An automatic parking guiding system development method and device, a vehicle-mounted terminal and a vehicle

Abstract

The application provides an automatic parking guiding system development method, device, vehicle-mounted terminal and vehicle. The method comprises the following steps: constructing an automatic parking guiding system, and ensuring that the quality of an automatic parking controller is tested by simulation before actual vehicle testing, so that the simulation test of the automatic parking simulation model can be performed synchronously with the development of the automatic parking network architecture. Thus, the correctness and reliability of the automatic parking controller in each development stage can be tested and verified, the test process risks, high test cost, long test time and low test coverage that may occur when actual vehicle testing is directly performed can be effectively avoided, the driving safety is improved, and the user experience is improved.

Description

Technical Field

[0001] This invention relates to the field of automatic parking, and specifically to an automatic parking guidance system development method, device, vehicle terminal, and vehicle. Background Technology

[0002] With the development of modern technology and the improvement of people's living standards, cars have become an indispensable means of transportation for every family in order to enjoy a fast and convenient way of travel. However, with the rapid increase in the number of cars year by year, available parking spaces are becoming smaller and smaller, and the difficulty of parking is correspondingly increasing, which poses a significant challenge to the urban traffic environment and vehicle parking problems. Parking vehicles safely and orderly in congested cities is also a great test of drivers' parking skills. In recent years, due to limited parking space, drivers' lack of parking skills, and the need for multiple parking adjustments to enter a parking space, a large number of traffic accidents, such as local traffic congestion, minor vehicle scrapes, and minor collisions, have occurred. This is mostly because, during the parking process, drivers need to control the steering wheel, accelerator, and brake simultaneously to avoid collisions with other objects, and they also need to constantly adjust the position of the car according to the surrounding conditions to complete the parking process under the condition of narrow parking space. In response to the urgent needs of consumers to reduce loss of life and property during parking, numerous domestic and international automakers and research institutions have begun to invest significant human, financial, and material resources in researching and developing automatic parking systems that can solve the difficulty of parking vehicles in urban areas. This has made automatic parking systems one of the key technologies for the intelligent connectivity of automobiles.

[0003] Existing testing of automated parking systems is typically based on real-vehicle testing. This method is characterized by dangerous testing processes, high costs, long testing times, and low test coverage. Nowadays, with increasingly shorter product development timelines and ever-increasing demands for testing efficiency, traditional testing methods are proving inefficient, incomplete, and prone to failing to implement certain functions, making them completely unsuitable for modern product development. Summary of the Invention

[0004] This application provides a method, apparatus, and vehicle terminal for developing an automatic parking guidance system to solve the aforementioned technical problems.

[0005] This application provides a method for developing an automatic parking guidance system. The method includes: modeling and simulating a pre-established or real-time automatic parking network architecture to obtain an automatic parking simulation model, the automatic parking simulation model including multiple simulation nodes; constructing an automatic parking simulation environment using a development tool, and loading the simulation nodes into the parking simulation environment to obtain a network database, the network database including multiple data nodes; loading the data nodes from the network database into the automatic parking simulation model to establish the network topology of the automatic parking simulation model; creating a simulation control panel using a panel editor in the development tool, the simulation control panel being used to display the automatic parking function status; and integrating and debugging the automatic parking network architecture, the automatic parking simulation model, the automatic parking simulation environment, and the simulation control panel to obtain the automatic parking guidance system.

[0006] In one embodiment of this application, constructing an automatic parking network architecture includes: configuring system components of the automatic parking network architecture, the system components including a power drive system, a chassis control system, a body control system, an ultrasonic sensor system, a vehicle model, and a human-machine interaction system; integrating and testing all configured system components to obtain the automatic parking network architecture; wherein, the power drive system includes a vehicle controller, an electric motor controller, and an engine controller; the chassis control system includes an integrated automatic parking controller, an airbag controller, a steering wheel angle sensor, an electric power steering controller, and a vehicle stability controller.

[0007] In one embodiment of this application, modeling and simulating the automatic parking network architecture to obtain an automatic parking simulation model includes: performing a requirements analysis on the automatic parking network architecture, the requirements analysis including communication rate, number of nodes, message type, and message format; defining simulation nodes according to the requirements analysis, and defining the message information that the simulation nodes need to send and receive, the simulation nodes representing controllers or devices in the automatic parking network architecture; and integrating and debugging the simulation nodes according to the requirements analysis to obtain the automatic parking simulation model.

[0008] In one embodiment of this application, after obtaining the automatic parking simulation model, a communication matrix is ​​designed, including: creating node objects for the simulation nodes; creating message objects for the node objects, the message objects including messages that the node objects need to send or receive, the message information including message name, message identifier, message type, message period, and message length; creating signal content for the message objects, the signal content including signal name, signal length, signal type, start bit, offset, and data range; configuring communication relationships between simulation nodes, the communication relationships including the sending and receiving relationships between the node objects and the message objects, and the inclusion relationships between the message objects and the signal objects; and obtaining a communication matrix for simulation node communication within the automatic parking simulation model through the message information, signal content, and sending period of the simulation nodes.

[0009] In one embodiment of this application, after obtaining the automatic parking simulation model, the method further includes: extracting the simulation node to be tested from the automatic parking simulation model and disconnecting the simulation node to be tested from the virtual bus; finding the physical node corresponding to the simulation node to be tested from the automatic parking network architecture, replacing the simulation node to be tested with the corresponding physical node, and then connecting the virtual bus to monitor the data transmission of the physical node in the automatic parking simulation model for hardware-in-the-loop simulation analysis; after completing the hardware-in-the-loop simulation analysis of all physical nodes in the automatic parking network architecture, disconnecting all simulation nodes to be tested from the virtual bus, and replacing all simulation nodes to be tested in the automatic parking simulation model with the corresponding physical nodes.

[0010] In one embodiment of this application, a simulation control panel is created using a panel editor in a development tool, including: determining control combinations based on test requirements and associating each control combination with environment variables, wherein the control combinations are used to simulate a controller and the environment variables are used to input and output test data; setting preconditions for vehicle parking, wherein the preconditions include vehicle speed, gear position, door open / close status, and seatbelt status; and designing the layout of the control combinations according to preset layout rules to obtain the simulation control panel for displaying the functional status of vehicle parking.

[0011] In one embodiment of this application, after obtaining the automatic parking guidance system, the method further includes: starting the automatic parking guidance system, establishing communication between the simulated vehicle and the automatic parking guidance system, and loading a test configuration file; performing a system self-test when the vehicle's operating state is detected to be the precondition; setting the operating state of each component of the simulated vehicle in response to the precondition instruction of the automatic parking guidance system development method; and guiding the simulated vehicle to the target parking space in response to the parking guidance instruction when the operating state of each component of the simulated vehicle is the target operating state, wherein the target parking space includes parallel parking spaces and perpendicular parking spaces.

[0012] The automatic parking guidance system development method and apparatus provided in this application embodiment includes: an automatic parking system construction module, used to model and simulate a pre-established or real-time automatic parking network architecture to obtain an automatic parking simulation model and design a communication matrix, wherein the automatic parking simulation model includes multiple simulation nodes; a simulation environment construction module, used to construct an automatic parking simulation environment through a development tool and load the simulation nodes into the parking simulation environment to obtain a network database, wherein the network database includes multiple data nodes; a loading module, used to load the data nodes in the network database into the automatic parking simulation model to establish the network topology of the automatic parking simulation model; a simulation control panel creation module, used to create a simulation control panel through a panel editor in the development tool, wherein the simulation control panel is used to display the automatic parking function status; and a debugging module, used to integrate and debug the automatic parking network architecture, the automatic parking simulation model, the automatic parking simulation environment, and the simulation control panel to obtain an automatic parking guidance system.

[0013] This application provides an in-vehicle terminal, including a processor, a memory, and a communication virtual bus; the communication virtual bus is used to connect the processor and the memory; the processor is used to execute a computer program stored in the memory to implement the above-described automatic parking guidance system development method.

[0014] The beneficial effects of this application are as follows: By constructing an automatic parking guidance system and ensuring that the quality of the automatic parking controller is simulated before real vehicle testing, the simulation testing of the automatic parking simulation model can be carried out simultaneously with the development of the automatic parking network architecture. This allows for testing and verification of the correctness and reliability of the automatic parking controller at each development stage, effectively avoiding the potential dangers, high testing costs, long testing times, and low testing coverage that may occur when directly conducting real vehicle testing. This improves driving safety and, consequently, enhances the user experience.

[0015] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0017] Figure 1This is a flowchart illustrating an exemplary embodiment of the development method of an automatic parking guidance system according to this application;

[0018] Figure 2 An automatic parking network architecture diagram illustrated for an exemplary embodiment of this application;

[0019] Figure 3 A flowchart illustrating a test method for an automatic parking guidance system, as shown in an exemplary embodiment of this application;

[0020] Figure 4 This is a block diagram of an automatic parking guidance system development apparatus shown in an exemplary embodiment of this application;

[0021] Figure 5 This is a schematic diagram illustrating the structure of an in-vehicle terminal, as shown in an exemplary embodiment of this application. Detailed Implementation

[0022] The embodiments of this application will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be understood that the preferred embodiments are only for illustrating this application and are not intended to limit the scope of protection of this application.

[0023] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0024] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the present application. However, it will be apparent to those skilled in the art that embodiments of the present application may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present application.

[0025] The embodiments of this application respectively propose an automatic parking guidance system development method, an automatic parking guidance system development method apparatus, an in-vehicle terminal, and a vehicle. These embodiments will be described in detail below.

[0026] Please see Figure 1 , Figure 1A flowchart illustrating a method for developing an automated parking guidance system according to one embodiment of this application is shown. Figure 1 As shown, the method includes at least steps S110 to S150, which are described in detail below:

[0027] Step S110: Model and simulate the pre-established or real-time built automatic parking network architecture to obtain an automatic parking simulation model, which includes multiple simulation nodes.

[0028] In one embodiment of this application, the automatic parking network architecture includes an automatic parking controller, sensors, surround-view cameras, and actuators. It requires 12 ultrasonic sensors and 4 surround-view cameras to detect environmental information, search for available parking spaces, assist in planning parking positions, monitor the vehicle's surroundings in real time, and provide feedback on current parking space information. The automatic parking controller is the core of the automatic parking system. It primarily interacts with other electronic control units via a CAN (Control Area Network) bus to detect system status (system fault, system failure, braking mode status, system on / off status), inform the driver of the current system status, process environmental perception information to determine a suitable parking space and inform the driver, calculate the parking trajectory, coordinate the control of various subsystems, and issue instructions (target distance, speed limit, steering wheel angle, parking distance, target gear, braking mode). It supports parallel and perpendicular parking and determines whether alarm conditions are met; if alarm conditions are met, it will issue a prompt and sound an alarm. The actuator mainly uses the decision information from the central control system to request the EPS (Electric Power Steering) to steer during the parking process. The EPS performs lateral control and sends a gear request to the MCS (Electronic Stability Program) through the ESP (Electronic Stability Program). The ESP controls the longitudinal speed, and through the cooperation of various systems, the vehicle is parked in the planned path.

[0029] In one embodiment of this application, the automatic parking simulation model is established to simulate the parking environment of a real vehicle and the information interaction between various control units on the real vehicle network architecture during the parking process.

[0030] As a concrete example, before the automatic parking guidance is initiated, an ultrasonic sensor system is used to detect obstacles and parking space information. Once the parking space is determined and the path planning is completed, the automatic parking guidance process begins. During the parking guidance process, the automatic parking controller needs to cooperate with electronic control units such as EPS, ESP, EMS (Engine Management System), and MCS to control the target vehicle in terms of steering, speed, gear, braking, etc., and notify the driver of the current parking information through the human-machine interface. Therefore, the automatic parking CAN network architecture of this patent needs to include not only the power drive system and chassis control system, but also the body control system, ultrasonic sensor system, vehicle model, and human-machine interface system.

[0031] Step S120: Build an automatic parking simulation environment using development tools, and load simulation nodes into the parking simulation environment to obtain a network database, which includes multiple data nodes.

[0032] In one embodiment of this application, the automatic parking simulation environment includes windows for tracking, data, statistics, bus data statistics, and offline analysis. Each control window has its corresponding control module, and the functions of each control module are independent. Modules interact with each other through a database. When network data and bus excitations from the automatic parking simulation model are input into the control modules of the simulation environment, they are processed by the internal control mechanism and then transmitted to the corresponding windows in the simulation test environment. Upon receiving the relevant instructions, the corresponding windows display the corresponding output information in the form of messages, signals, or graphics. Testers can evaluate the functionality and performance of the entire network simulation system and the controller under test by monitoring and analyzing the output signals. Therefore, establishing a simulation test environment is the primary task in simulation modeling.

[0033] As a concrete example, setting up a simulation test environment first requires creating and saving a configuration using the CANoe software. Based on the design requirements of the automatic parking network architecture, the selected configuration mainly includes: baud rate, bit timing, sampling points, filters, and activation bus statistics.

[0034] In one embodiment of this application, CANoe is a software tool designed for developing and testing control unit network (ECU) communication systems such as CAN, LIN, FlexRay, etc. CANoe offers a wealth of features, making it a powerful tool in the field of automotive electronics design and testing. Key features include: Network simulation and modeling: CANoe can simulate the entire network, including various CAN nodes and ECUs (Electronic Control Units), for detailed analysis and verification during the development and testing phases. Communication analysis: The software can capture, analyze, and record communication data on the bus, helping developers detect errors, optimize performance, and resolve communication problems. ECU simulation: By simulating ECU behavior, CANoe can test the ECU's response and interoperability under different conditions, ensuring that the ECU functions as expected. Diagnostic support: It provides powerful diagnostic functions for identifying and resolving faults and monitoring system health, thereby improving system reliability and stability. Automated testing: It supports the creation of automated test scripts and test cases, facilitating large-scale testing and verification work and improving testing efficiency and accuracy.

[0035] In one embodiment of this application, the database editor in the CANoe software is used to load the various data nodes of the network into the simulation environment to generate a database file. The establishment of the network database first requires creating various objects such as networks, nodes, messages, signals, and environment variables, and then setting the relationships between these objects. The automatic parking network architecture includes different vehicle controllers, each containing different messages, and each message frame containing different messages to build the database.

[0036] Step S130: Load the data nodes from the network database into the automatic parking simulation model to establish the network topology of the automatic parking simulation model.

[0037] In one embodiment of this application, the network topology of the simulation model is created in the model editing window of the CANoe software. First, open the "SimulationSetup" window, then right-click "Databases" and select "ImportWild". Then, the "DatabaseImportWild - Definition of Nodes" dialog box will pop up. Finally, click "Select" to load the nodes from the database into the model, completing the database import. That is, the node information in the database is loaded into the model nodes, thus completing the creation of the network topology.

[0038] Step S140: Create a simulation control panel using the panel editor in the development tool. The simulation control panel is used to display the status of the automatic parking function.

[0039] In one embodiment of this application, the simulation control panel is designed to better simulate the real environment and improve the human-computer interaction capabilities during the simulation process.

[0040] Step S150: Integrate and debug the automatic parking network architecture, automatic parking simulation model, automatic parking simulation environment and simulation control panel to obtain the automatic parking guidance system.

[0041] exist Figure 1 The technical solution shown involves constructing an automatic parking guidance system and ensuring that the quality of the automatic parking controller is simulated before real vehicle testing. This allows the simulation testing of the automatic parking simulation model to be carried out simultaneously with the development of the automatic parking network architecture. This enables the correctness and reliability of the automatic parking controller to be tested and verified at each development stage, effectively avoiding the potential dangers, high testing costs, long testing times, and low testing coverage that may occur when directly conducting real vehicle testing. This improves driving safety and, consequently, enhances the user experience.

[0042] As an example, by establishing an automatic parking simulation model and assembling a series of hardware devices to simulate the real-world environment of a vehicle, and using CANoe software to create the automatic parking simulation environment, it is possible not only to verify whether there is mutual interference between vehicle controllers on the CAN bus that could cause functional malfunctions, but also to test and verify the controller's functionality before real-vehicle testing. Furthermore, the automatic parking simulation model can not only realize information interaction between the simulation node and the controller under test, but also complete the entire test from input control to ECU response monitoring, thus meeting the diverse needs of controller testing. Therefore, this automatic parking simulation model can test the automatic parking function and control strategy during the controller development phase, facilitating the timely identification, location, and rectification of problems discovered during the early stages of controller development testing, thereby effectively shortening testing time and development cycle, and saving new product development costs.

[0043] In one embodiment of this application, constructing an automatic parking network architecture includes: configuring system components for the automatic parking network architecture, the system components including a power drive system, a chassis control system, a body control system, an ultrasonic sensor system, a vehicle model, and a human-machine interaction system; integrating and testing all configured system components to obtain the automatic parking network architecture; wherein, the power drive system includes a vehicle controller, an electric motor controller, and an engine controller; the chassis control system includes an integrated automatic parking controller, an airbag controller, a steering wheel angle sensor, an electric power steering controller, and a vehicle stability controller.

[0044] As an example, Figure 2 An automatic parking network architecture diagram illustrated for an exemplary embodiment of this application, such as... Figure 2 As shown, the system components are first defined: All Electronic Control Units (ECUs) required for the automatic parking system are identified, including the powertrain system, chassis control system, body control system, ultrasonic sensor system, vehicle model, and human-machine interface system. The powertrain system is configured: the Vehicle Controller (VCU) is integrated to acquire and process driver input information and output control commands. The Electric Motor Control System (MCS) is configured to control the starting, stopping, acceleration, and deceleration of the electric motor. The Engine Control System (EMS) is configured to receive torque control requests and respond accordingly. The chassis control system is configured: the Automatic Parking Controller (PAS) is integrated to detect system status, identify parking space information, calculate the parking trajectory, and output control signals. The Airbag Controller (ACU) is configured to send driver seatbelt status signals. The Steering Wheel Angle Sensor (SAS) is integrated to send steering wheel speed and angle signals. The Electric Power Steering Control Unit (EPS) is configured to receive steering request signals and target steering wheel angle signals and send feedback signals. The Electronic Stability Control Unit (ESP) is configured to receive parking request signals and send parking messages after parking is completed. Configure the Body Control System (BCM): Integrate the BCM to send door status and steering lever status to the Parking Automation System (PAS), and receive wheel rotation direction indication information, seat belt status indication information, etc. Configure the Multimedia Interaction System (MMI): Integrate the MMI to display parking function selection, parking buttons, current parking status, and other information. Configure the Ultrasonic Sensor System and Vehicle Model: Integrate the Ultrasonic Sensor System (USS) for parking space detection and real-time monitoring of obstacles around the vehicle. Configure the Vehicle Model (Veh_M) to receive CAN network signals and simulate the vehicle performing corresponding parking actions. Integrate all configured components into the automatic parking CAN network. Conduct system testing to ensure all components can interact correctly and simulate the parking environment and information interaction during the parking process of a real vehicle to obtain the automatic parking network architecture.

[0045] In one embodiment of this application, after obtaining the automatic parking simulation model, a communication matrix is ​​designed, including: creating node objects for simulation nodes; creating message objects for the node objects, the message objects including messages that the node objects need to send or receive, and message information including message name, message identifier, message type, message period, and message length; creating signal content for the message objects, the signal content including signal name, signal length, signal type, start bit, offset, and data range; configuring the communication relationships between simulation nodes, the communication relationships including the sending and receiving relationships between node objects and message objects, and the inclusion relationships between message objects and signal objects; and obtaining a communication matrix for communication between simulation nodes within the automatic parking simulation model through the message information, signal content, and sending period of the simulation nodes.

[0046] In one embodiment of this application, modeling and simulating the automatic parking network architecture to obtain an automatic parking simulation model includes: performing a requirements analysis on the automatic parking network architecture, including communication rate, number of nodes, message type, and message format; defining simulation nodes based on the requirements analysis, and defining the message information that the simulation nodes need to send and receive, with the simulation nodes representing controllers or devices in the automatic parking network architecture; and integrating and debugging the simulation nodes according to the requirements analysis to obtain the automatic parking simulation model.

[0047] In one embodiment of this application, after obtaining the automatic parking simulation model, the method further includes: extracting the simulation node to be tested from the automatic parking simulation model and disconnecting the simulation node to be tested from the virtual bus; finding the physical node corresponding to the simulation node to be tested in the automatic parking network architecture, replacing the simulation node to be tested with the corresponding physical node, and then connecting the virtual bus to monitor the data transmission of the physical node in the automatic parking simulation model for hardware-in-the-loop simulation analysis; after completing the hardware-in-the-loop simulation analysis of all physical nodes in the automatic parking network architecture, disconnecting all simulation nodes to be tested from the virtual bus, and replacing all simulation nodes to be tested in the automatic parking simulation model with the corresponding physical nodes.

[0048] In one embodiment of this application, the CAPL programming language, based on event-driven program composition, is capable of triggering events and executing event-related programs. Event triggering includes: bus messages, environment variables, error frames, keyboard input, and timer start / stop; event response includes: sending messages to the bus and changing the value of environment variables.

[0049] In one embodiment of this application, a simulation control panel is created using a panel editor in a development tool, including: determining control combinations based on test requirements and associating environment variables with each control combination; the control combinations are used to simulate a controller, and the environment variables are used to input and output test data; setting preconditions for vehicle parking, including vehicle speed, gear position, door open / close status, and seatbelt status; and designing the layout of the control combinations according to preset layout rules to obtain the simulation control panel, which displays the functional status of vehicle parking.

[0050] As an example, the simulation control panel is designed to better simulate the real environment and improve human-computer interaction during the simulation process. The simulation control panel is composed of various controls, which are associated with environment variables, enabling the input and output of external data. Creating the simulation control panel requires using the panel editor in CANoe software to create a visual user interface for the actuators and sensors that the controls need to simulate. Based on the testing requirements of the automatic parking controller, it is first necessary to simulate the preconditions for actual vehicle parking activation, and also to display the current parking function status, including signals such as engine status, electric motor status, steering wheel angle, vehicle speed, gear position, door and seatbelt status. Therefore, it is necessary to design an automatic parking simulation settings panel and a display panel to set the conditions required for the parking function to activate and display the various states of the simulated vehicle during the parking simulation test.

[0051] In one embodiment of this application, the final task in establishing the automatic parking guidance system is to test and verify the correctness of the connections between the modules, i.e., system integration and debugging. A complete test system needs to consist of an automatic parking simulation model, hardware boards, a simulation control panel, and an automatic parking network architecture. After the integration of these parts, a closed-loop simulation test loop is formed that can be used for ECU functional testing, analysis, and result evaluation.

[0052] As an example, after setting up each module of the automatic parking guidance system, the modules are integrated. The integrated simulation test system can simulate the communication between the automatic parking controller and the simulation control node to achieve real-time interaction between signals, thus enabling the entire simulation test system to replace the real vehicle for automatic parking testing. As a specific example, the automatic parking guidance system is an ECU simulation test platform built based on CANoe software, VN series interface cards (hardware devices for data acquisition and communication), the VT test system (a highly integrated test platform), simulated vehicle switch load boards, Car-box (a digital car sales system), power supply, etc. It mainly completes the correlation of signals between various functional modules and the configuration of hardware boards. The signal correlation mainly includes the signal correlation between the controller's input and output signals, the CAN network simulation model interface, the VN series board interface, and the VT test system. Its function is to establish signal interaction between the automatic parking simulation model and the automatic parking network architecture, connecting the I / O interfaces (input / output interfaces) of the automatic parking simulation model and the automatic parking network architecture, thereby enabling the entire system to achieve a closed loop. Hardware board configuration is necessary because the automatic parking simulation model can only recognize physical signals, while the automatic parking network architecture can only receive and process electrical signals. To establish a connection between the automatic parking simulation model and the automatic parking network architecture, hardware board configuration supported by the operating software is required to convert physical signals into electrical signals, thus forming a closed-loop simulation circuit between the real controller and the real-time simulation model. The final task in establishing the automatic parking guidance system is to test and verify the correctness of the connections between the modules, i.e., system integration and debugging. A complete test system needs to consist of an automatic parking network architecture, hardware boards, an automatic parking simulation model, and a simulation control panel. After the integration of these parts, a closed-loop simulation test circuit is formed that can be used for vehicle controller function testing, analysis, and result evaluation. The Car-box is not directly used for ECU testing but is mainly applied to mid-to-high-end car sales and service companies (such as 4S stores) and chain car dealerships. The Car-box system includes functional modules such as an interactive vehicle display system, intelligent mortgage and payment calculation tools, and a customer relationship management system, but it does not directly participate in the ECU simulation testing process.

[0053] In one embodiment of this application, after obtaining the automatic parking guidance system, the method further includes: starting the automatic parking guidance system, establishing communication between the simulated vehicle and the automatic parking guidance system, and loading a test configuration file; performing a system self-test when the vehicle's operating state is detected as a prerequisite; setting the operating state of each component of the simulated vehicle in response to the prerequisite instruction of the automatic parking guidance system development method; and guiding the simulated vehicle to the target parking space in response to a parking guidance instruction when the operating state of each component of the simulated vehicle is the target operating state, the target parking space including parallel parking spaces and perpendicular parking spaces.

[0054] As an example, automatic parking testing includes tests in parking space search mode and two types of tests in parking mode: Performance testing in parking space search mode refers to the tests performed during the parking space search process. It primarily tests whether the target vehicle supports the specified parking space length and depth, parking search speed, lateral search distance, and whether the vehicle can correctly find a parking space and notify the driver under specified speed, lateral distance, and parking space length and depth conditions. Performance testing in parking mode refers to the tests performed during the parking process, requiring testing from the activation of the parking function to the completion of parking. This test mainly examines whether the automatic parking control system meets functional requirements in terms of parking speed control, gear control, interruption and exit condition execution, maximum number of parking adjustments, steering wheel angle control, fault handling, and information display, thereby determining whether the controller meets design requirements.

[0055] As an example, the automatic parking guidance system primarily tests the parking function in automatic parking mode. The test begins by setting preconditions using the simulation control panel designed within the test system. For example, the preconditions might be the initial parking conditions. Then, the type of parking space to be tested is set. After setting these, the parking switch on the load card of the test system initiates the parking space search process. The simulation control panel notifies the tester that a parking space has been found. The tester then continuously presses the parking confirmation button on the simulation control panel to activate the automatic parking guidance function. Since the automatic parking controller takes over vehicle control from the start of automatic parking guidance until the vehicle enters the parking space, the tester needs to monitor changes in vehicle speed, gear position, and steering wheel angle in real time using the simulation control panel. The tester then compares the results with the automatic parking function specifications, including the maximum speed, maximum number of parking adjustments, the on / off status of the reversing radar during parking, and the steering wheel angle and gear position at the end of parking, to evaluate the automatic parking function.

[0056] As a concrete example, Figure 3 A flowchart illustrating a test method for an automated parking guidance system, as shown in an exemplary embodiment of this application, includes the following steps:

[0057] Step S310: Power all test equipment normally, start the CANoe test software, establish communication between the automatic parking guidance system and the test equipment, and then load the pre-established test configuration file.

[0058] Step S320: Set up the automatic parking guidance system, set the start / stop status of the simulated vehicle to "Standby" and the vehicle status to "Running". At this time, the system starts self-checking.

[0059] Step S330: After the self-check is successful, set the required states of each component of the simulated vehicle in the simulation environment according to the prerequisites for activating the automatic parking function.

[0060] In one embodiment of this application, the prerequisite conditions include vehicle speed, gear position, seat belt status, door status, and trunk status.

[0061] Step S340: If all prerequisites are met, select the "Automatic Parking" function through the simulation control panel, select "Parallel Parking" or "Perpendicular Parking" as the parking method, and set the desired parking space status. Then, select the desired parking position for left or right parallel parking or perpendicular parking through the turn signal indicators on the simulation control panel.

[0062] Step S350: Start the parking space search mode. When the simulation control panel prompts "Parallel parking space found" or "Perpendicular parking space found", provide corresponding parking guidance.

[0063] Step S360: Monitor changes in parking information on the control panel. If a fault occurs, immediately terminate parking and find the cause based on the prompts.

[0064] In one embodiment of this application, parking information includes automatic parking status, vehicle speed, gear, parking progress, and steering wheel angle, etc.

[0065] Figure 4 A block diagram of an automated parking guidance system development apparatus according to an exemplary embodiment of this application is shown. (Reference) Figure 4As shown, an automatic parking guidance system development apparatus 400 according to an embodiment of this application includes: an automatic parking system construction module 410, a simulation environment construction module 420, a loading module 430, a simulation control panel creation module 440, and a debugging module 450. The automatic parking system construction module is used to model and simulate a pre-established or real-time automatic parking network architecture to obtain an automatic parking simulation model, which includes multiple simulation nodes. The simulation environment construction module is used to construct an automatic parking simulation environment using development tools and load simulation nodes into the parking simulation environment to obtain a network database, which includes multiple data nodes. The loading module is used to load the data nodes from the network database into the automatic parking simulation model to establish the network topology of the automatic parking simulation model. The simulation control panel creation module is used to create a simulation control panel using a panel editor in the development tools. The simulation control panel is used to display the automatic parking function status. The debugging module is used to integrate and debug the automatic parking network architecture, the automatic parking simulation model, the automatic parking simulation environment, and the simulation control panel to obtain the automatic parking guidance system. By constructing an automated parking guidance system and ensuring that the quality of the automated parking controller is simulated before real-vehicle testing, the simulation testing of the automated parking simulation model can be carried out simultaneously with the development of the automated parking network architecture. This allows for testing and verification of the correctness and reliability of the automated parking controller at each development stage, effectively avoiding the potential risks, high testing costs, long testing times, and low test coverage that may occur when directly conducting real-vehicle testing. This improves driving safety and, consequently, enhances the user experience.

[0066] In one embodiment of this application, the automatic parking system construction module is used to configure the system components of the automatic parking network architecture. The system components include a power drive system, a chassis control system, a body control system, an ultrasonic sensor system, a vehicle model, and a human-machine interaction system. All configured system components are integrated and tested to obtain the automatic parking network architecture. The power drive system includes a vehicle controller, an electric motor controller, and an engine controller. The chassis control system includes an integrated automatic parking controller, an airbag controller, a steering wheel angle sensor, an electric power steering controller, and a vehicle stability controller.

[0067] In one embodiment of this application, the automatic parking system construction module is used to perform requirements analysis on the automatic parking network architecture. The requirements analysis includes communication rate, number of nodes, message type, and message format. Based on the requirements analysis, simulation nodes are defined, and the message information that the simulation nodes need to send and receive is defined. The simulation nodes represent the controllers or devices in the automatic parking network architecture. The simulation nodes are integrated and debugged according to the requirements analysis to obtain an automatic parking simulation model.

[0068] In one embodiment of this application, the automatic parking system construction module is used to create node objects for simulation nodes, create message objects for node objects, the message objects include messages that the node objects need to send or receive, and the message information includes message name, message identifier, message type, message period, and message length; create signal content for message objects, the signal content includes signal name, signal length, signal type, start bit, offset, and data range; configure the communication relationship between simulation nodes, the communication relationship includes the sending and receiving relationship between node objects and message objects, and the inclusion relationship between message objects and signal objects; and obtain a communication matrix for simulation node communication within the automatic parking simulation model through the message information, signal content, and sending period of the simulation nodes.

[0069] In one embodiment of this application, the automatic parking system construction module is used to extract the simulation node to be tested from the automatic parking simulation model and disconnect the simulation node to be tested from the virtual bus; find the physical node corresponding to the simulation node to be tested from the automatic parking network architecture, replace the simulation node to be tested with the corresponding physical node, and then connect to the virtual bus to monitor the data transmission of the physical node in the automatic parking simulation model for hardware-in-the-loop simulation analysis; after completing the hardware-in-the-loop simulation analysis of all physical nodes in the automatic parking network architecture, disconnect all simulation nodes to be tested from the virtual bus and replace all simulation nodes to be tested in the automatic parking simulation model with the corresponding physical nodes.

[0070] In one embodiment of this application, the simulation control panel creation module is used to determine control combinations based on test requirements and associate environment variables with each control combination. The control combinations are used to simulate a controller, and the environment variables are used to input and output test data. The module sets the preconditions for vehicle parking, including vehicle speed, gear position, door open / close status, and seat belt status. The module designs the layout of the control combinations according to preset layout rules to obtain the simulation control panel, which displays the functional status of vehicle parking.

[0071] In one embodiment of this application, the automatic parking guidance system development apparatus further includes a test module 460, used to start the automatic parking guidance system, establish communication between the simulated vehicle and the automatic parking guidance system, and load a test configuration file; perform a system self-test when the vehicle operating state is detected as a prerequisite; set the operating state of each component of the simulated vehicle in response to the prerequisite command of the automatic parking guidance system development method; and guide the simulated vehicle to the target parking space in response to the parking guidance command when the operating state of each component of the simulated vehicle is the target operating state, the target parking space including parallel parking spaces and perpendicular parking spaces.

[0072] It should be noted that the apparatus and method provided in the above embodiments belong to the same concept, and the specific ways in which each module and unit performs operations have been described in detail in the method embodiments, and will not be repeated here. In practical applications, the apparatus provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the apparatus can be divided into different functional modules to complete all or part of the functions described above, and this is not a limitation.

[0073] Please see Figure 5 , Figure 5 This is a schematic diagram illustrating the structure of an in-vehicle terminal, as shown in an exemplary embodiment of this application. It should be noted that... Figure 5 The vehicle terminal 500 shown is merely an example and should not impose any limitations on the functionality and usage area of ​​the embodiments of this application.

[0074] like Figure 5 As shown, the vehicle terminal 500 includes a processor 501, a memory 502, and a communication virtual bus 503; the communication virtual bus 503 is used to connect the processor 501 and the memory 502; the processor 501 is used to execute the computer program stored in the memory 502 to implement one or more methods as described in the above embodiments.

[0075] The vehicle-mounted terminal provided in this application includes a processor, a memory, a transceiver, and a communication interface. The memory and the communication interface are connected to the processor and the transceiver and complete communication between them. The memory is used to store computer programs, the communication interface is used to perform communication, and the processor and the transceiver are used to run the computer programs, enabling the electronic device to perform the various steps of the above method.

[0076] In this embodiment, the memory may include random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device.

[0077] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0078] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. An automatic parking guidance system development method characterized by comprising: The method comprises: Modeling and simulating a pre-established or real-time automatic parking network architecture to obtain an automatic parking simulation model, the automatic parking simulation model comprising a plurality of simulation nodes; Building an automatic parking simulation environment through a development tool and loading the simulation nodes into the parking simulation environment to obtain a network database, the network database comprising a plurality of data nodes; Loading the data nodes in the network database into the automatic parking simulation model to establish a network topology of the automatic parking simulation model; Creating a simulation control panel through a panel editor in the development tool, the simulation control panel being used to display an automatic parking function state; Integrating and debugging the automatic parking network architecture, the automatic parking simulation model, the automatic parking simulation environment and the simulation control panel to obtain an automatic parking guiding system; After obtaining the automatic parking simulation model, further comprising: extracting a to-be-tested simulation node from the automatic parking simulation model, disconnecting the to-be-tested simulation node from a virtual bus; finding a physical node corresponding to the to-be-tested simulation node from the automatic parking network architecture, replacing the to-be-tested simulation node with the corresponding physical node, and connecting the virtual bus to monitor data transmission of the physical node in the automatic parking simulation model for semi-physical simulation analysis; after semi-physical simulation analysis of all physical nodes in the automatic parking network architecture is completed, disconnecting all to-be-tested simulation nodes from the virtual bus, and replacing all to-be-tested simulation nodes in the automatic parking simulation model with corresponding physical nodes.

2. The automatic parking guidance system development method according to claim 1, characterized by, The automatic parking network architecture is built, comprising: Configuring system components of the automatic parking network architecture, the system components comprising a power driving system, a chassis control system, a vehicle body control system, an ultrasonic sensor system, a whole vehicle model and a man-machine interaction system; Integrating and testing all the configured system components to obtain the automatic parking network architecture; The power driving system comprises a whole vehicle controller, a motor controller and an engine controller; the chassis control system comprises an integrated automatic parking controller, an airbag controller, a steering wheel angle sensor, an electric power steering controller and a vehicle body stability controller.

3. The automatic parking guidance system development method according to claim 1, characterized by, The automatic parking network architecture is modeled and simulated to obtain an automatic parking simulation model, comprising: Performing requirement analysis on the automatic parking network architecture, the requirement analysis comprising communication rate, node quantity, message type and message format; Defining simulation nodes according to the requirement analysis and defining message information to be sent and received by the simulation nodes, the simulation nodes representing controllers or devices in the automatic parking network architecture; Integrating and debugging the simulation nodes according to the requirement analysis to obtain the automatic parking simulation model.

4. The automatic parking guidance system development method according to claim 3, characterized by, After obtaining the automatic parking simulation model, further comprising: Creating a node object of the simulation node and creating a message object for the node object, the message object comprising messages to be sent or received by the node object, the message information comprising message name, message identification code, message type, message period and message length; The signal content includes a signal name, a signal length, a signal type, a start bit, an offset, and a data range; The communication relationship includes a sending and receiving relationship between the node object and the message object, and an inclusion relationship between the message object and a signal object; A communication matrix for communication between simulation nodes in the automatic parking simulation model is obtained through the message information, signal content, and sending period of the simulation nodes.

5. The automatic parking guidance system development method of claim 1, wherein The simulation control panel is created through a panel editor in the development tool, including: A control combination is determined through a test requirement, and an environment variable is associated with each control combination, the control combination being used to simulate a controller, and the environment variable being used to input and output test data; A precondition for vehicle parking is set, including a vehicle speed, a gear position, a door switch state, and a seat belt state; A layout of the control combination is designed according to a preset layout rule to obtain a simulation control panel to display a functional state of vehicle parking.

6. The automatic parking guidance system development method according to claim 5, wherein After the automatic parking guide system is obtained, the method further includes: The automatic parking guide system is started, and communication between the simulation vehicle and the automatic parking guide system is established, and a test configuration file is loaded; When a vehicle operating state is detected to be the precondition, a system self-check is performed; In response to a precondition instruction of the automatic parking guide system development method, an operating state of each component of the simulation vehicle is set; When the operating state of each component of the simulation vehicle is a target operating state, the simulation vehicle is guided to a target parking space in response to a parking guide instruction, the target parking space including a parallel parking space and a perpendicular parking space.

7. An automatic parking guidance system development method apparatus characterized by comprising: The device includes: An automatic parking system construction module for modeling and simulating a constructed automatic parking network architecture to obtain an automatic parking simulation model, the automatic parking simulation model including a plurality of simulation nodes; An simulation environment construction module for constructing an automatic parking simulation environment through a development tool, and loading the simulation nodes into the parking simulation environment to obtain a network database, the network database including a plurality of data nodes; A loading module for loading the data nodes in the network database into the automatic parking simulation model to establish a network topology structure of the automatic parking simulation model; A simulation control panel creation module for creating a simulation control panel through a panel editor in the development tool, the simulation control panel being used to display an automatic parking functional state; A debugging module for integrating and debugging the automatic parking network architecture, the automatic parking simulation model, the automatic parking simulation environment, and the simulation control panel to obtain an automatic parking guide system. The automatic parking system construction module is also specifically used for extracting a simulation node to be tested from the automatic parking simulation model, disconnecting the simulation node to be tested from a virtual bus, finding a physical node corresponding to the simulation node to be tested from the automatic parking network architecture, replacing the corresponding physical node with the simulation node to be tested, and reconnecting the virtual bus to monitor data transmission of the physical node in the automatic parking simulation model to perform semi-physical simulation analysis; after semi-physical simulation analysis of all physical nodes in the automatic parking network architecture is completed, disconnecting all simulation nodes to be tested from the virtual bus, and replacing all simulation nodes to be tested in the automatic parking simulation model with corresponding physical nodes.

8. A vehicle terminal, characterized by comprising: The automatic parking guiding system development method comprises a processor, a memory and a communication virtual bus; the communication virtual bus is used for connecting the processor and the memory; the processor is used for executing a computer program stored in the memory to realize the automatic parking guiding system development method according to any one of claims 1 to 6.

9. A vehicle characterized by comprising: The automatic parking guiding system development device according to claim 7 or the vehicle-mounted terminal according to claim 8.

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