Parking alarm method and device and vehicle

Abstract

The embodiment of the invention discloses a parking warning method and device and a vehicle, and belongs to the technical field of vehicles. The method is used for a vehicle machine, the vehicle machine is connected with a vehicle state detection device in a vehicle through a CAN bus, and the method comprises the steps that under the condition that the vehicle is in a stop state, a target vehicle state signal sent by at least one target vehicle state detection device is obtained through the CAN bus, the different target vehicle state signals are used for representing the states of different vehicle parts; based on the target vehicle state signal, vehicle leaving trend identification is carried out, a vehicle leaving trend identification result is obtained, and the vehicle leaving trend identification result is used for representing whether the driver has a trend of leaving the vehicle or not; and when the vehicle leaving trend identification result represents that the driver has a trend of leaving the vehicle and the current gear is a non-parking gear, carrying out parking state risk warning. By the adoption of the technical scheme, the parking state of a driver when the driver leaves the vehicle can be monitored, accurate warning is achieved, and vehicle sliding is avoided.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of vehicle technology, and in particular to a parking alarm method, device and vehicle. Background Art

[0002] Improper parking can easily lead to safety accidents. In the related art, the driver is reminded to pay attention to parking safety through reversing images or panoramic images of the vehicle body, but it still cannot solve the safety problems caused by the driver's improper parking operation, such as slipping. Summary of the invention

[0003] The embodiment of the present application provides a parking warning method, device and vehicle. The technical solution includes the following contents.

[0004] On the one hand, an embodiment of the present application provides a parking alarm method, the method is used for a vehicle computer, the vehicle computer is connected to a vehicle state detection device in a vehicle through a CAN bus, and the method includes:

[0005] When the vehicle is in a stopped state, obtaining a target vehicle state signal sent by at least one target vehicle state detection device through the CAN bus, wherein different target vehicle state signals are used to characterize states of different vehicle components;

[0006] Performing a vehicle leaving trend recognition based on the target vehicle state signal to obtain a vehicle leaving trend recognition result, wherein the vehicle leaving trend recognition result is used to characterize whether the driver has a tendency to leave the vehicle;

[0007] When the departure trend recognition result indicates that the driver has a tendency to leave the vehicle and the current gear is a non-parking gear, a parking state risk warning is issued.

[0008] On the other hand, an embodiment of the present application provides a parking alarm device, which is used for a vehicle computer, and the vehicle computer is connected to a vehicle state detection device in a vehicle through a CAN bus, and the device includes:

[0009] an acquisition module, used for acquiring, when the vehicle is in a stopped state, a target vehicle state signal sent by at least one target vehicle state detection device through the CAN bus, wherein different target vehicle state signals are used to characterize the states of different vehicle components;

[0010] an identification module, used for performing a vehicle leaving trend identification based on the target vehicle state signal to obtain a vehicle leaving trend identification result, wherein the vehicle leaving trend identification result is used to characterize whether the driver has a tendency to leave the vehicle;

[0011] The warning module is used to issue a parking state risk warning when the leaving-vehicle trend recognition result indicates that the driver has a tendency to leave the vehicle and the current gear is a non-parking gear.

[0012] On the other hand, an embodiment of the present application provides a vehicle, the vehicle including a vehicle computer, and the vehicle computer is used to implement the parking warning method as described in the above aspect.

[0013] In the embodiment of the present application, the vehicle computer determines whether the driver has a tendency to leave the vehicle by obtaining vehicle status signals representing different vehicle components from the CAN bus. There are many situations in which the vehicle is stopped, such as stopping when waiting for a traffic light, stopping with the engine turned off, etc. By identifying the driver's tendency to leave the vehicle, the vehicle computer can detect the vehicle gear position when it is determined that the driver has left the vehicle, so as to issue a timely alarm, which is conducive to improving the accuracy of the alarm. By detecting the gear position at the right time and then issuing a parking status risk alarm, it is conducive to regulating the driver's parking behavior and preventing the vehicle from slipping due to not engaging the parking gear. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a flow chart of a parking warning method provided by an exemplary embodiment of the present application;

[0015] Figure 2 is a flow chart of a vehicle departure trend identification process provided by an exemplary embodiment of the present application;

[0016] Figure 3 is a flowchart of a parking warning method provided by another exemplary embodiment of the present application;

[0017] Figure 4 is a flowchart of a parking warning method provided by another exemplary embodiment of the present application;

[0018] Figure 5 is a flow chart of a risk level determination process provided by an exemplary embodiment of the present application;

[0019] Figure 6 is a structural block diagram of a parking warning device provided by an exemplary embodiment of the present application;

[0020] Figure 7 It is a structural block diagram of a vehicle computer provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0022] The following first explains the technical names involved in the embodiments of the present application.

[0023] CAN (Controller Area Network) bus: Different vehicle components and detection devices send signals to the CAN bus. The vehicle computer can obtain CAN signals representing the vehicle status from the CAN bus.

[0024] EPS (Electric Power Steering) controller: The EPS controller is used to determine whether the steering wheel is in a hands-free state and send a signal representing the steering wheel state to the vehicle computer.

[0025] BCM (Body Control Module) controller: The BCM controller is used to monitor the body status including the door status.

[0026] VCU (Vehicle Control Unit) controller: The VCU controller can collect the vehicle's gear signal, speed signal, etc. The VCU controller can send the collected signals to the vehicle computer through the CAN bus.

[0027] The driver's irregular parking behavior can easily cause the car to slip and cause safety accidents, especially novice drivers are more likely to make irregular parking. In the related technology, when assisting the driver to use the vehicle and ensure driving safety, it often relies on detection equipment installed outside the vehicle to avoid collision between the vehicle and creatures or objects in the surrounding environment, such as reversing images and panoramic images taken by camera equipment, but it still cannot solve the safety problems caused by the driver's irregular parking operation, such as slipping.

[0028] The present application provides a parking warning method, which monitors the driver's tendency to leave the vehicle based on vehicle status signals sent by different vehicle components. When the driver leaves the vehicle, the method monitors whether the gear is in the parking gear, and then issues an alarm when the driver leaves the vehicle without engaging the parking gear, thereby preventing the vehicle from rolling away.

[0029] See also Figure 1 , Figure 1 The flowchart of a parking warning method provided by an exemplary embodiment of the present application is shown in FIG. The method is used for a vehicle computer, wherein the vehicle computer is connected to a vehicle state detection device in the vehicle via a CAN bus.

[0030] Step 101, when the vehicle is in a stopped state, a target vehicle state signal sent by at least one target vehicle state detection device is obtained through a CAN bus, wherein different target vehicle state signals are used to characterize states of different vehicle components.

[0031] The target vehicle state signal refers to a vehicle state signal associated with the driver's departure behavior trend. Since the driver's behavior will affect the vehicle state, the driver's behavior trend can be determined based on the vehicle state signal representing the vehicle state.

[0032] In the related art, the vehicle status detection device can send a vehicle status signal to the vehicle computer, and there is a corresponding display content on the vehicle computer screen or instrument to allow the driver to understand the vehicle status. The vehicle computer screen may also not display the vehicle status signal representation content, only for the vehicle computer to determine the vehicle status. In the embodiment of the present application, the vehicle computer selects a target vehicle status signal that can represent the tendency of leaving the vehicle, and determines the state of the vehicle components associated with the parking operation. Among them, the target vehicle status detection device is a vehicle status detection device that sends a target vehicle status signal.

[0033] Optionally, the stopped state of the vehicle can be determined based on the vehicle speed. In a possible implementation, the vehicle computer receives a vehicle speed signal sent by the VCU controller to the CAN bus, and determines that the vehicle is in a stopped state when the vehicle speed signal indicates that the vehicle speed is zero.

[0034] Step 102 , performing vehicle leaving trend recognition based on the target vehicle state signal to obtain a vehicle leaving trend recognition result, wherein the vehicle leaving trend recognition result is used to characterize whether the driver has a tendency to leave the vehicle.

[0035] In some embodiments, the target vehicle status signal can represent the driver's behavioral tendency. For example, when the driver is getting out of the vehicle, he or she may unfasten the seat belt and open the door. At this time, the vehicle computer can receive the target vehicle status signal representing the seat belt status and the door status.

[0036] Optionally, the vehicle computer can determine that the driver has a tendency to leave the vehicle based on a preset recognition logic when the vehicle state indicated by the target vehicle state signal matches the vehicle state when the driver leaves the vehicle. For example, when the vehicle computer detects a vehicle state signal indicating that the door is open, the vehicle computer determines that the driver may have a tendency to leave the vehicle. For another example, when the vehicle computer detects a vehicle state signal indicating that the seat belt is retracted, the vehicle computer determines that the driver may have a tendency to leave the vehicle. In an embodiment of the present application, the vehicle computer determines whether the driver has a tendency to leave the vehicle by identifying at least one target vehicle state signal.

[0037] Step 103 , when the result of the vehicle leaving trend recognition indicates that the driver has a tendency to leave the vehicle and the current gear is a non-parking gear, a parking state risk warning is issued.

[0038] Since the vehicle will be out of the driver's control after the driver leaves, it is necessary to change the gear to the parking gear to keep the vehicle stationary. When the current gear is not the parking gear, the vehicle is prone to slipping.

[0039] Optionally, the warning method of the vehicle computer for parking status risk warning may include the vehicle computer controlling the vehicle computer screen to display warning information, the vehicle computer controlling the audio device to play warning sound, the vehicle computer controlling the hazard warning flasher to light up, etc. For example, the vehicle computer screen displays "The current gear is not P gear, please shift to P before getting off the car", and the audio device emits a buzzer. Among them, the hazard warning flasher is located on the vehicle body. By lighting up the hazard warning light, it can prevent the driver from focusing all his eyes outside the car when getting off the car, resulting in failure to notice the warning prompt on the vehicle computer screen.

[0040] In the embodiment of the present application, the vehicle computer determines whether the driver has a tendency to leave the vehicle by obtaining vehicle status signals representing different vehicle components from the CAN bus. There are many situations in which the vehicle is stopped, such as stopping when waiting for a traffic light, stopping with the engine turned off, etc. By identifying the driver's tendency to leave the vehicle, the vehicle computer can detect the vehicle gear position when it is determined that the driver has left the vehicle, so as to issue a timely alarm, which is conducive to improving the accuracy of the alarm. By detecting the gear position at the right time and then issuing a parking status risk alarm, it is conducive to regulating the driver's parking behavior and preventing the vehicle from slipping due to not engaging the parking gear.

[0041] Considering that the difference between the driver's state when parking and the state when leaving the vehicle is mainly reflected in whether the steering wheel, brake pedal and car computer are used, the car computer can determine whether the driver has a tendency to leave the vehicle based on whether the steering wheel is out of hand, the brake pedal is applied and whether the main driver's door is open.

[0042] See also Figure 2 , Figure 2 FIG. 1 is a flow chart of a process for identifying a vehicle leaving trend provided by an exemplary embodiment of the present application. The process includes the following steps.

[0043] Step 201, obtaining a hands-off steering wheel detection signal sent by an EPS controller via a CAN bus.

[0044] In some embodiments, the steering wheel hands-off monitoring signal is used to indicate whether the steering wheel is off the hands. Optionally, the steering wheel may determine whether the steering wheel is off the hands by means of torque sensing, grip sensing, capacitive sensing, etc. The specific detection method of the steering wheel hands-off detection signal is not limited in the embodiment of the present application. During vehicle driving, the steering wheel is generally in a hands-on state. When the driver gets off the vehicle after parking, the steering wheel is in a hands-off state.

[0045] Exemplarily, when the steering wheel hands-off detection signal is 0x1, it indicates that the steering wheel is off, and when it is 0x0, it indicates that the steering wheel is not off.

[0046] Step 202: Acquire a brake pedal status signal sent by a brake pedal sensor via the CAN bus.

[0047] In some embodiments, the brake pedal state signal is used to indicate whether the brake pedal is in a released state or a braked state. When the vehicle is in a temporary parking state that may start at any time, the brake pedal is often in a braked state. Before the driver stops the vehicle and prepares to get off, the brake pedal is in a braked state, causing the vehicle to change from a moving state to a stopped state. When the driver gets off the vehicle, the brake pedal is in a released state.

[0048] Exemplarily, when the brake pedal status signal is 0x1, it indicates that the brake pedal is in a braking state, and when it is 0x0, it indicates that the brake pedal is in a released state.

[0049] Step 203, obtaining the main vehicle door status signal sent by the BCM controller through the CAN bus.

[0050] In some embodiments, the main driving door state signal is used to indicate whether the main driving door is in an open state or a closed state. During the use of the vehicle, the main driving door is generally in a closed state, and when the driver is ready to leave the vehicle, the main driving door is in an open state.

[0051] Exemplarily, when the main driving door status signal is 0x1, it indicates that the main driving door is open, and when it is 0x0, it indicates that the main driving door is closed.

[0052] The embodiment of the present application does not limit the execution sequence of steps 201 to 203 .

[0053] Step 204, when the steering wheel hands-off detection signal indicates that the hands are off the steering wheel, the brake pedal status signal indicates that the brake pedal is in a released state, and the main driver's door status signal indicates that the main driver's door is in an open state, a first vehicle departure trend recognition result is obtained, and the first vehicle departure trend recognition result indicates that the driver has a tendency to leave the vehicle.

[0054] This step formulates decision logic for different target vehicle status signals based on the states of different vehicle components when the driver intends to get off the vehicle, so as to determine whether the driver has a tendency to leave the vehicle.

[0055] Optionally, the vehicle computer can also increase the detection signal obtained through the CAN bus to improve the accuracy of the departure trend recognition. For example, the vehicle computer obtains the seat belt status signal sent by the seat belt detection unit through the CAN bus. When the steering wheel hands-off detection signal indicates that the hands are off the steering wheel, and the brake pedal status signal indicates that the brake pedal is in a released state, and the main driving door status signal indicates that the main driving door is in an open state, and the seat belt status signal indicates that the seat belt is in a retracted state, the vehicle computer obtains the first departure trend recognition result. For another example, the vehicle computer obtains the main driving seat pressure signal sent by the seat pressure detection unit through the CAN bus. When the steering wheel hands-off detection signal indicates that the hands are off the steering wheel, and the brake pedal status signal indicates that the brake pedal is in a released state, and the main driving door status signal indicates that the main driving door is in an open state, and the main driving seat pressure signal indicates that the driver has left the main driving seat, the vehicle computer obtains the first departure trend recognition result.

[0056] In some embodiments, when the vehicle is in a stopped state, the vehicle computer obtains a first vehicle departure trend recognition result through vehicle departure trend recognition, and when the current gear is a non-parking gear, the vehicle computer issues a parking state risk warning.

[0057] Optionally, during the process of parking status risk warning, if the steering wheel hands-off detection signal indicates that the hands are not off the steering wheel, and / or the brake pedal status signal indicates that the brake pedal is in the braking state, and / or the main driving door status signal indicates that the main driving door is in the closed state, the vehicle computer stops the parking status risk warning.

[0058] Among them, the steering wheel hands-off detection signal indicates that the hands are not off the steering wheel, and / or the brake pedal status signal indicates that the brake pedal is in a braking state, and / or the main driving door status signal indicates that the main driving door is in a closed state, indicating that the driver is leaving the vehicle and then noticing the alarm and returning to the vehicle cab. Since the driver has the autonomy to deal with the current vehicle status, when the driver returns to the vehicle cab, the vehicle is back under the driver's control, and the vehicle computer can stop the parking status risk alarm.

[0059] Step 205, when the steering wheel hands-off detection signal indicates that the hands are not off the steering wheel, and / or the brake pedal status signal indicates that the brake pedal is in a braking state, and / or the main driver's door status signal indicates that the main driver's door is in a closed state, a second vehicle departure trend recognition result is obtained, and the second vehicle departure trend recognition result indicates that the driver has no tendency to leave the vehicle.

[0060] Considering that when the driver leaves the car, his hands will leave the steering wheel, the brake pedal will be released, and the main driver's door will be opened. If any one of these conditions is not met, it means that the driver is in the car and has not left the car.

[0061] The embodiment of the present application does not limit the execution sequence between step 204 and step 205.

[0062] In the embodiment of the present application, the vehicle computer identifies the trend of leaving the vehicle through the steering wheel hands-off detection signal, the brake pedal status signal and the main car door status signal. When the three signals all match the vehicle status when the driver leaves the vehicle, it is determined that the driver has a trend of leaving the vehicle. Otherwise, it is determined that there is no trend of leaving the vehicle. Compared with judging whether the driver has a trend of leaving the vehicle through a single signal, this is conducive to improving the accuracy of identifying the trend of leaving the vehicle.

[0063] Among them, when the vehicle computer obtains the first vehicle leaving trend recognition result through vehicle leaving trend recognition and the current gear is not a parking gear, a parking state risk warning is issued. When any of the steering wheel hands-off detection signal, brake pedal state signal and main driving door state signal does not match the vehicle state when the driver leaves the vehicle, the vehicle computer determines that the vehicle is back under the control of the driver, and stops the warning to avoid continuous warnings from interfering with the use of the vehicle.

[0064] Optionally, the vehicle computer can record the number of risky parking behaviors of the driver when identifying the trend of leaving the vehicle, so as to strengthen the warning intensity and attract the driver's attention when the driver frequently engages in risky parking behaviors. At the same time, it can effectively ensure parking safety and reduce the occurrence rate of risky parking situations.

[0065] See also Figure 3 , Figure 3 FIG. 1 is a flow chart of a parking warning method provided by another exemplary embodiment of the present application. The method comprises the following steps.

[0066] Step 301, when the vehicle is in a stopped state, a target vehicle state signal sent by at least one target vehicle state detection device is obtained through a CAN bus, wherein different target vehicle state signals are used to characterize states of different vehicle components.

[0067] Step 302: When the number of risky parking times within a preset time period does not reach a threshold number, a vehicle leaving trend is identified based on a target vehicle state signal to obtain a vehicle leaving trend identification result.

[0068] It should be noted first that the specific instructions on obtaining the target vehicle status signal and identifying the vehicle departure trend based on the target vehicle status signal in steps 301 to 302 can be referred to the above embodiment, and the embodiments of the present application will not be repeated.

[0069] In some embodiments, the number of risky parking times is used to characterize the risk level in the parking state, that is, the greater the number of risky parking times, the higher the risk level.

[0070] In some embodiments, the preset duration refers to the duration during which the vehicle computer records the number of risky parking times. Optionally, the preset duration may be a fixed period, such as Monday to Sunday of each week, or from the beginning to the end of each month. When the fixed period ends, the number of risky parking times is reset to zero and accumulated again.

[0071] Optionally, the preset duration may also be determined as a historical duration including the current time. For example, when today is July 14, the preset duration refers to the 7 days between July 8 and July 14.

[0072] Step 303: When the result of the vehicle leaving trend recognition indicates that the driver has a tendency to leave the vehicle and the current gear is a non-parking gear, the number of risky parking times is updated.

[0073] Optionally, the number of risky parking times can be recorded as the number of parking state risk warning times, that is, when the result of the departure trend recognition indicates that the driver has a tendency to leave the vehicle and the current gear is not a parking gear, the vehicle computer determines the cumulative number of risky parking times. For example, the current number of risky parking times is 1, and the updated number of risky parking times is 2.

[0074] Optionally, the vehicle computer may update the number of risky parking times based on the risk level. In a possible implementation, the vehicle computer determines the increment of the number of risky parking times corresponding to the current risk level according to the risk level of the current parking environment, and then updates the number of risky parking times.

[0075] In an exemplary example, the vehicle computer determines that the vehicle is on a slope section according to the slope signal sent by the slope sensor. The risk level of the slope section corresponds to a risk stop count increment of 2, the current risk stop count is 1, and the vehicle computer determines that the updated risk stop count is 3.

[0076] Step 304: When the number of risky parking times within a preset time reaches a threshold, and the hands-off detection signal indicates that the hands are off the steering wheel, and the brake pedal status signal indicates that the brake pedal is in a released state, and the current gear is not a parking gear, in response to the main driver's door opening command, the main driver's door is kept locked and a parking status risk alarm is issued.

[0077] If the number of risky parking times within a preset time reaches the number threshold, the vehicle computer can determine that the driver has bad parking habits. In order to correct the driver's parking habits and standardize parking operations, the vehicle computer restricts the driver's behavior by keeping the main driving door locked when the driver may have a tendency to get off the vehicle and the driver has not gotten off the vehicle, prompting the driver to switch the gear to the parking gear. Among them, when the steering wheel hands-off detection signal indicates that the hands are off the steering wheel, and the brake pedal status signal indicates that the brake pedal is in a released state, the vehicle computer determines that the driver may have a tendency to get off the vehicle.

[0078] Optionally, when the vehicle computer determines whether the driver has a tendency to leave the vehicle based on other detection signals (in addition to the main driving door status signal), the judgment logic of other detection signals can be added to this step to improve the accuracy of the vehicle computer in identifying the tendency to leave the vehicle and avoid the situation where the main driving door is mistakenly locked due to misjudgment of the tendency to leave the vehicle.

[0079] It should be noted that the determination logic of the vehicle computer on the tendency to get off the vehicle in the embodiment of the present application is implemented when the vehicle is in a stopped state. The main driving door opening instruction is used to open the main driving door, and the embodiment of the present application does not limit the instruction type of the main driving door opening instruction.

[0080] Optionally, the warning method of the vehicle computer for the parking status risk warning may include the vehicle computer controlling the vehicle computer screen to display warning information, the vehicle computer controlling the audio device to play the warning sound, and the vehicle computer controlling the hazard warning flasher to light up.

[0081] Step 305, when the current gear is switched to the parking gear, in response to the main driving door opening instruction, the main driving door is set to the unlocked state.

[0082] Optionally, the vehicle computer may stop issuing parking status risk warnings when the current gear is switched from a non-parking gear to a parking gear.

[0083] In the embodiment of the present application, the vehicle computer determines whether the driver has bad parking habits by updating the number of risky parking times within a preset time. Among them, if the number of risky parking times within the preset time does not reach the number threshold, it is still determined whether to issue a parking state risk warning based on the vehicle departure trend recognition result and the current gear position, thereby realizing the warning of accidental parking state risks; if the number of risky parking times within the preset time reaches the number threshold, the vehicle computer locks the main driving door to prompt the driver to switch the current gear position to the parking gear, thereby realizing the correction of the driver's bad driving habits, which is conducive to reducing the incidence of risky parking situations.

[0084] In some embodiments, the risk levels in different parking environments are different, and the vehicle computer may adopt warning methods with different warning intensities in different parking environments.

[0085] See also Figure 4 , Figure 4 FIG. 1 is a flow chart of a parking warning method provided by another exemplary embodiment of the present application. The method comprises the following steps.

[0086] Step 401, when the vehicle is in a stopped state, a target vehicle state signal sent by at least one target vehicle state detection device is obtained through a CAN bus, wherein different target vehicle state signals are used to characterize states of different vehicle components.

[0087] Step 402 , performing vehicle leaving trend recognition based on the target vehicle state signal to obtain a vehicle leaving trend recognition result, which is used to characterize whether the driver has a tendency to leave the vehicle.

[0088] In the embodiment of the present application, the specific implementation of step 401 to step 402 can refer to the above embodiments, so it will not be repeated here.

[0089] Step 403 : when the result of the vehicle leaving trend recognition indicates that the driver has a tendency to leave the vehicle and the current gear is a non-parking gear, determine the risk level based on the parking environment.

[0090] In some embodiments, different parking environments have different risk levels, and the risk level is used to measure the risk level of the parking environment. For example, the risk level of a flat open area is lower than the risk level of a sloped road section.

[0091] Optionally, the vehicle computer can obtain environmental data collected by the vehicle status detection device through the CAN bus, and then determine the risk level based on the environmental data.

[0092] Considering that the possibility of a vehicle slipping when parking on a slope is high, and in a complex parking environment, slipping can easily cause vehicle damage or pedestrian injury, the following uses the example of the vehicle computer collecting slope data and environmental images to illustrate the process of determining the risk level. Figure 5 As shown, the following steps are included.

[0093] Step 501A, obtaining the slope data collected by the slope sensor through the CAN bus, and the slope data is used to characterize the current tilt angle of the vehicle.

[0094] Step 501B, determining a first risk impact factor based on the slope data.

[0095] Optionally, the inclination angle represented by the slope data is positively correlated with the first risk influencing factor, that is, the larger the inclination angle of the road surface, the higher the risk level, and the larger the first risk influencing factor.

[0096] In a possible implementation manner, the vehicle computer determines the first risk impact factor by querying the corresponding relationship between the slope data and the first risk impact factor.

[0097] Exemplarily, when the inclination angle represented by the slope data is less than the angle threshold, the vehicle computer determines the first risk impact factor to be the first factor value; when the inclination angle represented by the slope data is greater than the angle threshold, the vehicle computer determines the first risk impact factor to be the second factor value.

[0098] In another possible implementation, the vehicle computer may adopt a preset calculation strategy, bring the slope data into the preset calculation strategy for calculation, and obtain the first risk impact factor.

[0099] For example, the vehicle computer can determine the product of the inclination angle represented by the slope data and the slope factor 0.1 as the first risk impact factor. When the inclination angle represented by the slope data is 5°, the first risk impact factor is 0.5. When the inclination angle represented by the slope data is 10°, the first risk impact factor is 1.

[0100] Step 502A, obtaining the environment image captured by the camera through the CAN bus.

[0101] Step 502B: perform image recognition on the environment image to obtain the complexity of the parking environment.

[0102] The parking environment complexity is used to characterize the presence of environmental factors in the vehicle's surroundings. For example, if the vehicle's surroundings are open, the parking environment complexity is low; if there are other vehicles, pedestrians, obstacles, animals and other environmental factors in the vehicle's surroundings, the parking environment complexity is high.

[0103] Optionally, the vehicle computer can input the environment image into the image recognition model to obtain the parking environment complexity output by the image model. The image recognition model can be trained using sample environment images and sample parking environment complexity. Optionally, the vehicle computer can also use other common image recognition methods, and the embodiments of the present application do not limit the specific method of image recognition.

[0104] Step 502C: determining a second risk impact factor based on the complexity of the parking environment.

[0105] Optionally, the complexity of the parking environment is positively correlated with the second risk impact factor, that is, the greater the complexity of the parking environment, the higher the risk level, and the greater the second risk impact factor.

[0106] In a possible implementation manner, the vehicle computer determines the second risk impact factor by querying the corresponding relationship between the complexity of the parking environment and the second risk impact factor.

[0107] Exemplarily, when the parking environment complexity is less than the complexity threshold, the vehicle computer determines the second risk impact factor as the third factor value; when the parking environment complexity is greater than the complexity threshold, the vehicle computer determines the second risk impact factor as the fourth factor value.

[0108] In another possible implementation, the vehicle computer may adopt a preset calculation strategy, bring the complexity of the parking environment into the preset calculation strategy for calculation, and obtain the second risk impact factor.

[0109] For example, the vehicle computer may determine the product of the parking environment complexity and the complexity factor 0.1 as the first risk impact factor. When the parking environment complexity is 5, the second risk impact factor is 0.5. When the parking environment complexity is 10, the second risk impact factor is 1.

[0110] It should be noted that in the embodiments of the present application, the data mentioned in the above examples are only for illustrative purposes, and based on actual needs, the vehicle computer can adopt other preset calculation strategies to determine the first risk impact factor or the second risk impact factor. In addition, the first risk impact factor and the second risk impact factor can be determined in different ways.

[0111] Step 503: Determine the risk level of the parking environment based on the first risk impact factor and the second risk impact factor.

[0112] In some embodiments, the risk level of the parking environment is positively correlated with the risk degree of the parking environment, that is, the higher the risk level, the higher the risk degree represented.

[0113] Optionally, the first risk impact factor is positively correlated with the risk level of the parking environment, and the second risk impact factor is positively correlated with the risk level of the parking environment. Exemplarily, the vehicle computer may determine the risk level as the sum of the first risk impact factor and the second risk impact factor, or determine the risk level as the product of the first risk impact factor and the second risk impact factor, or determine the risk level by other calculation methods that conform to the positive correlation between the aforementioned risk impact factors and the risk level of the parking environment.

[0114] Step 404 , a parking status risk warning is issued based on the warning method corresponding to the risk level, wherein different risk levels correspond to different warning methods, and the warning intensity of the warning method is positively correlated with the risk level.

[0115] Optionally, the warning method of the vehicle computer for the parking status risk warning may include the vehicle computer controlling the vehicle computer screen to display warning information, the vehicle computer controlling the audio device to play the warning sound, and the vehicle computer controlling the hazard warning flasher to light up.

[0116] In an illustrative example, the warning mode corresponding to the first risk level is that the vehicle computer controls the vehicle computer screen to display the warning information. The warning mode corresponding to the second risk level is that the vehicle computer controls the vehicle computer screen to display the warning information, and the vehicle computer controls the audio device to play the warning sound. The warning mode corresponding to the third risk level is that the vehicle computer controls the vehicle computer screen to display the warning information, and the vehicle computer controls the audio device to play the warning sound, and the vehicle computer controls the hazard warning flasher to light up. Among them, the second risk level is higher than the first risk level, and the third risk level is higher than the second risk level.

[0117] In the embodiment of the present application, the vehicle computer determines the risk level corresponding to the parking environment and takes warning measures with corresponding warning intensity. For parking environments with higher risk levels, the vehicle computer can take warning measures with higher warning intensity to avoid the failure to engage the parking gear due to the driver's failure to pay attention to the warning content. This is conducive to increasing the driver's attention to high-risk parking environments and reducing the incidence of slipping accidents in high-risk parking environments.

[0118] Among them, since the possibility of a vehicle rolling accident varies when parking on roads with different slopes and in different parking environments, the vehicle computer determines the slope conditions and the complexity of the parking environment by analyzing the slope data and environmental images, and thus determines the risk level of the current parking environment, which is conducive to improving the accuracy of the risk level.

[0119] Since the driver may focus completely on the outside of the vehicle when leaving the vehicle cab, causing him to ignore the warning content of the vehicle computer, in order to ensure parking safety, the vehicle computer can have the ability to automatically engage the parking gear.

[0120] Optionally, the vehicle computer can automatically engage the parking gear in the following two ways:

[0121] Method 1: If the parking status risk alarm is not released within the time threshold, the current gear is automatically set to the parking gear. The time threshold is negatively correlated with the risk level.

[0122] Optionally, when the warning duration of the parking state risk warning issued by the vehicle computer does not reach the duration threshold, the vehicle computer maintains the parking state risk warning until the departure trend recognition result of the target vehicle state signal sent by the target vehicle state detection device no longer indicates that the driver has a departure trend, and the vehicle computer cancels the parking state risk warning. For example, when the vehicle computer is in the process of issuing a parking state risk warning, if the steering wheel hands-off detection signal indicates that the hands are not off the steering wheel, and / or the brake pedal state signal indicates that the brake pedal is in the braking state, and / or the main driving door state signal indicates that the main driving door is in the closed state, the parking state risk warning is canceled.

[0123] Optionally, when the warning duration of the parking status risk warning issued by the vehicle computer reaches a duration threshold, the vehicle computer determines that the warning to the driver has failed, cancels the parking status risk warning, and automatically sets the current gear to the parking gear.

[0124] In some embodiments, since the risk level is positively correlated with the timeliness requirement of shifting a parking gear, in order to adapt to the timeliness requirement of shifting a parking gear in different parking environments, the duration threshold is negatively correlated with the risk level.

[0125] Method 2: During the parking status risk warning process, the driver is identified from the image captured by the camera; when it is identified that the driver is away from the vehicle, the current gear is automatically set to the parking gear.

[0126] In a possible implementation, the vehicle computer controls the camera to collect images after the driver gets off the vehicle, then identifies the driver in the image, and performs distance measurement on the driver in the image, such as using a monocular or binocular camera distance measurement technology to obtain the distance between the driver and the vehicle. When the distance between the driver and the vehicle is gradually increasing in the images at consecutive time nodes, the vehicle computer automatically sets the current gear to the parking gear.

[0127] In an embodiment of the present application, the vehicle computer can determine an appropriate time threshold based on the risk level, or determine whether the driver is away from the vehicle based on the image captured by the camera, so as to automatically engage the parking gear, which is conducive to improving parking safety.

[0128] See also Figure 6 , Figure 6 This is a structural block diagram of a parking warning device provided by an exemplary embodiment of the present application. The device includes the following modules.

[0129] An acquisition module 601 is used to acquire a target vehicle state signal sent by at least one target vehicle state detection device through the CAN bus when the vehicle is in a stopped state, wherein different target vehicle state signals are used to characterize the states of different vehicle components;

[0130] An identification module 602 is used to perform a vehicle leaving trend identification based on the target vehicle state signal to obtain a vehicle leaving trend identification result, wherein the vehicle leaving trend identification result is used to indicate whether the driver has a tendency to leave the vehicle;

[0131] The warning module 603 is used to issue a parking state risk warning when the leaving-vehicle trend recognition result indicates that the driver has a tendency to leave the vehicle and the current gear is a non-parking gear.

[0132] Optionally, the acquisition module 601 is further used to:

[0133] Acquire a hands-off steering wheel detection signal sent by the EPS controller via the CAN bus;

[0134] Acquire a brake pedal status signal sent by a brake pedal sensor via the CAN bus;

[0135] Acquire the driver's car door status signal sent by the BCM controller via the CAN bus;

[0136] The identification module 602 is further used for:

[0137] When the hands-off detection signal indicates that the hands are off the steering wheel, the brake pedal state signal indicates that the brake pedal is in a released state, and the main vehicle door state signal indicates that the main vehicle door is in an open state, a first vehicle leaving trend recognition result is obtained, and the first vehicle leaving trend recognition result indicates that the driver has a tendency to leave the vehicle;

[0138] When the steering wheel hands-off detection signal indicates that the hands are not off the steering wheel, and / or the brake pedal status signal indicates that the brake pedal is in a braking state, and / or the main driver's door status signal indicates that the main driver's door is in a closed state, a second vehicle departure trend recognition result is obtained, and the second vehicle departure trend recognition result characterizes that the driver has no tendency to leave the vehicle.

[0139] Optionally, the device further comprises a stop alarm module, which is used to:

[0140] During the process of performing a parking status risk warning, if the steering wheel hands-off detection signal indicates that the hands are not off the steering wheel, and / or the brake pedal status signal indicates that the brake pedal is in a braking state, and / or the main driving door status signal indicates that the main driving door is in a closed state, the parking status risk warning is stopped.

[0141] Optionally, the identification module 602 is further used to:

[0142] When the number of risky parking times within a preset time period does not reach a number threshold, performing vehicle departure trend recognition based on the target vehicle state signal to obtain the vehicle departure trend recognition result;

[0143] The device also includes an updating module, which is used to:

[0144] When the vehicle leaving trend recognition result indicates that the driver has a tendency to leave the vehicle and the current gear is a non-parking gear, the number of risky parking times is updated.

[0145] Optionally, the device further comprises a locking module, which is used to:

[0146] When the number of risky parking times within the preset time reaches the number threshold, and the hands-off detection signal indicates that the hands are off the steering wheel, and the brake pedal state signal indicates that the brake pedal is in a released state, and the current gear is a non-parking gear, in response to the main driving door opening instruction, the main driving door is kept locked, and a parking state risk warning is issued;

[0147] The device also includes an unlocking module, which is used to:

[0148] When the current gear is switched to the parking gear, the main driving door is set to an unlocked state in response to the main driving door opening instruction.

[0149] Optionally, the alarm module 603 is further used for:

[0150] When the vehicle leaving trend recognition result indicates that the driver has a tendency to leave the vehicle, and the current gear is the non-parking gear, determining a risk level based on the parking environment;

[0151] A parking status risk warning is performed based on the warning method corresponding to the risk level, wherein different risk levels correspond to different warning methods, and the warning intensity of the warning method is positively correlated with the risk level.

[0152] Optionally, the alarm module 603 is further used to:

[0153] Acquiring slope data collected by a slope sensor through the CAN bus, wherein the slope data is used to characterize a current tilt angle of the vehicle; and determining a first risk influencing factor based on the slope data;

[0154] Acquiring an environment image captured by a camera through the CAN bus; performing image recognition on the environment image to obtain a parking environment complexity; and determining a second risk influencing factor based on the parking environment complexity;

[0155] The risk level of the parking environment is determined based on the first risk impact factor and the second risk impact factor.

[0156] Optionally, the device further comprises an automatic setting module, which is used to:

[0157] If the parking state risk warning is not released within a time threshold, the current gear is automatically set to the parking gear, and the time threshold is negatively correlated with the risk level;

[0158] or,

[0159] During the parking status risk warning process, the driver is identified from the image captured by the camera; if the driver is identified to be away from the vehicle, the current gear is automatically set to the parking gear.

[0160] In the embodiment of the present application, the vehicle computer determines whether the driver has a tendency to leave the vehicle by obtaining vehicle status signals representing different vehicle components from the CAN bus. There are many situations in which the vehicle is stopped, such as stopping when waiting for a traffic light, stopping with the engine turned off, etc. By identifying the driver's tendency to leave the vehicle, the vehicle computer can detect the vehicle gear position when it is determined that the driver has left the vehicle, so as to issue a timely alarm, which is conducive to improving the accuracy of the alarm. By detecting the gear position at the right time and then issuing a parking status risk alarm, it is conducive to regulating the driver's parking behavior and preventing the vehicle from slipping due to not engaging the parking gear.

[0161] The embodiment of the present application further provides a vehicle, the vehicle comprising a vehicle computer, the vehicle computer being used to implement the parking warning method as described in the above embodiments. Figure 7 , Figure 7 701 is a structural block diagram of a vehicle computer provided by an exemplary embodiment of the present application. The vehicle computer may include one or more of the following components: a processor 701 and a memory 702 .

[0162] Optionally, the processor 701 uses various interfaces and lines to connect various parts of the entire vehicle computer, and executes various functions of the vehicle computer and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 702, and calling data stored in the memory 702. Optionally, the processor 701 can be implemented in at least one hardware form of digital signal processing (DSP), field programmable gate array (FPGA), and programmable logic array (PLA). The processor 701 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), a neural network processor (NPU), and a baseband chip. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the touch display; the NPU is used to implement artificial intelligence (AI) functions; and the baseband chip is used to process wireless communications. It is understandable that the above baseband chip may not be integrated into the processor 701, but may be implemented by a separate chip.

[0163] The memory 702 may include a random access memory (RAM) or a read-only memory (ROM). Optionally, the memory 702 includes a non-transitory computer-readable storage medium. The memory 702 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 702 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the following various method embodiments, etc.; the data storage area may store data created according to the use of the vehicle computer (such as audio data, a phone book), etc.

[0164] In addition, those skilled in the art can understand that the structure of the vehicle computer shown in the above drawings does not constitute a limitation on the vehicle computer, and the vehicle computer may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

Claims

1. A parking warning method, characterized in that: The method is used for a vehicle computer, the vehicle computer is connected to a vehicle state detection device in a vehicle via a CAN bus, and the method comprises: When the vehicle is in a stopped state, obtaining a target vehicle state signal sent by at least one target vehicle state detection device through the CAN bus, wherein different target vehicle state signals are used to characterize states of different vehicle components; Performing a vehicle leaving trend recognition based on the target vehicle state signal to obtain a vehicle leaving trend recognition result, wherein the vehicle leaving trend recognition result is used to characterize whether the driver has a tendency to leave the vehicle; When the departure trend recognition result indicates that the driver has a tendency to leave the vehicle and the current gear is a non-parking gear, a parking state risk warning is issued.

2. The method according to claim 1, characterized in that The step of acquiring a target vehicle state signal sent by at least one target vehicle state detection device through the CAN bus comprises: Acquire a hands-off steering wheel detection signal sent by the EPS controller via the CAN bus; Acquire a brake pedal status signal sent by a brake pedal sensor via the CAN bus; Acquire the driver's car door status signal sent by the BCM controller via the CAN bus; The performing vehicle departure trend recognition based on the target vehicle state signal to obtain a vehicle departure trend recognition result includes: When the hands-off detection signal indicates that the hands are off the steering wheel, the brake pedal state signal indicates that the brake pedal is in a released state, and the main vehicle door state signal indicates that the main vehicle door is in an open state, a first vehicle leaving trend recognition result is obtained, and the first vehicle leaving trend recognition result indicates that the driver has a tendency to leave the vehicle; When the steering wheel hands-off detection signal indicates that the hands are not off the steering wheel, and / or the brake pedal status signal indicates that the brake pedal is in a braking state, and / or the main driver's door status signal indicates that the main driver's door is in a closed state, a second vehicle departure trend recognition result is obtained, and the second vehicle departure trend recognition result characterizes that the driver has no tendency to leave the vehicle.

3. The method according to claim 2, characterized in that The method further comprises: During the process of performing a parking status risk warning, if the steering wheel hands-off detection signal indicates that the hands are not off the steering wheel, and / or the brake pedal status signal indicates that the brake pedal is in a braking state, and / or the main driving door status signal indicates that the main driving door is in a closed state, the parking status risk warning is stopped.

4. The method according to claim 2, characterized in that: The performing vehicle departure trend recognition based on the target vehicle state signal to obtain a vehicle departure trend recognition result includes: When the number of risky parking times within a preset time period does not reach a number threshold, performing vehicle departure trend recognition based on the target vehicle state signal to obtain the vehicle departure trend recognition result; The method further comprises: When the vehicle leaving trend recognition result indicates that the driver has a tendency to leave the vehicle and the current gear is a non-parking gear, the number of risky parking times is updated.

5. The method according to claim 4, characterized in that The method further comprises: When the number of risky parking times within the preset time reaches the number threshold, and the hands-off detection signal indicates that the hands are off the steering wheel, and the brake pedal state signal indicates that the brake pedal is in a released state, and the current gear is a non-parking gear, in response to the main driving door opening instruction, the main driving door is kept locked, and a parking state risk warning is issued; When the current gear is switched to the parking gear, the main driving door is set to an unlocked state in response to the main driving door opening instruction.

6. The method according to any one of claims 1 to 5, characterized in that: The method of issuing a parking state risk warning when the leaving vehicle trend recognition result indicates that the driver has a tendency to leave the vehicle and the current gear is a non-parking gear includes: When the vehicle leaving tendency recognition result indicates that the driver has a tendency to leave the vehicle, and the current gear is the non-parking gear, determining a risk level based on the parking environment; A parking status risk warning is performed based on the warning method corresponding to the risk level, wherein different risk levels correspond to different warning methods, and the warning intensity of the warning method is positively correlated with the risk level.

7. The method according to claim 6, characterized in that The determining of the risk level based on the parking environment includes: Acquiring slope data collected by a slope sensor through the CAN bus, wherein the slope data is used to characterize a current tilt angle of the vehicle; and determining a first risk influencing factor based on the slope data; Acquiring an environment image captured by a camera through the CAN bus; performing image recognition on the environment image to obtain a parking environment complexity; and determining a second risk influencing factor based on the parking environment complexity; The risk level of the parking environment is determined based on the first risk impact factor and the second risk impact factor.

8. The method according to claim 6, characterized in that The method further comprises: If the parking state risk warning is not released within a time threshold, the current gear is automatically set to the parking gear, and the time threshold is negatively correlated with the risk level; or, During the parking status risk warning process, the driver is identified from the image captured by the camera; if the driver is identified to be away from the vehicle, the current gear is automatically set to the parking gear.

9. A parking warning device, characterized in that: The device is used for a vehicle computer, and the vehicle computer is connected to a vehicle state detection device in a vehicle via a CAN bus. The device comprises: an acquisition module, used for acquiring, when the vehicle is in a stopped state, a target vehicle state signal sent by at least one target vehicle state detection device through the CAN bus, wherein different target vehicle state signals are used to characterize the states of different vehicle components; an identification module, used for performing a vehicle leaving trend identification based on the target vehicle state signal to obtain a vehicle leaving trend identification result, wherein the vehicle leaving trend identification result is used to characterize whether the driver has a tendency to leave the vehicle; The warning module is used to issue a parking state risk warning when the leaving-vehicle trend recognition result indicates that the driver has a tendency to leave the vehicle and the current gear is a non-parking gear.

10. A vehicle, characterized in that: The vehicle includes a vehicle computer, and the vehicle computer is used to implement the parking warning method as described in any one of claims 1 to 8.

Images