeting regulatory requirements and having high safety.

[0016] The following elaborates on each step in the embodiment of the control method in order to understand the execution purpose and implementation manner of the step in detail.

[0017] First, regarding step S100, it aims to provide a trigger signal for activating the automatic parking mode. Triggering the automatic parking mode usually means that the driver is abnormal and unable to control the vehicle normally, or that the vehicle has a fault and cannot be controlled normally. Therefore, the trigger signal at least includes signals that can indicate the above problems, namely: one or more of the driver abnormal signal for determining that the driver is in an abnormal state and the vehicle fault signal for determining that the vehicle is in a fault state.

[0018] For example, the driver abnormal signal includes: one or more of the gesture detection abnormal signal, the leg detection abnormal signal, and the eye detection abnormal signal. These signals can be sensed by mature sensors, such as cameras, force sensors, displacement sensors, etc.; and usually can directly or indirectly reflect the abnormal state of the driver. For example, the abnormal gesture of the driver can be reflected by the abnormal operation of the steering wheel, and then the abnormal state of his body or mind can be reflected; also, the abnormal leg of the driver can be reflected by the abnormal operation of the accelerator and brake pedals, and then the abnormal state of his body or mind can be reflected; furthermore, the abnormal state of the driver's eyes, such as closing eyes for a long time, can be directly sensed by the camera to reflect the abnormal state of the driver's body or mind.

[0019] On the other hand, for example, the vehicle fault signal includes: one or more of the braking system abnormal signal, the steering system abnormal signal, the ADAS system abnormal signal, the AD system abnormal signal, and the sensor abnormal signal for determining that the vehicle is in a fault state. These signals can also be sensed by mature sensors; and some have been directly installed and implemented in the existing vehicle system, so there is no need to increase additional hardware costs. In addition, through the confirmation of various actual vehicle fault signals, it also helps to assist the control method to trigger automatic parking under appropriate conditions to ensure the safety of the vehicle and the driver.

[0020] In addition, regarding step S200, it aims to configure the set spacing to be sufficient to release the parking warning device so that it maintains a specified spacing from the vehicle; and enables the following vehicle to have sufficient reaction time to complete a lane change. To achieve the foregoing purpose, the set spacing in step S200 is configured as: S set > S legal + S safe + v2*T react ; where v2 is the driving speed of the following vehicle sensed when the vehicle receives the trigger signal for activating the automatic parking mode; T react is the reaction time for the driver of the following vehicle to observe the presence of the parking warning device; and S safeThe safety distance required for the driver of the following vehicle from the moment of reacting to the presence of the parking warning device until completing the lane change of the following vehicle. In other words, before performing automatic parking, it should be first confirmed whether the distance between the vehicle 100 and the following vehicle 200 meets the set distance S set requirements. Specifically, the set distance S set should first reserve the regulatory distance S between the malfunctioning vehicle 100 and the placed parking warning device 120 as stipulated by law legal , e.g., the regulatory distance during the day is 150m, or the regulatory distance at night can be 200m, and this data can be adjusted according to local regulations. Secondly, the set distance S set should also reserve the reaction time of the driver of the following vehicle 200 to the parking warning device 120 and the control time and corresponding distance for operations such as lane change. Among them, the reaction time T react can be set within the system, e.g., 1s; and this data can be updated based on data collection and autonomous learning in the actual scenario. Then, by multiplying this reaction time by the real-time speed v2 of the vehicle 200, the driving distance of the following vehicle during the driver's reaction time can be obtained, and this part of the distance should be reserved. In addition, after the driver of the following vehicle reacts to the warning ahead, operations such as lane change need to be performed, so usually the reserved operation time can also be set within the system, that is, the safety distance S safe defined here, e.g., 0 - 100m; and this data can be updated based on data collection and autonomous learning in the actual scenario. The reservation of the aforementioned distances enables the vehicle to have sufficient margin to cope with various possible unexpected situations after executing the automatic parking mode, improving the safety of the vehicle and the driver in this mode.

[0021] Furthermore, regarding step S300, its purpose is to release the parking warning device from the vehicle at an appropriate time point, so as to both warn the following vehicle and meet the distance requirement between the parking warning device and the current vehicle stipulated by law. To achieve the aforementioned purpose, the calculation method of the release time point t2 in step S300 may include: when S set = S legal + ΔS (where ΔS is the distance error), it means that the set distance S satisfied by the vehicle distance at the moment of triggering the automatic parking mode set has approximately equaled the legal regulatory distance S legal , so directly releasing the parking warning device can meet the regulatory requirements and safety requirements, that is, the release time point t2 = t1, where t1 refers to the time point when the vehicle receives the trigger signal for triggering the automatic parking mode. And when S set > S legal , it means that the set distance S satisfied by the vehicle distance at the moment of triggering the automatic parking mode setis still greater than the legally specified spacing S legal , so there is enough margin to handle other possible accidents at this time. Therefore, the vehicle can continue to run for a period of time until S set = S legal when the parking warning device is released. This can also meet the regulatory requirements and safety requirements, that is, the release time point t2 = t1 + Δt; where Δt is the time it takes for the vehicle to run until S set =S legal . When S set < S legal , since the current distance can no longer meet the requirements of the legally specified spacing S legal , in this case, the parking warning device cannot be released in compliance, and other emergency measures should be taken.

[0022] On this basis, to further improve the warning effect, after triggering the automatic parking mode via step S100, step S110 can also be executed to trigger the warning light to start the lighting state to warn surrounding vehicles, thereby further improving the safety performance.

[0023] The above specific embodiments are only used to illustrate the present application and are not intended to limit the present application. To illustrate the relative position relationship, relative orientation terms such as left and right, up and down are used in the present application, which are not limitations on the absolute position. Those of ordinary skill in the relevant technical field can make various changes and modifications to the technical solutions of the present application without departing from the scope of the present application. Therefore, all equivalent technical solutions also belong to the scope of the present application, and the patent protection scope of the present application should be defined by the claims.

Claims

1. A control method for guiding a vehicle to automatically park, characterized in that, Including: Step S100, the vehicle receives a trigger signal for triggering the automatic parking mode at time point t1; Step S200, determine whether the current distance between the vehicle and the following vehicle meets the set distance S for releasing the parking warning device set ; And Step S300, when the judgment result is yes, calculate the release time point t2 of the parking warning object based on the running distance S of the vehicle from triggering the automatic parking mode to parking stop and the specified distance S between the vehicle and the parking warning object legal ; Step S400, at the arrival of the release time point t2, release the parking warning device, wherein, the calculation of the release time point t2 in the step S300 includes: When S set = S legal + ΔS, then t2 = t1; When S set > S legal , then t2 = t1 + Δt; When S set <S legal is the case, the parking warning device cannot be released; where Δt is the time taken for the vehicle to travel to make S set = S legal ; ΔS is the distance error.

2. The control method according to claim 1, wherein The set spacing in the step S200 is configured to: S set >S legal +S safe +v2*T react ; Wherein, v2 is the driving speed of the vehicle behind sensed when the vehicle receives a trigger signal for triggering the automatic parking mode; T react is the reaction time for the driver of the vehicle behind to observe the presence of the parking warning object; and S safe is the safe distance required for the driver of the vehicle behind to complete a lane change of the vehicle behind after reacting to the presence of the parking warning object.

3. The control method according to any one of claims 1 to 2, characterized in that, The trigger signal includes: a driver abnormal signal for determining that the driver is in an abnormal state and / or a vehicle fault signal for determining that the vehicle is in a fault state.

4. The control method according to claim 3, wherein The driver abnormal signal includes: one or more of a gesture detection abnormal signal, a leg detection abnormal signal, and an eye detection abnormal signal.

5. The control method according to claim 3, wherein The vehicle fault signal includes: one or more of a braking system abnormal signal, a steering system abnormal signal, an ADAS system abnormal signal, an AD system abnormal signal, and a sensor abnormal signal for determining that the vehicle is in a fault state.

6. The control method according to any one of claims 1 to 2, characterized in that After step S100, it further includes: step S110, trigger the warning light to start the lighting state.

7. A vehicle, characterized in that, Including: An autonomous driving system with an automatic parking mode; the autonomous driving system is used to execute the control method according to any one of claims 1 to 6.

8. The vehicle according to claim 7, characterized in that, Including: A parking warning device release device, which is communicatively connected to the autonomous driving system and controllably releases the parking warning device from the vehicle.

9. The vehicle according to claim 7, characterized in that, It further includes: A sensor group, which is respectively used to detect the distance between the vehicle and the following vehicle, the speeds of the vehicle and the following vehicle respectively, a driver abnormal signal for determining that the driver is in an abnormal state, and a vehicle fault signal for determining that the vehicle is in a fault state.

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