A low-speed parking intelligent speed limit method, system and vehicle thereof

Abstract

The present invention discloses a low-speed parking intelligent speed limit method, system and vehicle thereof. The method steps specifically include: judging whether to select the autonomous parking mode or the intelligent parking mode by judging the gear data, or by jointly judging the gear data and the speed data; detecting the reverse observation data, reverse gear data, reverse throttle data and reverse speed data in the intelligent parking mode, and if it is judged that one or more of the reverse observation, reverse gear, reverse throttle and reverse speed have process errors or / and exceed the threshold, a warning message is issued, and / or a protection action is performed; the intelligent speed limit system and vehicle thereof correspond to the method. Through the above solution, the problem that when the driver is reversing, the actual operation does not conform to the driving intention, which poses a threat to the driving safety of the vehicle, is solved.

Description

Technical Field

[0001] The present invention relates to the field of low-speed parking, and in particular to a low-speed parking intelligent speed limit method, system and vehicle thereof. Background Art

[0002] Due to complex road conditions and irregular parking spaces, when it is necessary to frequently switch between reverse gear and forward gear to adjust the vehicle body, the driver's attention is distracted, resulting in incorrect judgment of the environment around the vehicle body, and incorrect operation of the gear not being consistent with the vehicle driving direction, which may cause the vehicle to suddenly accelerate and rush out, bringing danger.

[0003] In recent years, there have often been videos showing that when the driver hangs the forward gear during parking but mistakenly thinks it is the reverse gear, the vehicle suddenly rushes forward and hits the railing or wall when stepping on the accelerator; or due to distraction to one side, the vehicle hits the obstacle on the other side during backward driving.

[0004] The inventor found that the existing reverse radar and panoramic imaging functions can only remind the driver to pay attention, cannot achieve reasonable auxiliary braking, and do not have the matching recognition of the vehicle driving direction and gear.

[0005] The inventor believes that a solution needs to be designed to monitor the driver's attention direction through an in-vehicle camera, and combined with the gear state and switching frequency, comprehensively judge whether the driver of the current vehicle needs intelligent assistance for reversing, and during the intelligent assisted reversing process, judge whether the driver's operation violates the normal method of reversing operation, assist the driver to complete the reversing operation, and give warnings for extreme operations: such as sound and light alarms, and protective treatments: such as emergency braking to stop the vehicle, so as to avoid dangerous situations and protect the safety of people including the driver. Summary of the Invention

[0006] The purpose of the present invention is to provide a low-speed parking intelligent speed limit method, system and vehicle thereof, so as to solve the problems of: identifying whether the driver wants to reverse, identifying whether the driver has sufficient ability to independently complete the reversing, identifying whether the driver's actual operation violates the reversing intention, intelligently assisting the driver to complete the reversing operation, identifying the reversing operations that should give warnings, identifying the reversing operations that should be restricted, identifying the reversing operations that should be protected, giving appropriate warnings for the reversing operations, giving timely restrictions on the reversing operations, and giving appropriate, timely and effective protection for the reversing operations.

[0007] The present invention provides the following solutions:

[0008] A low-speed parking intelligent speed limit method specifically includes:

[0009] Based on the gear data judgment, or jointly judging by the gear data and speed data, select whether to enter the automatic parking mode or the intelligent parking mode;

[0010] Detect the reverse observation data, reverse gear data, reverse throttle data, and reverse speed data in the intelligent parking mode. If one or more of the reverse observation, reverse gear, reverse throttle, and reverse speed have a process error or / and exceed the threshold, a warning message will be issued, and / or a protection action will be taken.

[0011] Furthermore, the intelligent parking mode includes:

[0012] Steps to judge abnormal gear shifting:

[0013] Obtain the reverse gear data. If the current gear is in reverse and there is no other gear data in the record within the first time threshold before, it is judged that the gear shifting is normal, and enter the steps to judge abnormal speed; otherwise, it is judged that the gear shifting is abnormal and enter the intelligent parking steps;

[0014] Steps to judge abnormal speed:

[0015] Obtain the reverse speed data. If the reverse speed data is always greater than or equal to the first reverse speed threshold and less than the second speed threshold, continue with the automatic parking; otherwise, perform intelligent parking.

[0016] Furthermore, the intelligent parking mode includes:

[0017] Steps to judge reverse speed: Obtain the reverse speed data,

[0018] When the reverse speed is greater than or equal to the second reverse speed threshold, enter the warning protection steps;

[0019] Steps to judge reverse observation: Obtain the reverse observation data,

[0020] When the perspective is focused on one of the side mirrors and the current gear is in reverse, activate the sensing device to observe the other side and the rear to compensate for the blind spot;

[0021] If an obstacle is detected on the reverse path and it is less than the collision safety distance threshold, enter the warning protection steps;

[0022] When the time when the perspective is not focused on any side mirror is less than the fourth time threshold and the current gear is in reverse, enter the warning protection steps;

[0023] Steps to judge reverse gear: Obtain the reverse gear data,

[0024] If the current gear changes from reverse to non-reverse and the perspective is focused on one of the side mirrors, it is judged that the gear is inconsistent with the reverse operation and enter the steps to judge reverse throttle;

[0025] Steps for judging reverse throttle: Obtain throttle transformation data,

[0026] When the throttle pedal opening data is greater than the safe throttle threshold, enter the warning protection steps;

[0027] Steps for warning protection:

[0028] Enter the warning protection steps from the steps for judging reverse speed; Brake to decelerate. If within the third time threshold, the reverse speed data is less than the second reverse speed threshold, stop braking; Otherwise, brake until the vehicle stops moving, and / or shift the gear back to the parking gear;

[0029] Enter the warning protection steps from the steps for judging reverse observation; Brake to decelerate, brake until the vehicle stops moving, and / or shift the gear back to the parking gear;

[0030] Enter the warning protection steps from the steps for judging reverse throttle; Brake to decelerate, limit the throttle speed. If within the second time threshold, the throttle pedal opening data is less than or equal to the safe throttle threshold and the reverse speed data is less than the second reverse speed threshold, give a warning; Otherwise, brake until the vehicle stops moving, and / or shift the gear back to the parking gear.

[0031] Furthermore, it includes: In the steps for judging reverse observation, when the perspective focus changes from one side mirror to the other side mirror, activate the sensing device to observe the side and rear areas to compensate for the blind spots.

[0032] Furthermore, it includes: The safe throttle threshold includes the current opening data of the throttle pedal and the throttle pedal opening transformation rate data.

[0033] A low-speed parking intelligent speed limit system, including:

[0034] A reverse gear module, used to collect gear data and gear transformation data;

[0035] A reverse speed module, used to collect reverse speed data;

[0036] A reverse observation module, used to collect perspective focus data and used to collect data on obstacles in the driving route;

[0037] A reverse throttle module, used to collect throttle pedal data;

[0038] The collected data is used to judge the state of the vehicle during reverse driving.

[0039] Furthermore, it also includes:

[0040] A protection operation module, used to give warnings, brake to decelerate, control the throttle, and reset the gear to the parking gear;

[0041] A threshold operation module for setting a first time threshold, a second time threshold, a third time threshold, and a fourth time threshold; for setting a first reverse speed threshold and a second reverse speed threshold; for setting a safety throttle threshold; and for setting a collision safety distance threshold.

[0042] A decision operation module for deciding whether to enter intelligent parking; for deciding whether to give a warning, decelerate, control the throttle, and reset the gear to the parking gear.

[0043] Assist in reverse during intelligent parking mode.

[0044] An electronic device includes: a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete communication with each other through the communication bus.

[0045] A computer program is stored in the memory. When the computer program is executed by the processor, the processor is caused to execute the steps of the method.

[0046] A computer-readable storage medium stores a computer program executable by an electronic device. When the computer program runs on the electronic device, the electronic device is caused to execute the steps of the method.

[0047] A vehicle with a low-speed parking intelligent speed limit function specifically includes:

[0048] An electronic device for implementing the steps of the low-speed parking intelligent speed limit method.

[0049] A processor that runs a program. When the program runs, the steps of the low-speed parking intelligent speed limit method are executed based on the data output from the electronic device.

[0050] A storage medium for storing a program. When the program runs, the steps of the low-speed parking intelligent speed limit method are executed for the data output from the electronic device.

[0051] The present invention has the following advantages compared with the prior art:

[0052] In the initial stage of reverse, starting from when the vehicle stops and shifts gears, generally normal drivers will shift gears smoothly and there is no need to try back and forth at all. By shifting gears and chaotic gear shifting, it can be recognized that the drivers all have the intention to reverse, but their driving abilities are different; select drivers with clear driving intentions and insufficient driving abilities, and use the auxiliary system of this solution to help complete the reverse driving operation, making the assistance targeted.

[0053] During the initial stages of reversing, besides ensuring a clear gear shift, there may also be complex road conditions behind. Even experienced drivers need to be cautious. By controlling the vehicle's speed, they can identify when their driving ability is insufficient and choose the right time to activate the assistance system to help them complete the reversing maneuver.

[0054] When entering the assisted driving stage, the driver may still be confused about gear shifting, and even unsure whether the gear is in reverse. The driver will try to shift gears back and forth while constantly checking the rearview mirror. This means that the driver still wants to reverse, but the actual gear shift operation is already in another gear. The vehicle cannot move backward as the driver intended. The assistance system will not exit easily, so the driver is fully protected.

[0055] The most common method for assisting the driver in completing the reversing operation is to detect the road condition. However, this does not mean that the road condition needs to be detected in non-blind spots. If the scope of the road condition detection is too broad, false alarms will increase when passing through narrow roads on one side, which will interfere with driving. This solution adopts a detection method to compensate for the blind spot, so that the driver can operate precisely on the side he is observing, improving the passability.

[0056] Recognizing that the driver's habit of constantly switching between mirrors is normal driving behavior, not chaotic driving, the assist system maintains detection in the blind spot, which helps with passability on narrow roads on both sides.

[0057] Detect throttle anomalies during reversing, especially when the gears are confused. There is a high possibility that the driver's attempted operation is contrary to his true intention, and he may mistake the brake for the accelerator. However, we must also consider that reversing is uphill, and unstable throttle and fluctuating are normal. Through auxiliary throttle control, the vehicle speed and speed are controlled at the appropriate position, which not only prevents the wrong pedal from being pressed, but also improves the vehicle's ability to climb the slope;

[0058] Reversing is a continuous and tentative process. Appropriate advance warnings, such as voice warnings, can help drivers promptly notice improper operation without excessively disrupting smooth operation.

[0059] Reversing is a continuous and trial-and-error process. Appropriate pre-emptive restrictive actions, such as limiting the throttle and speed, can help the driver promptly notice improper operation without excessively disrupting smoothness. For example, when reversing downhill, the vehicle speed may increase involuntarily, and the driver may be focused on observing and forget to brake.

[0060] The reverse operation is a continuous and exploratory process. However, if the driver is overconfident, confused, or negligent, it may cause the driving to deviate from the originally safe and controllable range. In addition to controlling the accelerator and brake, the gear is also shifted back to the parking gear to more thoroughly solve the problem of protecting personnel and property and prevent potential dangers such as stalling due to the accelerator and subsequent risks. For example, in the case of reverse rolling, the vehicle has already stopped by braking. The driver turns off the engine to gain a sense of security, resulting in the failure of the brake oil pump. Shifting the gear to the parking gear can avoid this situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0062] Figure 1 is the flowchart of the method for intelligent speed limit in low-speed parking;

[0063] Figure 2 is the system architecture diagram of the intelligent speed limit in low-speed parking;

[0064] Figure 3 is the flowchart of an embodiment in the intelligent parking mode;

[0065] Figure 4 is the flowchart of the method for judging driving intention in an embodiment;

[0066] Figure 5 is the flowchart of an embodiment for a specific vehicle to reverse;

[0067] Figure 6 is the system architecture diagram of the electronic device. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0068] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the scope of protection of the present invention.

[0069] As Figure 1 shown in the method for intelligent speed limit in low-speed parking, it specifically includes:

[0070] Judging through gear data or jointly judging through gear data and speed data to select whether to enter the autonomous parking mode or the intelligent parking mode;

[0071] Detect the reverse observation data, reverse gear data, reverse throttle data, and reverse speed data in the intelligent parking mode. If one or more of the reverse observation, reverse gear, reverse throttle, and reverse speed have a process error or / and exceed the threshold, a warning message is issued, and / or a protection action is taken. Those skilled in the art can understand that the above process error refers to an error that does not conform to driving common sense, traffic rules, etc., and exceeding the threshold can be exceeding a reasonable reverse speed, etc.

[0072] Preferably, the intelligent parking mode includes:

[0073] Steps to judge abnormal gear shifting:

[0074] Obtain the reverse gear data. If the current gear is in reverse and there is no other gear data in the record within the first time threshold before, it is judged that the gear shifting is normal and enter the step of judging abnormal speed; otherwise, it is judged that the gear shifting is abnormal and enter the intelligent parking step;

[0075] Steps to judge abnormal speed:

[0076] Obtain the reverse speed data. If the reverse speed data is always greater than or equal to the first reverse speed threshold and less than the second reverse speed threshold, continue autonomous parking; otherwise, perform intelligent parking.

[0077] In this embodiment, the first time threshold is a window time for collecting gear shift data. If there are multiple gear shifts within this window time, it indicates that the driver may not be able to operate clearly from the gear shift during the reverse operation, resulting in multiple attempts and probes. As an unconventional operation, it can be considered that an auxiliary system is needed to assist in parking or reversing. The first time threshold can be set at about 3 seconds. Generally, this time can distinguish the difference between normal and abnormal gear shifting to a certain extent.

[0078] In this embodiment, the first reverse speed threshold is a speed that is below the safe reverse speed and relatively efficient, generally not exceeding a speed of 5 meters per hour, such as a speed of 4 meters per hour.

[0079] The second reverse speed threshold is a relatively aggressive reverse speed. Exceeding this speed may pose a greater risk. As a protection for drivers with poor driving skills, this speed is used as the permitted upper limit, and a speed of 5 meters per hour can be selected.

[0080] Preferably, the intelligent parking mode includes:

[0081] Steps to judge reverse speed: Obtain the reverse speed data,

[0082] When the reverse speed is greater than or equal to the second reverse speed threshold, enter the warning protection step;

[0083] Steps for judging reverse observation: Obtain reverse observation data,

[0084] When the perspective is focused on one of the side mirrors and the current gear is in reverse gear, activate the sensing device to observe the other side and the rear to compensate for the blind spot;

[0085] If an obstacle is detected on the reverse path and the distance is less than the collision safety distance threshold, enter the warning protection steps;

[0086] When the time that the perspective is not focused on any side mirror is less than the fourth time threshold and the current gear is in reverse gear, enter the warning protection steps; 1]

[0087] Steps for judging reverse gear: Obtain reverse gear data,

[0088] If the current gear changes from reverse gear to a non-reverse gear and the perspective is focused on one of the side mirrors, it is judged that the gear is inconsistent with the reverse operation, and enter the steps for judging reverse throttle;

[0089] Steps for judging reverse throttle: Obtain throttle change data,

[0090] When the throttle pedal opening data is greater than the safe throttle threshold, enter the warning protection steps;

[0091] Steps for warning protection:

[0092] Enter the warning protection steps from the steps for judging reverse speed; Brake to decelerate. If within the third time threshold, the reverse speed data is less than the second reverse speed threshold, stop braking; Otherwise, brake until the vehicle stops moving, or / and shift the gear back to the parking gear;

[0093] Enter the warning protection steps from the steps for judging reverse observation; Brake to decelerate, brake until the vehicle stops moving, or / and shift the gear back to the parking gear;

[0094] Enter the warning protection steps from the steps for judging reverse throttle; Brake to decelerate, limit the throttle speed. If within the second time threshold, the throttle pedal opening data of the vehicle is less than or equal to the safe throttle threshold and the reverse speed data is less than the second reverse speed threshold, give a warning; Otherwise, brake until the vehicle stops moving, or / and shift the gear back to the parking gear.

[0095] In this embodiment, the collision safety distance threshold is the distance between the vehicle and the obstacle. When reversing and getting closer to the obstacle continuously, sufficient reaction time and operation space need to be reserved. Generally, this distance can be set to 30 cm or set according to the specific vehicle model.

[0096] In this embodiment, the second time threshold is the tolerance time for releasing the accelerator. For example, when encountering a reverse slope where the accelerator needs to be increased, or when encountering a rock or pothole, the accelerator cannot be operated smoothly. To distinguish special situations from operational chaos, a second time threshold is set to distinguish the judgment time interval between smooth driver operation and chaotic driver operation. Generally, 2 seconds can be selected for the attempt, or it can be set according to the specific vehicle model and road conditions.

[0097] In this embodiment, the third time threshold is the time interval for braking and decelerating to prevent excessive braking from causing harm to the vehicle and personnel. However, a situation of reversing on a slope is not excluded. Based on the normal braking degree, it is not sufficient to safely decelerate the vehicle. If the vehicle speed has not been reduced below the second reverse speed threshold within the third time threshold, it indicates that the deceleration effect of braking is relatively passive and immediate stop is required.

[0098] In this embodiment, the fourth time threshold is the time interval for the perspective to switch from one side mirror to the other side mirror, or it is the time when the vehicle can determine that the driver is indeed observing the side mirrors. Switching the perspective from one side mirror to the other side mirror is a normal driving operation. However, in the judgment process of abnormal driving, there is a part where the perspective is not on either side mirror. It is necessary to distinguish the normal part of driving from abnormal driving. That is, the perspective change within the fourth time threshold is allowed and is not sufficient to constitute a judgment of abnormal driving. Generally, the fourth time threshold can be set at about 1 second.

[0099] In this embodiment, the safe accelerator threshold includes two reference thresholds, one is the opening degree of the accelerator pedal, and the other is the change rate of the accelerator pedal opening degree. The opening degree of the accelerator pedal determines the size of the accelerator, and the direct manifestation is the reverse speed; while the change rate of the accelerator pedal opening degree is the manifestation of suddenly stepping on the accelerator hard. On the premise of having the second reverse speed threshold, when facing a slope or pothole road surface, the unsteadiness of the accelerator is a normal phenomenon. However, continuous hard stepping on the accelerator and revving the engine at high speed are very likely to be abnormal operations. If the safe accelerator threshold still exceeds after exceeding the third time threshold, the best way is to end this abnormal operation as soon as possible. The safe accelerator threshold should be set according to the specific vehicle model, as the accelerator response and pedal control are all different.

[0100] Preferably, it includes: in the step of judging reverse observation, when the perspective focus switches from one side mirror to the other side mirror, the sensing device is activated to observe the blind area for compensation on the side opposite to the perspective focus and the rear side.

[0101] Preferably, it includes: the safe accelerator threshold includes the current opening degree data of the accelerator pedal and the change rate data of the accelerator pedal opening degree.

[0102] For the method embodiments, for the sake of simplicity, they are all described as a series of action combinations. However, those skilled in the art should be aware that the embodiments of the present invention are not limited by the described action sequences, because according to the embodiments of the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0103] As Figure 2 shown, a low-speed parking intelligent speed limit system is disclosed, including:

[0104] A reverse gear module for collecting gear data and gear shift data;

[0105] A reverse speed module for collecting reverse speed data;

[0106] A reverse observation module for collecting perspective focus data and data on obstacles in the travel route;

[0107] A reverse throttle module for collecting throttle pedal data;

[0108] The collected data is used to judge the state of the vehicle during reverse.

[0109] Preferably, it includes:

[0110] A protection operation module for giving warnings, braking and decelerating, controlling the throttle, and resetting the gear to the parking gear;

[0111] A threshold operation module for setting a first time threshold, a second time threshold, a third time threshold, and a fourth time threshold; for setting a first reverse speed threshold and a second reverse speed threshold; for setting a safe throttle threshold; for setting a collision safety distance threshold;

[0112] A decision operation module for deciding whether to enter intelligent parking; for deciding whether to give warnings, decelerate, control the throttle, and reset the gear to the parking gear;

[0113] Assist reverse in the intelligent parking mode.

[0114] It should be noted that although only the reverse gear module, reverse speed module, reverse observation module, reverse throttle module, protection operation module, threshold operation module, and decision operation module are disclosed in the architecture diagram of the present system, it does not mean that the composition of the present system is limited to the above basic modules. On the contrary, what the present invention intends to express is that based on the above basic functional modules, those skilled in the art can arbitrarily add one or more functional modules in combination with the prior art to form an infinite number of embodiments or technical solutions. That is to say, the present system is open rather than closed, and it cannot be considered that the protection scope of the claims of the present invention is limited to the disclosed basic functional modules just because only individual basic functional modules are disclosed in this embodiment. At the same time, for the convenience of description, the above device is described by function as various units and modules respectively. Of course, when implementing the present application, the functions of each unit and module can be realized in the same or multiple software and / or hardware.

[0115] As Figure 3 shown, an embodiment of a method for an intelligent parking mode is disclosed.

[0116] Step S1, a step of judging the reverse speed; obtaining reverse speed data,

[0117] When the reverse speed is greater than or equal to the second reverse speed threshold, enter the warning protection step.

[0118] Step S2, a step of judging reverse observation; obtaining reverse observation data,

[0119] When the perspective is focused on one of the side mirrors and the current gear is in reverse gear, activate the sensing device to observe the other side and the rear to compensate for the blind spot;

[0120] If an obstacle is detected on the reverse path and is less than the collision safety distance threshold, enter the warning protection step;

[0121] When the time when the perspective is not focused on any side mirror is less than the fourth time threshold and the current gear is in reverse gear, enter the warning protection step.

[0122] Step S3, a step of judging the reverse gear;

[0123] Obtain reverse gear data,

[0124] If the current gear changes from reverse gear to a non-reverse gear and the perspective is focused on one of the side mirrors, it is judged that the gear is inconsistent with the reverse operation, and enter the step of judging the reverse throttle;

[0125] Step S4, a step of judging the reverse throttle;

[0126] Obtain throttle change data,

[0127] When the throttle pedal opening data is greater than the safe throttle threshold, enter the warning protection step;

[0128] Step S5, the warning protection step;

[0129] Enter the warning protection step from the step of judging the reverse speed; brake and decelerate. If within the third time threshold, the reverse speed data is less than the second reverse speed threshold, stop braking; otherwise, brake until the vehicle stops moving, and / or shift the gear back to the parking gear;

[0130] Enter the warning protection step from the step of judging reverse observation; brake and decelerate until the vehicle stops moving, and / or shift the gear back to the parking gear;

[0131] Enter the warning protection step from the step of judging the reverse throttle; brake and decelerate, limit the throttle speed. If within the second time threshold, the throttle pedal opening data is less than or equal to the safe throttle threshold and the reverse speed data is less than the second reverse speed threshold, give a warning; otherwise, brake until the vehicle stops moving, and / or shift the gear back to the parking gear.

[0132] As Figure 4 shown, the present invention discloses specific embodiments of whether to enter intelligent parking:

[0133] Step P1, the step of judging abnormal gear shifting:

[0134] Obtain the reverse gear data. If the current gear is the reverse gear and there is no other gear data in the record within the previous first time threshold, it is judged that the gear shifting is normal and enter the step of judging abnormal speed; otherwise, it is judged that the gear shifting is abnormal and enter the intelligent parking step;

[0135] Step P2, the step of judging abnormal speed:

[0136] Obtain the reverse speed data. If the reverse speed data is always greater than or equal to the first reverse speed threshold and less than the second reverse speed threshold, continue autonomous parking; otherwise, perform intelligent parking.

[0137] As Figure 5 shown, disclose a specific process of intelligent low-speed parking for a vehicle model;

[0138] Judge the reverse intention. When the vehicle is in a stopped state and the reverse gear is engaged for the first time, enter the gear judgment logic to determine whether the current gear is the reverse gear.

[0139] If in the reverse gear and the vehicle speed is lower than 5 km / h, enter the intelligent speed limit mode for low-speed parking. If in the forward gear, judge whether the previous gear within 3 s was the reverse gear. If it was the reverse gear, it means that the driver may be in a body adjustment state of frequently switching between the forward and reverse gears, and also enter the intelligent speed limit mode for low-speed parking; otherwise, end.

[0140] After entering the low-speed parking intelligent speed limit mode, the camera monitors that the driver's head turns to one side and remains, for example, for more than 1 second, and then judges whether the line-of-sight angle is locked on the rearview mirror. If this condition is met, it can be determined that the driver is looking at the rearview mirror and preparing to reverse.

[0141] However, if the gear is in the forward gear at this time and the eyes are still looking at the rearview mirror, or if the gear is in the forward gear at this time and the eyes are still looking at the rearview mirror and the throttle force exceeds the threshold of the normal reverse force, such as the pedal angle is too large or the pedal is suddenly depressed, it is determined that it is inconsistent with the driving intention, and speed limit and reminder are carried out.

[0142] When normally driving out of the parking space, after confirming the passing environment through the rearview mirror, the line of sight will not be locked on the rearview mirror. Therefore, when in the forward gear, the line of sight is no longer on the left and right rearview mirrors and the vehicle speed increases, it can be determined to exit the low-speed parking mode. However, as long as it is still in the reverse gear, the line of sight is no longer on the left and right rearview mirrors and the vehicle speed increases, it can be determined that an emergency stop is required.

[0143] During the low-speed parking process, the driving intention is intelligently judged to prevent the gear from being inconsistent with the intention during the reverse process. For example, or accidentally stepping on the accelerator, the vehicle suddenly rushes out and causes danger.

[0144] The in-vehicle camera intelligently identifies the side of the vehicle that the driver is concerned about, gives an obstacle warning for the unconcerned side, and assists in braking to stop in time when necessary to avoid danger.

[0145] If there is a driver image collected by the in-vehicle camera, the driving intention is sampled and analyzed to help improve the accuracy of recognition.

[0146] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity, only a thick line is used in the figure to represent it, but it does not mean that there is only one bus or one type of bus.

[0147] The electronic device includes a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on the operating system. The hardware layer includes hardware such as a central processing unit (CPU, Central Processing Unit), a memory management unit (MMU, Memory Management Unit), and a memory. The operating system can be any one or more computer operating systems that control the electronic device through a process. For example, Linux operating system, Unix operating system, Android operating system, iOS operating system, or Windows operating system, etc. And in the embodiments of the present invention, the electronic device can be a handheld device such as a smart phone or a tablet computer, or an electronic device such as a desktop computer or a portable computer. There is no particular limitation in the embodiments of the present invention.

[0148] The execution subject of the electronic device control in the embodiments of the present invention can be the electronic device, or a functional module in the electronic device that can call and execute a program. The electronic device can obtain the firmware corresponding to the storage medium, and the firmware corresponding to the storage medium is provided by the supplier. The firmware corresponding to different storage media can be the same or different, and no limitation is made here. After the electronic device obtains the firmware corresponding to the storage medium, it can write the firmware corresponding to the storage medium into the storage medium. Specifically, it burns the firmware corresponding to the storage medium into the storage medium. The process of burning the firmware into the storage medium can be implemented by the prior art and will not be elaborated in the embodiments of the present invention.

[0149] The electronic device can also obtain the reset command corresponding to the storage medium, and the reset command corresponding to the storage medium is provided by the supplier. The reset commands corresponding to different storage media can be the same or different, and no limitation is made here.

[0150] At this time, the storage medium of the electronic device is the storage medium written with the corresponding firmware. The electronic device can respond to the reset command corresponding to the storage medium in the storage medium written with the corresponding firmware, so that the electronic device resets the storage medium written with the corresponding firmware according to the reset command corresponding to the storage medium. The process of resetting the storage medium according to the reset command can be implemented by the prior art and will not be elaborated in the embodiments of the present invention.

[0151] As Figure 6 shown, on the basis of disclosing the low-speed parking intelligent speed limit method and system, the present invention also discloses a corresponding electronic device and a storage medium:

[0152] An electronic device, comprising: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0153] The memory stores a computer program, which, when executed by the processor, causes the processor to execute the steps of judging the method in the claims.

[0154] A computer-readable storage medium stores a computer program executable by an electronic device. When the computer program runs on the electronic device, it causes the electronic device to execute the steps of the method in the low-speed parking intelligent speed limit method.

[0155] The present invention also discloses a vehicle with a low-speed parking intelligent speed limit function, specifically including:

[0156] An electronic device for implementing the steps of the method of the low-speed parking intelligent speed limit in the claims;

[0157] A processor that runs a program. When the program runs, it executes the steps of the method of the low-speed parking intelligent speed limit in the data output from the electronic device, and executes the steps of any one of the methods of the low-speed parking intelligent speed limit method.

[0158] A storage medium for storing a program, which, when running, executes the steps of any one of the methods of the low-speed parking intelligent speed limit in the data output from the electronic device.

[0159] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent speed limit method for low-speed parking, characterized in that Specifically include: Judge whether to select the autonomous parking mode or the intelligent parking mode by judging the gear data or jointly judging the gear data and the speed data; Detect the reverse observation data, reverse gear data, reverse throttle data, and reverse speed data in the intelligent parking mode. If one or more of the reverse observation, reverse gear, reverse throttle, and reverse speed have a process error or / and exceed the threshold, a warning message is issued, or / and a protection action is performed; Among them, the intelligent parking mode includes: Steps to judge abnormal shifting: Obtain the reverse gear data. If the current gear is in reverse and there is no multiple shifting data in the record within the previous first time threshold, it is judged that the shifting is normal and enter the steps to judge abnormal speed, otherwise it is judged that the shifting is abnormal and enter the intelligent parking steps; Steps to judge abnormal speed: Obtain the reverse speed data. If the reverse speed data is always greater than or equal to the first reverse speed threshold and less than the second reverse speed threshold, continue autonomous parking; otherwise, perform intelligent parking.

2. The intelligent speed limit method for low-speed parking according to claim 1, wherein The intelligent parking mode includes: Steps to judge reverse speed: Obtain the reverse speed data, When the reverse speed is greater than or equal to the second reverse speed threshold, enter the warning protection steps; Steps to judge reverse observation: Obtain the reverse observation data, When the perspective is focused on one of the side mirrors and the current gear is in reverse, activate the sensing device to observe the other side and the rear to compensate for the blind spot; If an obstacle is detected on the reverse path and is less than the collision safety distance threshold, enter the warning protection steps; When the time when the perspective is not focused on any side mirror is less than the fourth time threshold and the current gear is in reverse, enter the warning protection steps; Steps to judge reverse gear: Obtain the reverse gear data, If the current gear changes from reverse to non-reverse and the perspective is focused on one of the side mirrors, it is judged that the gear is inconsistent with the reverse operation and enter the steps to judge reverse throttle; Steps to judge reverse throttle: Obtain the throttle change data, When the throttle pedal opening data is greater than the safe throttle threshold, enter the warning protection steps; Steps of warning protection: Enter the warning protection steps from the steps to judge reverse speed; Brake to decelerate. If the reverse speed data is less than the second reverse speed threshold within the third time threshold, stop braking; otherwise, brake until the vehicle stops moving, or / and shift the gear back to the parking gear; Enter the warning protection steps from the steps to judge reverse observation; Brake to decelerate, brake until the vehicle stops moving, or / and shift the gear back to the parking gear; Enter the warning protection steps from the steps to judge reverse throttle; Brake to decelerate, limit the throttle speed. If the throttle pedal opening data is less than or equal to the safe throttle threshold and the reverse speed data is less than the second reverse speed threshold within the second time threshold, give a warning; otherwise, brake until the vehicle stops moving, or / and shift the gear back to the parking gear.

3. The intelligent speed limit method for low-speed parking according to claim 2, wherein, Include: In the steps to judge reverse observation, when the perspective focus changes from one side mirror to the other side mirror, activate the sensing device to observe the side and the rear on the side where the perspective is focused to compensate for the blind spot.

4. The intelligent speed limit method for low-speed parking according to claim 3, wherein, Include: The safety throttle threshold includes the current opening data of the throttle pedal and the throttle pedal opening change rate data.

5. An intelligent speed limit system for low-speed parking, characterized in that, For executing the low-speed parking intelligent speed limit method according to any one of claims 1-4; The low-speed parking intelligent speed limit system includes: A reverse gear module, configured to collect gear data and gear shift data; A reverse speed module, configured to collect reverse speed data; A reverse observation module, configured to collect perspective focus data and data on obstacles in the driving route; A reverse throttle module, configured to collect throttle pedal data; The collected data is used to determine the state of the vehicle during reverse driving.

6. The intelligent speed limit system for low-speed parking according to claim 5, characterized in that, It further includes: A protection operation module, configured to give warnings, brake for deceleration, control the throttle, and reset the gear to the parking gear; A threshold operation module, configured to set a first time threshold, a second time threshold, a third time threshold, and a fourth time threshold; configured to set a first reverse speed threshold and a second reverse speed threshold; For setting a safety throttle threshold; for setting a collision safety distance threshold; A decision operation module, configured to decide whether to enter intelligent parking; For deciding whether to give warnings, decelerate, control the throttle, and reset the gear to the parking gear; Assist reverse driving in the intelligent parking mode.

7. An electronic device, characterized in that, It includes: A processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete mutual communication through the communication bus; The memory stores a computer program. When the computer program is executed by the processor, the processor executes the steps of the method according to any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that, It stores a computer program executable by an electronic device. When the computer program runs on the electronic device, the electronic device executes the steps of the method according to any one of claims 1 to 4.

9. A vehicle with an intelligent speed limit function for low-speed parking, characterized in that, Specifically, it includes: An electronic device, configured to implement the steps of the method according to any one of claims 1 to 4; A processor, the processor runs a program. When the program runs, it executes the steps of the method according to any one of claims 1 to 4 based on the data output from the electronic device; A storage medium, configured to store a program. When the program runs, it executes the steps of the method according to any one of claims 1 to 4 for the data output from the electronic device.

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