A Functional Safety-Compliant Automatic Parking Activation Monitoring Method and Device

Abstract

The present invention discloses a method and device for monitoring the activation of automatic parking that conforms to functional safety. The method includes: collecting the vehicle speed in real time, performing real-time comparison and calculation on the speed value through the main controller, and determining the calculation result; respectively calculating the average value of the wheel speed and the transmission shaft speed in real time through the main controller and the monitor, and determining the calculation result; respectively setting the speed threshold range for the normal activation of the automatic parking function in the main controller and the monitor, and making a determination based on the average value to obtain determination results A and B; comparing determination result A and determination result B to obtain the final determination result, and outputting an activation signal or an error signal according to the final determination result; when any error signal is output, turning off the automatic parking function and entering a safe state; The present invention realizes the centralized monitoring of automatic parking activation, meets the requirements of the corresponding functional safety level, thereby reducing the complexity and cost of the monitoring system, and can meet the system application requirements of functional safety.

Description

Technical Field

[0001] The technical field involved in the present invention is the field of vehicle body electronics, and in particular, it relates to a method and device for monitoring the activation of automatic parking that complies with functional safety. Background Art

[0002] The automatic parking system is an intelligent driving technology developed in recent years and is a brand-new technology that enables a vehicle to drive easily in an urban parking environment. It can automatically drive the vehicle into a parking space quickly and safely. It senses the environmental information around the vehicle through ultrasonic and image sensors to identify the parking space, and generates corresponding parking trajectories according to the relative position information between the vehicle and the parking space to control the speed and steering wheel of the vehicle to complete automatic parking. However, with the development of autonomous driving functions, the electronic system functions of automobiles are becoming more and more powerful. There are dozens or hundreds of electronic control units in an automobile, and once these electronic systems related to the safety system have functional failures, it will greatly affect the safety of the automobile and lead to casualties. Therefore, the present invention mainly aims at the problem of unexpected activation of the automatic parking system during high-speed driving, and proposes a monitoring device and control method for the activation of automatic parking that complies with functional safety, so that the automatic parking function can be timely turned off and enter a safe state when a failure occurs. Summary of the Invention

[0003] The purpose of this part is to outline some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this part, as well as in the abstract and title of the present application, to avoid obscuring the purpose of this part, the abstract, and the title, and such simplifications or omissions shall not be used to limit the scope of the present invention.

[0004] In view of the above problems, the present invention is proposed.

[0005] Therefore, the technical problems solved by the present invention are as follows: The electronic and electrical systems of the automatic parking system are prone to functional failures and there is no monitoring; when the automatic parking function is unexpectedly activated during high-speed driving, it will cause the vehicle to get out of control; it cannot meet the problem of ensuring safety while users experience the convenience of automatic parking.

[0006] To solve the above technical problems, the present invention provides the following technical solutions:

[0007] In a first aspect, an embodiment of the present invention provides a method for monitoring the activation of automatic parking that complies with functional safety, including:

[0008] Real-time collect the speed of the vehicle and transmit the speed value to the main controller and the monitor;

[0009] The main controller makes real-time comparison and calculation on the speed value, determines the calculation result, and if the result is abnormal, outputs a first type of error signal;

[0010] The main controller and the monitor respectively calculate the average value of the wheel speed and the transmission shaft speed in real time to obtain a first average value and a second average value. If the first average value and the second average value are not equal, a second type of error signal is output;

[0011] Set the speed threshold range for normal activation of the automatic parking function in the main controller, and make a determination based on the first average value and the second average value to obtain a determination result A;

[0012] Set the speed threshold range for normal activation of the automatic parking function in the monitor, and make a determination based on the first average value and the second average value to obtain a determination result B;

[0013] Compare the determination result A and the determination result B to obtain a final determination result, and output an activation signal or a third type of error signal according to the final determination result;

[0014] When any error signal is output, turn off the automatic parking function and enter the safe state.

[0015] As a preferred solution of the automatic parking activation monitoring method that meets functional safety, wherein:

[0016] The real-time acquisition of the vehicle speed includes: real-time acquisition of the speeds V wheel1 , V wheel2 , V wheel3 , V wheel4 at the four wheels through the wheel speed sensors, and real-time acquisition of the transmission shaft speed V trans .

[0017] As a preferred solution of the automatic parking activation monitoring method that meets functional safety, wherein:

[0018] The real-time comparison and calculation of the speed value by the main controller includes: first comparing V wheel1 , V wheel2 , V wheel3 , V wheel4 to obtain the maximum value V wheelmax , and then calculating the absolute value V0 of the difference between V wheelmax and V trans :

[0019] V0 = |V wheelmax - V trans |

[0020] When V0 / min{V wheelmax , V transWhen it is > 3%, a first type of error signal is output, indicating an error in vehicle speed calculation.

[0021] As a preferred solution of the automatic parking activation monitoring method compliant with functional safety, wherein: the averaging of the wheel speed and the transmission shaft speed includes: the main controller continuously averages the maximum wheel speed V wheelmax and the transmission shaft speed V trans to output a first average value; at the same time, the monitor averages the maximum wheel speed V wheelmax and the transmission shaft speed V trans to output a second average value;

[0022] The rationality of the output first average value and second average value is compared. If the first average value and the second average value are not equal, a second type of error signal is output, indicating that the collected wheel speed and transmission shaft speed are different.

[0023] As a preferred solution of the automatic parking activation monitoring method compliant with functional safety, wherein:

[0024] The determination result A includes: setting a speed threshold range V1 for normal activation of the automatic parking function in the main controller. If both the first average value and the second average value are within the range of V1, it is determined that the automatic parking function can be normally activated at this time; if the first average value or the second average value exceeds the range of V1, it is determined that the automatic parking function cannot be normally activated at this time.

[0025] As a preferred solution of the automatic parking activation monitoring method compliant with functional safety, wherein:

[0026] The determination result B includes: setting a speed threshold range V2 for normal activation of the automatic parking function in the monitor. If both the first average value and the second average value are within the range of V2, it is determined that the automatic parking function can be normally activated at this time; if the first average value or the second average value exceeds the range of V2, it is determined that the automatic parking function cannot be normally activated at this time.

[0027] As a preferred solution of the automatic parking activation monitoring method compliant with functional safety, wherein:

[0028] The comparison of the determination result A and the determination result B includes: judging and comparing the result A and the result B. When the results are consistent, the corresponding application activation signal or application non-activation signal is output; when the results are inconsistent, a third type of error signal is output, indicating that when there is an unexpected activation, the vehicle appears to enter the automatic parking mode unexpectedly.

[0029] In a second aspect, an embodiment of the present invention provides an automatic parking activation monitoring system compliant with functional safety, characterized by including:

[0030] A speed acquisition module, configured to acquire the speed of a vehicle in real time and transmit the speed value to a main controller module and a monitor module;

[0031] A main controller module, configured to perform real-time comparison and calculation on the speed value, determine the calculation result, and output a first type of error signal if the result is abnormal;

[0032] A main controller calculation module and a monitor calculation module, configured to respectively calculate the average value of the wheel speed and the transmission shaft speed in real time to obtain a first average value and a second average value. If the first average value and the second average value are not equal, output a second type of error signal; the main controller module sets a speed threshold range for the normal activation of the automatic parking function in the main controller, and makes a determination based on the first average value and the second average value to obtain a determination result A;

[0033] A monitor module, configured to set a speed threshold range for the normal activation of the automatic parking function in the monitor, and make a determination based on the first average value and the second average value to obtain a determination result B;

[0034] An output module, configured to compare the determination result A and the determination result B to obtain a final determination result, and output an activation signal or a third type of error signal according to the final determination result.

[0035] In a third aspect, an embodiment of the present invention provides a computing device, including:

[0036] A memory and a processor;

[0037] The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the one or more programs are executed by the one or more processors, the one or more processors implement the function safety-compliant automatic parking activation monitoring method according to any embodiment of the present invention.

[0038] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the function safety-compliant automatic parking activation monitoring method is implemented.

[0039] Advantages of the present invention: The present invention introduces a wheel speed sensor and a transmission shaft speed sensor to monitor the vehicle speed information in real time. The correctness of automatic parking activation is considered through the comparison of the difference between the two and the synchronous operation comparison of the main control module and the monitoring module. When an unexpected automatic parking activation occurs, an error will be reported based on the error comparison signals of the two for safety protection, realizing centralized monitoring of automatic parking activation, meeting the requirements of the corresponding functional safety level, thereby reducing the complexity and cost of the monitoring system, and enabling system applications that meet the functional safety requirements. It ensures the safety of users when using the automatic parking function, reduces vehicle recalls caused by the failure of the automatic parking function for vehicle manufacturers, and improves the stability and reliability of the automatic parking system. Description of the Drawings

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings. Among them:

[0041] Figure 1 It is a schematic diagram of average speed calculation of the automatic parking activation monitoring method meeting functional safety described in the first embodiment of the present invention;

[0042] Figure 2 It is the overall flowchart of the automatic parking activation monitoring method meeting functional safety described in the first embodiment of the present invention;

[0043] Figure 3 It is the schematic diagram of the monitoring device of the automatic parking activation monitoring method meeting functional safety described in the first embodiment of the present invention. Detailed Embodiments

[0044] In order to make the above objects, features, and advantages of the present invention more obvious and understandable, the following will make a detailed description of the specific embodiments of the present invention in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0045] Many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention may be practiced in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0046] Second, the "one embodiment" or "embodiment" referred to herein means a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The appearances of "in one embodiment" in different places in this specification do not all refer to the same embodiment, nor are they separate or alternative embodiments that exclude each other with other embodiments.

[0047] The present invention will be described in detail with reference to the schematic diagrams. When describing the embodiments of the present invention in detail, for the convenience of explanation, the cross-sectional views showing the device structure will be enlarged locally in a non-general proportion, and the schematic diagrams are only examples and should not limit the scope of protection of the present invention here. In addition, in actual production, three-dimensional spatial dimensions including length, width, and depth should be included.

[0048] Meanwhile, in the description of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "upper, lower, inner, and outer" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. In addition, the terms "first, second, or third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0049] Unless otherwise clearly defined and limited in the present invention, the terms "mounted, connected, and coupled" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may also be a mechanical connection, an electrical connection, or a direct connection, and may also be indirectly connected through an intermediate medium, or may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] Embodiment 1

[0051] Referring to Figures 1-3 , which is the first embodiment of the present invention, this embodiment provides a method for activating and monitoring automatic parking that meets functional safety, including:

[0052] S1: Real-time collect the speed of the vehicle and transmit the speed value to the main controller and the monitor;

[0053] Specifically, the real-time collection of the speed of the vehicle includes: real-time collect the speeds V wheel1 , V wheel2 , V wheel3 , V wheel4 at the four wheels through wheel speed sensors, and real-time collect the transmission shaft speed V trans through the transmission shaft speed sensor.

[0054] It should be noted that wheel speed sensors and transmission shaft speed sensors are introduced to monitor the vehicle speed information in real time. The correctness of automatic parking activation is considered through the comparison of the differences between the two and the synchronous operation and comparison of the main control module and the monitoring module.

[0055] S2: The main controller performs real-time comparison and calculation on the speed value, determines the calculation result. If the result is abnormal, a first type of error signal is output.

[0056] Furthermore, the real-time comparison and calculation of the speed value by the main controller includes: First, compare V wheel1 , V wheel2 , V wheel3 , V wheel4 to obtain the maximum value V wheelmax , and then calculate the absolute value V0 of the difference between V wheelmax and V trans :

[0057] V0 = |V wheelmax - V trans |

[0058] When V0 / min{V wheelmax , V trans} > 3%, a first type of error signal is output, indicating that the vehicle speed calculation is incorrect.

[0059] S3: The main controller and the monitor respectively calculate the average value of the wheel speed and the transmission shaft speed in real time to obtain the first average value and the second average value. If the first average value and the second average value are not equal, a second type of error signal is output.

[0060] Specifically, the calculation of the average value of the wheel speed and the transmission shaft speed includes: The main controller calculates the average value of the maximum wheel speed V wheelmax and the transmission shaft speed V trans in real time and outputs the first average value; at the same time, the monitor calculates the average value of the maximum wheel speed V wheelmax and the transmission shaft speed V trans and outputs the second average value;

[0061] The rationality of the output first average value and second average value is compared. If the first average value and the second average value are not equal, a second type of error signal is output, indicating that the collected wheel speed and transmission shaft speed are different.

[0062] It should be noted that this step uses the dual-channel of the main controller module and the monitor module for calculation and comparison, improving the accuracy of this monitoring method.

[0063] S4: Set the speed threshold range for the normal activation of the automatic parking function in the main controller, make a determination based on the first average value and the second average value, and obtain the determination result A; set the speed threshold range for the normal activation of the automatic parking function in the monitor, make a determination based on the first average value and the second average value, and obtain the determination result B;

[0064] Specifically, the determination result A includes: set the speed threshold range V1 for the normal activation of the automatic parking function in the main controller. If both the first average value and the second average value are within the range of V1, it is determined that the automatic parking function can be normally activated at this time; if the first average value or the second average value exceeds the range of V1, it is determined that the automatic parking function cannot be normally activated at this time.

[0065] The determination result B includes: set the speed threshold range V2 for the normal activation of the automatic parking function in the monitor. If both the first average value and the second average value are within the range of V2, it is determined that the automatic parking function can be normally activated at this time; if the first average value or the second average value exceeds the range of V2, it is determined that the automatic parking function cannot be normally activated at this time.

[0066] It should be noted that this step is a redundant design. Usually, the results of A and B are the same, but different situations will occur when one of the modules has problems. By comparing the two values to identify whether a module has problems, the reliability of the overall system is ensured.

[0067] S5: Compare the determination result A and the determination result B to obtain the final determination result, and output an activation signal or a type-three error signal according to the final determination result;

[0068] When any error signal is output, turn off the automatic parking function and enter the safe state.

[0069] Furthermore, comparing the determination result A and the determination result B includes: judging and comparing the result A and the result B. When the results are the same, an application activation signal or an application non-activation signal is correspondingly output; when the results are different, a type-three error signal is output, indicating that when there is an unexpected activation, the vehicle enters the automatic parking mode unexpectedly.

[0070] It should be noted that the correctness of the automatic parking activation is considered through the synchronous operation and comparison of the main control module and the monitoring module. When there is an unexpected automatic parking activation, an error will be reported based on the error comparison signals of the two for safety protection, realizing the centralized monitoring of the automatic parking activation and meeting the requirements of the corresponding functional safety level.

[0071] Embodiment 2

[0072] In order to verify the beneficial effects of the present invention, the following five groups of simulation experiments are carried out for scientific demonstration.

[0073] Group 1:

[0074] S1: The speed acquisition module 100 acquires the speed of the vehicle in real time.

[0075] Among them, the wheel speed sensors 101 acquire the speeds V at the four wheels in real time wheel1 = 60 Km / h, V wheel2 = 60 Km / h, V wheel3 = 60.1 Km / h, V wheel4 = 60.05 Km / h, and the transmission shaft speed sensor 102 acquires the transmission shaft speed V trans = 62 Km / h, and transmits the above speed values to the main controller module 200 and the monitor module 300 for comparison and calculation, and proceeds to the next step.

[0076] S2: The main controller module 200 compares and calculates the speed values obtained in S1 in real time. Module 201 first compares V wheel1 , V wheel2 , V wheel3 , V wheel4 to obtain the maximum value V wheelmax = 60.1 Km / h; then calculates the absolute value of the difference between V wheelmax and V trans as V0 = 1.9 Km / h, V1 = V0 / min{V wheelmax , V trans}= 3.16% > 3%, abnormal, outputs an error signal Error 1 (Error1 represents an error in vehicle speed calculation), turns off the automatic parking function, and enters the safe state.

[0077] Group 2:

[0078] S1: The speed acquisition module 100 acquires the speed of the vehicle in real time.

[0079] Among them, the wheel speed sensors 101 acquire the speeds V at the four wheels in real time wheel1 = 60 Km / h, V wheel2 = 60 Km / h, V wheel3 = 60.1 Km / h, V wheel4 = 60.05 Km / h, and the transmission shaft speed sensor 102 acquires the transmission shaft speed V trans = 61 Km / h, and transmits the above speed values to the main controller module 200 and the monitor module 300 for comparison and calculation, and proceeds to the next step.

[0080] S2: The main controller module 200 compares and calculates the speed values obtained in S1 in real time. Module 201 first compares V wheel1 , V wheel2, V wheel3 , V wheel4 Obtain the maximum value V wheelmax = 60.1 Km / h; then calculate V wheelmax and V trans The absolute value of the difference between the two, V0 = 0.9 Km / h, V1 = V0 / min{V wheelmax , V trans} = 1.5 < 3%, normal, proceed to the next step.

[0081] S3: Calculate the average value. Module 201 calculates the average of the wheel speed V wheelmax and the transmission shaft speed V trans in real time, and outputs the average value vave1 = 62 Km / h. Module 301 simultaneously calculates the average of the wheel speed V wheelmax and the transmission shaft speed V trans in real time, and outputs the average value vave2 = 60.55 Km / h, then proceed to the next step.

[0082] S4: Compare the rationality of the input average values vave1 and vave2. Since vave1 ≠ vave2, the values are unreasonable. Output the error signal Error 2 (Error 2 indicates that the collected wheel speed and transmission shaft speed are different, which may cause unexpected acceleration or deceleration during automatic parking), turn off the automatic parking function, and enter the safe state.

[0083] The third group:

[0084] S1: The speed acquisition module 100 acquires the vehicle speed in real time.

[0085] Among them, the wheel speed sensor 101 acquires the speeds V wheel1 = 60 Km / h, V wheel2 = 60 Km / h, V wheel3 = 60.1 Km / h, V wheel4 = 60.05 Km / h at the four wheels in real time. The transmission shaft speed sensor 102 acquires the transmission shaft speed V trans = 61 Km / h, and transmits the above speed values to the main controller module 200 and the monitor module 300 for comparison and calculation, then proceed to the next step.

[0086] S2: The main controller module 200 compares and calculates the speed values obtained in S1 in real time. Module 201 first compares V wheel1 , V wheel2 , V wheel3 , V wheel4 to obtain the maximum value V wheelmax = 60.1 Km / h; then calculate V wheelmax and V transThe absolute value of the difference between the two, V0 = 0.9 Km / h, V1 = V0 / min{V wheelmax ,V trans} = 1.5 < 3%, normal, proceed to the next step.

[0087] S3: Calculate the average value. Module 201 calculates the average of the wheel speed V wheelmax and the transmission shaft speed V trans in real time, and outputs the average value vave1 = 60.55 Km / h. Module 301 simultaneously calculates the average of the wheel speed V wheelmax and the transmission shaft speed V trans in real time, and outputs the average value vave2 = 60.55 Km / h, then proceed to the next step.

[0088] S4: Compare the rationality of the input average values vave1 and vave2. Since vave1 = vave2, the values are reasonable, proceed to the next step.

[0089] S5: Conduct a threshold comparison in the main controller. Set the speed threshold range for normal activation of the APA function as 30 Km / h ≥ V ≥ 0. The average values vave1 = vave2 = 60.55 Km / h obtained in S4 exceed the range of V, so it is determined that the APA function cannot be normally activated at this time. Record this result as Result A.

[0090] The fourth group:

[0091] S1: The speed acquisition module 100 acquires the vehicle speed in real time.

[0092] Among them, the wheel speed sensor 101 acquires the speeds V wheel1 = 60 Km / h, V wheel2 = 60 Km / h, V wheel3 = 60.1 Km / h, V wheel4 = 60.05 Km / h at the four wheels in real time, and the transmission shaft speed sensor 102 acquires the transmission shaft speed V trans = 61 Km / h, and transmits the above speed values to the main controller module 200 and the monitor module 300 for comparison and calculation, then proceed to the next step.

[0093] S2: The main controller module 200 compares and calculates the speed values obtained in S1 in real time. Module 201 first compares V wheel1 , V wheel2 , V wheel3 , V wheel4 to obtain the maximum value V wheelmax = 60.1 Km / h; then calculates the absolute value of the difference between V wheelmax and V trans as V0 = 0.9 Km / h, V1 = V0 / min{Vwheelmax , V trans} = 1.5 < 3%, normal, proceed to the next step.

[0094] S3: Calculate the average value. Module 201 calculates the average of the wheel speed V wheelmax and the transmission shaft speed V trans and outputs the average value vave1 = 60.55 Km / h. Module 301 simultaneously calculates the average of the wheel speed V wheelmax and the transmission shaft speed V trans and outputs the average value vave2 = 60.55 Km / h, then proceed to the next step.

[0095] S4: Compare the rationality of the input average values vave1 and vave2. Since vave1 = vave2, the values are reasonable, and proceed to the next step.

[0096] S5: Conduct a threshold comparison in the main controller. Set the speed threshold range for normal activation of the APA function as 30 Km / h ≥ V ≥ 0. The average values vave1 = vave2 = 60.55 Km / h obtained in S4 exceed the range of V, so it is determined that the APA function cannot be normally activated at this time. Record this result as Result A.

[0097] S6: Conduct a threshold comparison in the monitor. Set the speed threshold range for normal activation of the APA function as 30 Km / h ≥ V ≥ 0. The average values vave1 = vave2 = 60.55 Km / h obtained in S4 exceed the range of V, so it is determined that the APA function cannot be normally activated at this time. Record this result as Result B.

[0098] S7: Determine the final status. Compare and judge Results A and B. Since the results are consistent, both exceeding the range of V, output the application deactivation signal INACT_APA_SIGN.

[0099] Group Five:

[0100] S1: The speed acquisition module 100 acquires the vehicle speed in real time.

[0101] Among them, the wheel speed sensors 101 acquire the speeds V at the four wheels in real time wheel1 = 60 Km / h, V wheel2 = 60 Km / h, V wheel3 = 60.1 Km / h, V wheel4 = 60.05 Km / h, and the transmission shaft speed sensor 102 acquires the transmission shaft speed V trans = 61 Km / h, and transmits the above speed values to the main controller module 200 and the monitor module 300 for comparison and calculation, then proceed to the next step.

[0102] S2: The main controller module 200 compares and calculates the speed values obtained in S1 in real time. Module 201 first compares V wheel1 , V wheel2 , V wheel3 , V wheel4 to obtain the maximum value V wheelmax = 60.1 Km / h; then calculates the absolute value of the difference between V wheelmax and V trans as V0 = 0.9 Km / h, and V1 = V0 / min{V wheelmax , V trans} = 1.5 < 3%, which is normal, and proceeds to the next step.

[0103] S3: Calculate the average value. Module 201 calculates the average of the wheel speed V wheelmax and the transmission shaft speed V trans in real time, and outputs the average value vave1 = 60.55 Km / h. Module 301 simultaneously calculates the average of the wheel speed V wheelmax and the transmission shaft speed V trans and outputs the average value vave2 = 60.55 Km / h, then proceeds to the next step.

[0104] S4: Compare the rationality of the input average values vave1 and vave2. Since vave1 = vave2, the values are reasonable, and proceed to the next step.

[0105] S5: Perform threshold comparison in the main controller. Set the speed threshold range for normal activation of the APA function as 30 Km / h ≥ V ≥ 0. The average values vave1 = vave2 = 60.55 Km / h obtained in S4 are judged not to exceed the range of V, and it is determined that the APA function can be normally activated at this time. Record this result as Result A.

[0106] S6: Perform threshold comparison in the monitor. Set the speed threshold range for normal activation of the APA function as 30 Km / h ≥ V ≥ 0. The average values vave1 = vave2 = 60.55 Km / h obtained in S4 exceed the range of V, and it is determined that the APA function cannot be normally activated at this time. Record this result as Result B.

[0107] S7: Determine the final state. Compare and judge Results A and B, and find that the results are inconsistent. Output ERROR3 (ERROR3 represents that when there is an unexpected activation, the vehicle enters the automatic parking mode unexpectedly), turn off the automatic parking function, and enter the safe state.

[0108] It can be seen that the method provided by the present invention can cope with various actual scenarios. By introducing a wheel speed sensor and a transmission shaft speed sensor to monitor the vehicle speed information in real time, the correctness of automatic parking activation is considered through the comparison of the difference between the two and the synchronous operation comparison of the main control module and the monitoring module. When an unexpected automatic parking activation occurs, an error will be reported based on the error comparison signals of the two for safety protection, realizing the centralized monitoring of automatic parking activation, meeting the requirements of the corresponding functional safety level, thus reducing the complexity and cost of the monitoring system, and enabling the system application to meet the functional safety requirements.

[0109] 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 preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered by the scope of the claims of the present invention.

Claims

1. An automatic parking activation monitoring method compliant with functional safety, characterized in that, Including: Collect the speed of the vehicle in real time and transmit the speed value to the main controller and the monitor; The real-time acquisition of the vehicle speed includes: the speeds at the four wheels are respectively collected in real time through wheel speed sensors as V wheel1 , V wheel2 , V wheel3 , V wheel4 , and the transmission shaft speed sensor collects the transmission shaft speed V trans ; Through the main controller, perform real-time comparison and calculation on the speed value, determine the calculation result, and if the result is abnormal, output a first type of error signal; The real-time comparison and calculation of the speed value by the main controller includes: First, compare V wheel1 , V wheel2 , V wheel3 , V wheel4 to obtain the maximum value V wheelmax , then calculate the absolute value V0 of the difference between V wheelmax and V trans : V0 = |V wheelmax - V trans |; when V0 / min{V wheelmax , V trans} > 3%, output a first type of error signal, indicating that there is an error in the vehicle speed calculation; Through the main controller and the monitor, respectively calculate the average of the wheel speed and the transmission shaft speed in real time to obtain a first average value and a second average value. If the first average value and the second average value are not equal, output a second type of error signal; The calculation of the average of the wheel speed and the transmission shaft speed includes: The main controller calculates the average of the maximum wheel speed V wheelmax and the transmission shaft speed V trans in real time and outputs the first average value. At the same time, the monitor calculates the average of the maximum wheel speed V wheelmax and the transmission shaft speed V trans and outputs the second average value. Perform a rationality comparison on the output first average value and second average value. If the first average value and the second average value are not equal, output a second type of error signal, indicating that the collected wheel speed and transmission shaft speed are different; Set the speed threshold range for the normal activation of the automatic parking function in the main controller, and make a determination based on the first average value and the second average value to obtain a determination result A; Set the speed threshold range for the normal activation of the automatic parking function in the monitor, and make a determination based on the first average value and the second average value to obtain a determination result B; Compare the determination result A and the determination result B to obtain a final determination result, and output an activation signal or a third type of error signal according to the final determination result; When any error signal is output, turn off the automatic parking function and enter the safe state.

2. The method for monitoring the activation of a function - safety - compliant automatic parking as claimed in claim 1, wherein, The determination result A includes: Set the speed threshold range V1 for the normal activation of the automatic parking function in the main controller. If both the first average value and the second average value are within the range of V1, it is determined that the automatic parking function can be normally activated at this time; if the first average value or the second average value exceeds the range of V1, it is determined that the automatic parking function cannot be normally activated at this time.

3. The method for monitoring the activation of a function - safety - compliant automatic parking as claimed in claim 2, wherein The determination result B includes: Set the speed threshold range V2 for the normal activation of the automatic parking function in the monitor. If both the first average value and the second average value are within the range of V2, it is determined that the automatic parking function can be normally activated at this time; if the first average value or the second average value exceeds the range of V2, it is determined that the automatic parking function cannot be normally activated at this time.

4. The method for monitoring the activation of a function - safety - compliant automatic parking as claimed in claim 3, wherein The comparison of the determination result A and the determination result B includes: Judge and compare the result A and the result B. When the results are consistent, correspondingly output an application activation signal or an application non-activation signal; when the results are inconsistent, output a third type of error signal, indicating that when there is an unexpected activation, the vehicle enters the automatic parking mode unexpectedly.

5. An automatic parking activation monitoring system compliant with functional safety, characterized in that, Including: A speed acquisition module for collecting the speed of the vehicle in real time and transmitting the speed value to the main controller and the monitor; The real-time acquisition of the vehicle speed includes: the speeds at the four wheels are respectively collected in real time by wheel speed sensors as V wheel1 , V wheel2 , V wheel3 , V wheel4 , and the transmission shaft speed is collected in real time by a transmission shaft speed sensor as V trans ; A main controller module for performing real-time comparison and calculation on the speed value through the main controller, determining the calculation result, and if the result is abnormal, outputting a first type of error signal; The real-time comparison and calculation of the speed value by the main controller include: First, compare V wheel1 , V wheel2 , V wheel3 , V wheel4 to obtain the maximum value V wheelmax , and then calculate the absolute value V0 of the difference between V wheelmax and V trans : V0 = |V wheelmax -V trans | When V0 / min{V wheelmax , V trans}> 3%, output the first type of error signal, indicating an error in vehicle speed calculation; A main controller calculation module and a monitor calculation module for respectively calculating the average of the wheel speed and the transmission shaft speed in real time through the main controller and the monitor to obtain a first average value and a second average value. If the first average value and the second average value are not equal, output a second type of error signal; The calculation of the average of the wheel speed and the transmission shaft speed includes: The main controller calculates the average of the maximum wheel speed V wheelmax and the transmission shaft speed V trans in real time and outputs the first average value. At the same time, the monitor calculates the average of the maximum wheel speed V wheelmax and the transmission shaft speed V trans and outputs the second average value. Perform a rationality comparison on the first average value and the second average value of the output. If the first average value and the second average value are not equal, output a second type of error signal, indicating that the collected wheel speed and the transmission shaft speed are different; Set the speed threshold range for the normal activation of the automatic parking function in the main controller, and make a determination based on the first average value and the second average value to obtain a determination result A; A monitor module, which is used to set the speed threshold range for the normal activation of the automatic parking function in the monitor, and make a determination based on the first average value and the second average value to obtain a determination result B; An output module, which is used to compare the determination result A and the determination result B to obtain a final determination result, and output an activation signal or a third type of error signal according to the final determination result; When any error signal is output, turn off the automatic parking function and enter a safe state.

6. A computing device, comprising: A memory and a processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, the steps of the automatic parking activation monitoring method that meets functional safety described in any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium that stores computer-executable instructions. When the computer-executable instructions are executed by a processor, the steps of the automatic parking activation monitoring method that meets functional safety described in any one of claims 1 to 4 are implemented.

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