Parking warning method, device and vehicle

Abstract

The embodiment of the present application discloses a parking alarm method, device and vehicle, which belongs to the field of vehicle technology. The method is used for a vehicle computer, which is connected to a vehicle status detection device in the vehicle via a CAN bus. The method includes: when the vehicle is in a stopped state, obtaining a target vehicle status signal sent by at least one target vehicle status detection device via the CAN bus, wherein different target vehicle status signals are used to characterize the states of different vehicle components; performing a departure trend identification based on the target vehicle status signal to obtain a departure trend identification result, which is used to characterize whether the driver has a tendency to leave the vehicle; when the departure trend identification result characterizes that the driver has a tendency to leave the vehicle, and the current gear is a non-parking gear, a parking state risk alarm is issued. The use of this technical solution can monitor the parking state when the driver leaves the vehicle, achieve accurate alarms, and avoid slipping.

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 related technologies, reversing images or panoramic images of the vehicle body are used to remind drivers to pay attention to parking safety, but this still cannot solve the safety problems caused by improper parking operations by the driver, such as the vehicle rolling away. Summary of the Invention

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

[0004] In one aspect, an embodiment of the present application provides a parking alarm method, which is used for a vehicle computer, wherein the vehicle computer is connected to a vehicle status detection device in a vehicle via a CAN bus, and the method includes:

[0005] When the vehicle is in a stopped state, acquiring 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 represent 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 indicate whether the driver has a tendency to leave the vehicle;

[0007] 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, a parking state risk warning is issued.

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

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

[0010] an identification module, configured to perform a vehicle leaving trend identification based on the target vehicle status 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;

[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, which includes a vehicle computer, and the vehicle computer is used to implement the parking warning method as described in the above aspects.

[0013] In an embodiment of the present application, the vehicle computer determines whether the driver has a tendency to leave the vehicle by acquiring vehicle status signals representing various vehicle components from the CAN bus. A vehicle can be stopped in a variety of situations, such as stopping at a traffic light or stopping with the engine turned off. By identifying the driver's tendency to leave the vehicle, the vehicle computer can detect the vehicle's gear position when the driver has determined that the driver has left the vehicle, thereby providing a timely warning and improving the accuracy of the warning. By detecting the gear position at the appropriate time and then issuing a parking status risk warning, it helps regulate the driver's parking behavior and prevent the vehicle from rolling away due to not being in the parking gear. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0015] Figure 2 is a flowchart 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 This is a structural block diagram of a parking warning device provided by an exemplary embodiment of the present application;

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

[0021] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this 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 this application.

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

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

[0025] BCM (Body Control Module) controller: The BCM controller is used to monitor the status of the vehicle body 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] Irregular parking behavior by drivers can easily cause the vehicle to slip, leading to accidents. Novice drivers are particularly prone to this behavior. Related technologies often rely on external detection equipment to assist drivers in ensuring safe driving, such as reverse and panoramic images captured by cameras, to prevent collisions between the vehicle and surrounding objects. However, these devices still fail to address safety issues caused by irregular parking practices, 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. Then, if the driver leaves the vehicle without engaging the parking gear, an alarm is issued to prevent the vehicle from rolling away.

[0029] See also Figure 1 , Figure 1 This is a flow chart of a parking warning method provided by an exemplary embodiment of the present application. The method is used in a vehicle computer. The vehicle computer is connected to a vehicle status detection device in the vehicle via a CAN bus.

[0030] Step 101: When a 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 represent states of different vehicle components.

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

[0032] In related technologies, a vehicle status detection device can send a vehicle status signal to the vehicle computer, and corresponding content will appear on the vehicle computer screen or instrument panel to help the driver understand the vehicle status. The vehicle computer screen can also not display the vehicle status signal representation content, and only allow 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 vehicle departure trend and determines the status of the vehicle components associated with the parking operation. The target vehicle status detection device is the vehicle status detection device that sends the target vehicle status signal.

[0033] Alternatively, the vehicle's stopped state may be determined based on the vehicle speed. In one 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 stopped when the vehicle speed signal indicates that the vehicle speed is zero.

[0034] Step 102 : performing a vehicle leaving trend recognition based on the target vehicle state signal to obtain a vehicle leaving trend recognition result. The vehicle leaving trend recognition result is used to indicate 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 trends. For example, when the driver is getting out of the vehicle, he or she will unbuckle 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, it 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, it 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 : If the result of the 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 shift the gear to the parking gear to keep the vehicle stationary. If the current gear is not the parking gear, the vehicle is prone to rolling.

[0039] Optionally, the vehicle computer can issue parking risk warnings by displaying a warning message on the vehicle screen, playing a warning sound on the audio device, or activating the hazard warning lights. For example, the vehicle screen may display "Current gear is not P, please shift into P before exiting the vehicle" while the audio device emits a beep. The hazard warning lights are located on the vehicle body. Illuminating the hazard warning lights prevents the driver from being distracted while exiting the vehicle and unaware of the warning on the vehicle screen.

[0040] In an embodiment of the present application, the vehicle computer determines whether the driver has a tendency to leave the vehicle by acquiring vehicle status signals representing various vehicle components from the CAN bus. A vehicle can be stopped in a variety of situations, such as stopping at a traffic light or stopping with the engine turned off. By identifying the driver's tendency to leave the vehicle, the vehicle computer can detect the vehicle's gear position when the driver has determined that the driver has left the vehicle, thereby providing a timely warning and improving the accuracy of the warning. By detecting the gear position at the appropriate time and then issuing a parking status risk warning, it helps regulate the driver's parking behavior and prevent the vehicle from rolling away due to not being in 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 the tendency to leave the vehicle based on whether the steering wheel is out of hand, the brake pedal is applied and 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 departure trend according to an exemplary embodiment of the present application. The process includes the following steps.

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

[0044] In some embodiments, the hands-off steering wheel detection signal is used to indicate whether the hands are off the steering wheel. Alternatively, the steering wheel may use torque sensing, grip sensing, capacitive sensing, or other methods to determine whether the hands are off the steering wheel. The specific detection method for the hands-off steering wheel detection signal is not limited in this embodiment of the application. While the vehicle is in motion, the steering wheel is generally in a hands-on state. When the driver stops and exits the vehicle, the steering wheel is in a hands-off state.

[0045] For example, when the hands-off steering wheel 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 or braking state. When the vehicle is temporarily parked and ready to start at any time, the brake pedal is often in the braking state. Before the driver stops the vehicle and prepares to exit, the brake pedal is in the braking state, causing the vehicle to transition from a moving state to a stopped state. When the driver exits the vehicle, the brake pedal is in the released state.

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

[0049] Step 203: Obtain the driver's door status signal sent by the BCM controller via 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 vehicle use, 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] For example, when the main driving door status signal is 0x1, it indicates that the main driving door is open; 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 driving door status signal indicates that the main driving 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.

[0054] In this step, according to the driver's intention to get off the vehicle, the states of different vehicle components are used as different target vehicle state signals to formulate a judgment logic 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 vehicle 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 driver's door status signal indicates that the main driver's 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 vehicle departure trend recognition result. For another example, the vehicle computer obtains the main driver's 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 driver's door status signal indicates that the main driver's door is in an open state, and the main driver's seat pressure signal indicates that the driver has left the main driver's seat, the vehicle computer obtains the first vehicle 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 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 vehicle computer stops the parking status risk warning.

[0058] The hands-off steering wheel detection signal indicates that the hands are on the steering wheel, and / or the brake pedal status signal indicates that the brake pedal is in the braking state, and / or the driver's door status signal indicates that the driver's door is closed, indicating that the driver is about to leave the vehicle. After the driver detects the alarm and returns to the vehicle's cab, the driver has the autonomy to respond to the current vehicle state. If the driver returns to the cab and the vehicle is under the driver's control, the vehicle computer can stop the parking state risk warning.

[0059] Step 205: When the hands-off steering wheel 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 in a released state, and the main driver's door will be open, 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 driving door status signal. If all three signals are consistent with 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 by a single signal, this is conducive to improving the accuracy of identifying the trend of leaving the vehicle.

[0063] The vehicle computer issues a parking risk warning when the first exit trend detection result is obtained through exit trend recognition and the current gear is not in parking. If any of the steering wheel hands-off detection signal, brake pedal status signal, or driver's door status signal does not match the vehicle's state at the time of driver exit, the vehicle computer determines that the vehicle is back under the driver's control and stops the warning, preventing continued warnings from interfering with vehicle use.

[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 incidence 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 includes 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 represent the states of different vehicle components.

[0067] Step 302 : When the number of risky stops within a preset time period does not reach a threshold number, a vehicle leaving trend is identified based on the 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 this application will not be repeated.

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

[0070] In some embodiments, the preset duration refers to the length of time the vehicle computer records the number of risky stops. Optionally, the preset duration can be a fixed period, such as Monday to Sunday of each week, or from the beginning to the end of each month. At the end of the fixed period, the number of risky stops is reset to zero and restarted.

[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 : If the result of the vehicle leaving trend identification 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 stops can be recorded as the number of parking state risk warnings. This means that if the exit trend identification result indicates that the driver has a tendency to leave the vehicle and the current gear is not a parking gear, the vehicle computer determines that the number of risky stops has accumulated. For example, if the current number of risky stops is 1, the updated number of risky stops is 2.

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

[0075] In one exemplary example, the vehicle computer determines that the vehicle is on a slope based on a slope signal sent by a slope sensor. The risk level of the slope corresponds to an increment of 2 for the number of risky stops. The current number of risky stops is 1, and the vehicle computer determines the updated number of risky stops to be 3.

[0076] Step 304: When the number of risky stops within a preset time period 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 a non-parking gear, in response to the main driving door opening command, the main driving door is kept locked and a parking status risk alarm is issued.

[0077] If the number of risky stops within a preset time period reaches a threshold, the vehicle computer can determine that the driver has poor parking habits. To correct the driver's parking habits and standardize parking operations, if the driver may be about to exit the vehicle and has not yet exited, the vehicle computer will keep the front door locked, restricting the driver's behavior and prompting the driver to shift into park. The vehicle computer determines that the driver may be about to exit the vehicle if 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 released.

[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 vehicle computer's logic for determining the exiting trend 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 this embodiment of the present application, the vehicle computer determines whether the driver has unhealthy parking habits by updating the number of risky stops within a preset time period. Even if the number of risky stops within the preset time period does not reach a threshold, the system still determines whether to issue a parking state risk warning based on the vehicle exit trend identification results and the current gear position, thereby providing a warning for accidental parking state risks. If the number of risky stops within the preset time period reaches the threshold, the vehicle computer locks the front door, prompting the driver to shift the current gear to Park, thereby correcting the driver's unhealthy driving habits and reducing the incidence of risky stops.

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

[0085] See also Figure 4 , Figure 4 FIG. 1 is a flowchart of a parking warning method provided by another exemplary embodiment of the present application. The method includes 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 via a CAN bus, wherein different target vehicle state signals are used to represent 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. The vehicle leaving trend recognition result is used to indicate whether the driver has a tendency to leave the vehicle.

[0088] In the embodiment of the present application, the specific implementation of steps 401 to 402 can refer to the above embodiments, so they are not repeated here.

[0089] Step 403 : When the result of the vehicle leaving trend identification indicates that the driver has a tendency to leave the vehicle and the current gear is a non-parking gear, a risk level is determined 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 the high possibility of a vehicle rolling away when parking on a slope, and in a complex parking environment, rolling away can easily cause vehicle damage or pedestrian injury, the following uses the example of the vehicle 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: Obtain the slope data collected by the slope sensor through the CAN bus. The slope data is used to represent the current tilt angle of the vehicle.

[0094] Step 501B: Determine 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 impact factor, that is, the larger the road surface inclination angle, the higher the risk level, and the larger the first risk impact factor.

[0096] In a possible implementation, 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 may determine the first risk impact factor as the product of the inclination angle represented by the slope data and the slope factor 0.1. If the inclination angle represented by the slope data is 5°, the first risk impact factor is 0.5. If the inclination angle represented by the slope data is 10°, the first risk impact factor is 1.

[0100] Step 502A: Acquire the environment image captured by the camera via 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 and wide, the parking environment complexity is low; if there are other vehicles, pedestrians, obstacles, animals, and other environmental factors around the vehicle, the parking environment complexity is high.

[0103] Optionally, the vehicle computer can input the environment image into an 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 this application are not limited to the specific image recognition method.

[0104] Step 502C: Determine 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, 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 to be the third factor value; when the parking environment complexity is greater than the complexity threshold, the vehicle computer determines the second risk impact factor to be the fourth factor value.

[0108] In another possible implementation, the vehicle computer may adopt a preset calculation strategy, incorporate the complexity of the parking environment into the preset calculation strategy, and obtain a 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. If the parking environment complexity is 5, the second risk impact factor is 0.5. If the parking environment complexity is 10, the second risk impact factor is 1.

[0110] It should be noted that in the embodiments of this application, the data mentioned in the above examples are for illustrative purposes only. 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, a higher risk level indicates a higher risk degree.

[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. For example, the vehicle computer may determine the risk level as the sum of the first risk impact factor and the second risk impact factor, or as the product of the first risk impact factor and the second risk impact factor, or determine the risk level using other calculation methods consistent with the positive correlation between the aforementioned risk impact factors and the risk level of the parking environment.

[0114] Step 404 : Perform a parking status risk warning based on the warning method corresponding to the risk level. 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 one exemplary example, the first risk level corresponds to the vehicle computer controlling the vehicle screen to display a warning message. The second risk level corresponds to the vehicle computer controlling the vehicle screen to display a warning message and the vehicle computer controlling the audio device to play a warning sound. The third risk level corresponds to the vehicle computer controlling the vehicle screen to display a warning message, the vehicle computer controlling the audio device to play a warning sound, and the vehicle computer controlling the hazard warning lights to illuminate. 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 an embodiment of the present application, the vehicle computer determines the risk level corresponding to the parking environment and takes warning measures of corresponding warning intensity. For parking environments with higher risk levels, the vehicle computer can take warning measures of 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 skidding accidents in high-risk parking environments.

[0118] Among them, since the possibility of a vehicle rolling accident varies when the vehicle is parked 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, thereby determining 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 all his attention 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 state risk warning 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, if the vehicle computer's parking state risk warning duration does not reach a duration threshold, the vehicle computer maintains the parking state risk warning until the departure trend identification result of the target vehicle state signal sent by the target vehicle state detection device no longer indicates that the driver has a tendency to leave the vehicle, at which point the vehicle computer cancels the parking state risk warning. For example, during the parking state risk warning process, 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 driver's door state signal indicates that the main driver's 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 time 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 into a parking gear, in order to adapt to the timeliness requirement of shifting into 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; if the driver is identified as moving away from the vehicle, the current gear is automatically set to the parking gear.

[0126] In one possible implementation, the vehicle computer controls a camera to capture images of the driver after exiting the vehicle. The camera then identifies the driver in the image and performs distance measurement on the driver in the image. For example, the vehicle computer uses monocular or binocular ranging technology to determine the distance between the driver and the vehicle. If the distance between the driver and the vehicle increases gradually in images at successive time points, the vehicle computer automatically sets the current gear to park.

[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, configured to acquire, when the vehicle is in a stopped state, a target vehicle state signal sent by at least one target vehicle state detection device via the CAN bus, wherein different target vehicle state signals are used to represent states of different vehicle components;

[0130] an identification module 602 for performing a vehicle leaving trend identification based on the target vehicle status 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 configured 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 configured to:

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

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

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

[0136] The identification module 602 is further configured to:

[0137] When the hands-off steering wheel 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 driver's door state signal indicates that the driver's door is in an open state, a first vehicle-leaving trend recognition result is obtained, wherein 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 have not left 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.

[0139] Optionally, the device further includes a stop alarm module, configured 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 configured to:

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

[0143] The device further includes an updating module, configured 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 includes a locking module, configured to:

[0146] If the number of risky parking events within the 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 released, and the current gear is not the 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 warning is issued;

[0147] The device also includes an unlocking module for:

[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 configured to:

[0150] determining a risk level based on a parking environment 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;

[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 configured to:

[0153] Acquiring slope data collected by a slope sensor via the CAN bus, the slope data being 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 via 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 includes an automatic setting module, configured 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 as moving away from the vehicle, the current gear is automatically set to the parking gear.

[0160] In an embodiment of the present application, the vehicle computer determines whether the driver has a tendency to leave the vehicle by acquiring vehicle status signals representing various vehicle components from the CAN bus. A vehicle can be stopped in a variety of situations, such as stopping at a traffic light or stopping with the engine turned off. By identifying the driver's tendency to leave the vehicle, the vehicle computer can detect the vehicle's gear position when the driver has determined that the driver has left the vehicle, thereby providing a timely warning and improving the accuracy of the warning. By detecting the gear position at the appropriate time and then issuing a parking status risk warning, it helps regulate the driver's parking behavior and prevent the vehicle from rolling away due to not being in the parking gear.

[0161] The embodiment of the present application further provides a vehicle, the vehicle including a vehicle computer, the vehicle computer being used to implement the parking warning method as described in the above embodiments. Figure 7 , Figure 7 7 is a block diagram of a vehicle computer according to 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, processor 701 utilizes various interfaces and circuits to connect various components within the vehicle computer. It executes instructions, programs, code sets, or instruction sets stored in memory 702, as well as accesses data stored in memory 702, to perform various vehicle computer functions and process data. Optionally, processor 701 can be implemented using at least one of the following hardware forms: a digital signal processing (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). Processor 701 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), a neural network processing unit (NPU), and a baseband chip. The CPU primarily handles the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing content displayed on the touchscreen; the NPU implements artificial intelligence (AI) functions; and the baseband chip handles wireless communications. It is understandable that the above-mentioned baseband chip may not be integrated into the processor 701, but may be implemented by a separate chip.

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

[0164] In addition, those skilled in the art will understand that the structure of the vehicle computer shown in the above drawings does not constitute a limitation on the vehicle computer. The vehicle computer may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

Claims

1. A parking warning method, characterized in that: The method is used for a vehicle computer, which is connected to a vehicle status detection device in a vehicle via a CAN bus. The method includes: When the vehicle is stopped, obtaining a target vehicle state signal sent by at least one target vehicle state detection device via the CAN bus, wherein different target vehicle state signals are used to represent the states of different vehicle components, and the target vehicle state signals include a hands-off steering wheel detection signal, a brake pedal state signal, and a driver's door state signal; When the number of risky stops within a preset time period does not reach a number threshold, a leaving trend identification is performed based on the target vehicle status signal to obtain a leaving trend identification result, and the leaving trend identification result is used to characterize whether the driver has a tendency to leave the vehicle, wherein, when the hands-off steering wheel 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 car door status signal indicates that the main car door is in an open state, a first leaving trend identification result is obtained, and the first leaving trend identification result characterizes that the driver has a tendency to leave the vehicle; when the hands-off steering wheel 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 car door status signal indicates that the main car door is in a closed state, a second leaving trend identification result is obtained, and the second leaving trend identification result characterizes that the driver does not have a tendency to leave the vehicle; If the leaving 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 and the number of risky parking times is updated; If the number of risky parking events within the 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 released, and the current gear is not the 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 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.

2. The method according to claim 1, characterized in that The step of obtaining a target vehicle status signal sent by at least one target vehicle status detection device through the CAN bus includes: Acquire the hands-off steering wheel detection signal sent by the EPS controller via the CAN bus; Acquire the brake pedal status signal sent by the brake pedal sensor via the CAN bus; The driver's door status signal sent by the BCM controller is obtained through the CAN bus.

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 any one of claims 1 to 3, characterized in that: 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, issuing a parking state risk warning includes: determining a risk level based on a parking environment 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; 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.

5. The method according to claim 4, characterized in that Determining the risk level based on the parking environment includes: Acquiring slope data collected by a slope sensor via the CAN bus, the slope data being 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 via 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.

6. The method according to claim 4, 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 as moving away from the vehicle, the current gear is automatically set to the parking gear.

7. A parking warning device, characterized in that: The device is used for a vehicle computer, and the vehicle computer is connected to a vehicle status detection device in the vehicle via a CAN bus. The device includes: an acquisition module, configured to acquire, when the vehicle is in a stopped state, a target vehicle state signal transmitted by at least one target vehicle state detection device via the CAN bus, wherein different target vehicle state signals are used to represent states of different vehicle components, and the target vehicle state signals include a hands-off steering wheel detection signal, a brake pedal state signal, and a driver's door state signal; an identification module for, when the number of risky stops within a preset time period does not reach a number threshold, performing a vehicle leaving trend identification based on the target vehicle status 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, wherein, when the hands-off steering wheel 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, a first vehicle leaving trend identification result is obtained, and the first vehicle leaving trend identification result characterizes that the driver has a tendency to leave the vehicle; when the hands-off steering wheel 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, a second vehicle leaving trend identification result is obtained, and the second vehicle leaving trend identification result characterizes that the driver does not have a tendency to leave the vehicle; an alarm module, configured to issue a parking state risk alarm 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; an updating module, configured to update the number of risky stops 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; a locking module configured to maintain the locking state of the main driving door and issue a parking state risk warning in response to a main driving door opening instruction when the number of risky parking times within the preset time period reaches a number threshold, the hands-off steering wheel detection signal indicates that the hands are off the steering wheel, the brake pedal state signal indicates that the brake pedal is released, and the current gear is not the parking gear; The unlocking module is used to set the main driving door to an unlocked state in response to the main driving door opening instruction when the current gear is switched to the parking gear.

8. A vehicle, characterized in that: The vehicle includes a vehicle computer, and the vehicle computer is used to implement the parking warning method according to any one of claims 1 to 6.

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