Information interaction method, device and equipment based on parking test scene

Abstract

The invention provides an information interaction method, device and equipment based on a parking test scene, and relates to the technical field of computers, in particular to the technical fields of automatic driving, automatic parking, man-machine interaction and the like. According to the specific implementation scheme, the method comprises the steps that vehicle control information sent by vehicle external equipment in one or more parking test scenes is received; and controlling the driving state of the vehicle in the one or more parking test scenes in response to the vehicle control information. In the embodiment of the invention, the vehicle can interact information with the vehicle external equipment so as to respond to the control of the vehicle external equipment to drive in one or more parking test scenes, and the safety of the parking process is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to technical fields such as autonomous driving, automatic parking, and human-computer interaction. Background Art

[0002] Parking is often difficult in places with large traffic. On the one hand, it takes a long time for a car to find a parking space after entering the parking lot, resulting in multiple cars being jammed in the parking lot. On the other hand, drivers with poor parking skills may spend a long time or even cause scratches when parking. For this reason, an automatic parking system can be installed in the vehicle. Whether the automatic parking system in the vehicle can assist the driver to park quickly and safely requires some experiments. Summary of the invention

[0003] The present disclosure provides an information interaction method, device and equipment based on a parking test scenario.

[0004] According to one aspect of the present disclosure, there is provided an information interaction method based on a parking test scenario, comprising:

[0005] receiving vehicle control information sent by a device external to the vehicle in one or more parking test scenarios;

[0006] The driving state of the vehicle in the one or more parking test scenarios is controlled in response to the vehicle control information.

[0007] According to another aspect of the present disclosure, there is provided an information interaction method based on a parking test scenario, comprising:

[0008] Vehicle control information is sent to the vehicle in one or more parking test scenarios, where the vehicle control information is used to control the driving state of the vehicle in the one or more parking test scenarios.

[0009] According to another aspect of the present disclosure, there is provided an information interaction device based on a parking test scenario, comprising:

[0010] A receiving module, used to receive vehicle control information sent by a vehicle external device in one or more parking test scenarios;

[0011] A response module is used to control the driving state of the vehicle in the one or more parking test scenarios in response to the vehicle control information.

[0012] According to another aspect of the present disclosure, there is provided an information interaction device based on a parking test scenario, comprising:

[0013] The sending module is used to send vehicle control information to the vehicle in one or more parking test scenarios, where the vehicle control information is used to control the driving state of the vehicle in the one or more parking test scenarios.

[0014] According to another aspect of the present disclosure, there is provided an electronic device, comprising:

[0015] at least one processor; and

[0016] a memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute any method in the embodiments of the present disclosure.

[0018] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable the computer to execute any method according to the embodiments of the present disclosure.

[0019] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, which implements any method according to the embodiments of the present disclosure when executed by a processor.

[0020] In the disclosed embodiment, the vehicle is able to exchange information with a device external to the vehicle to improve the safety of the parking process in response to the control of the device external to the vehicle in one or more parking test scenarios.

[0021] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0023] Figure 1 is a flow chart of an information interaction method based on a parking test scenario according to an embodiment of the present disclosure;

[0024] Figure 2 is a flow chart of an information interaction method based on a parking test scenario according to another embodiment of the present disclosure;

[0025] Figure 3 is a flow chart of an information interaction method based on a parking test scenario according to another embodiment of the present disclosure;

[0026] Figure 4 is a schematic diagram of a remote parking test scenario according to the present disclosure;

[0027] Figure 5is a flow chart of an information interaction method based on a parking test scenario according to another embodiment of the present disclosure;

[0028] Figure 6a It is a schematic diagram of a static obstacle scene on a spiral curve;

[0029] Figure 6b It is a schematic diagram of a static obstacle scene on a straight slope;

[0030] Figure 7a This is a schematic diagram of a scene where an obstacle is stationary on the top of a slope;

[0031] Figure 7b This is a schematic diagram of a scene where an obstacle is stationary at the bottom of a slope;

[0032] Figure 8a This is a schematic diagram of a spiral curve meeting scene;

[0033] Figure 8b This is a schematic diagram of a straight slope meeting scene;

[0034] Figure 9a This is a schematic diagram of a driving scenario of following a vehicle on a spiral curve;

[0035] Figure 9b This is a schematic diagram of a straight slope following vehicle driving scenario;

[0036] Fig.10 is a flow chart of an information interaction method based on a parking test scenario according to another embodiment of the present disclosure;

[0037] Fig.11a and Fig.11b is a schematic diagram of a parking space test scenario;

[0038] Fig.11c is a schematic diagram of a parking space exit test scenario;

[0039] Fig.12 is a flow chart of an information interaction method based on a parking test scenario according to another embodiment of the present disclosure;

[0040] Fig.13 is a flow chart of an information interaction method based on a parking test scenario according to another embodiment of the present disclosure;

[0041] Fig.14 is a structural schematic diagram of an information interaction device based on a parking test scenario according to an embodiment of the present disclosure;

[0042] Fig.15 is a structural schematic diagram of an information interaction device based on a parking test scenario according to another embodiment of the present disclosure;

[0043] Fig.16is a structural schematic diagram of an information interaction device based on a parking test scenario according to another embodiment of the present disclosure;

[0044] Fig.17 is a structural schematic diagram of an information interaction device based on a parking test scenario according to another embodiment of the present disclosure;

[0045] Fig.18 The block diagram is a block diagram of an electronic device for implementing the method of the embodiment of the present disclosure. DETAILED DESCRIPTION

[0046] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope of the present disclosure. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0047] Figure 1 1 is a flow chart of an information interaction method based on a parking test scenario according to an embodiment of the present disclosure. The method may include:

[0048] S101, receiving vehicle control information sent by a vehicle external device in one or more parking test scenarios;

[0049] S102: Control the driving state of the vehicle in the one or more parking test scenarios in response to the vehicle control information.

[0050] In the disclosed embodiment, the method can be used in a vehicle. The vehicle can include an ordinary vehicle, a modified vehicle, a cooperative perception vehicle, a semi-intelligent vehicle, an automatic driving vehicle, etc. The vehicle can have an automatic parking function. The automatic parking function can include the ability to continuously perform all dynamic driving tasks under the designed operating conditions, automatically identify available parking spaces (or parking spaces), and complete functions such as parking in and / or parking out of parking spaces. The automatic parking function can be controlled by an automatic parking system on the vehicle. The automatic parking system can include a system composed of hardware and software for realizing the automatic parking function. In some examples, the automatic parking system can be divided into a Class I system and a Class II system. Among them, the Class I system has the functions of obstacle recognition and response, available parking space recognition, and completes the functions of automatically parking in and out of parking spaces. In addition to the functions of the Class I system, the Class II system also has a cruise function. The vehicle can be a real vehicle or a simulated vehicle. A real vehicle can be tested for parking in an actual parking lot, and a simulated vehicle can be tested for parking in the simulation system software. If a parking test is conducted in the simulation system software, the test vehicle, obstacles, shielding objects, etc. that appear in the test can be simulation models, and various roads, parking spaces, servers, etc. can also be virtual objects constructed by software in the simulation system. The types of parking spaces that can be supported by the vehicle's automatic parking system may include one or more of parking line spaces and space spaces. Parking line spaces may include one or more of parking line vertical spaces, parking line parallel spaces, and parking line inclined spaces. Space parking spaces may include one or more of space vertical spaces, space parallel spaces, and space inclined spaces.

[0051] The automatic parking system can meet the following requirements: identify the target parking space or receive the target parking space sent by the outside world; determine whether the space in and around the parking space is sufficient; after completing the parking task, the system should effectively brake the vehicle through the parking brake; if there is no one in the car, when the system completes the parking task, it should cut off the power system and lock the door; the automatic parking system that can support no one in the car should have a remote parking function; when the system controls the vehicle to cruise, the maximum cruising speed should not be lower than the first threshold, such as 5km / h, and not higher than the second threshold, such as 30km / h; when the system controls the vehicle to park in and out of the parking space, the speed should not be higher than the third threshold, such as 10km / h; the system should be able to control the vehicle to drive to the destination along the planned route; the system should comply with the parking lot management regulations in the area when performing dynamic driving tasks; the system should be able to cruise through a slope of not less than a set proportion, such as 4%; when the system is in an activated state, it should have the ability to detect and respond to obstacles to avoid collision or physical contact with obstacles.

[0052] In the disclosed embodiments, the types of obstacles in the test scene include, but are not limited to: traffic cones; parking locks; no parking signs; four-wheeled vehicles such as passenger cars; two-wheeled vehicles such as bicycles, electric vehicles, and motorcycles; and pedestrians (e.g., dummy models).

[0053] The vehicle can exchange information with the external device of the vehicle, for example, the vehicle receives vehicle control information from the external device of the vehicle. For example, the vehicle control information may include one or more operation instructions or signals such as starting, moving forward, moving backward, turning, braking, and stopping.

[0054] In the disclosed embodiment, a vehicle may pass through one or more parking test scenarios during parking in a parking lot. For example, the parking test scenario may include scenarios related to parking, cruising, and obstacle avoidance. For example, parking in a parking space, parking out of a parking space, cruising, remote parking, and obstacle avoidance. Among them, the cruising scenario may include straight-line cruising, curve cruising, ramp cruising, cruising through aisles, cruising through speed bumps, and other scenarios. The obstacle avoidance scenario may include parking obstacle avoidance, cruising obstacle avoidance, intersection obstacle avoidance, and the like.

[0055] For example, if the vehicle control information received by the vehicle in a straight-line cruising scenario in a parking lot includes a start command and a forward command, the vehicle can control itself to start and move forward along the straight road to achieve a stable cruising state.

[0056] For another example, if the vehicle control information received by the vehicle in a curve cruising scenario in a parking lot includes a steering instruction, the vehicle can control the steering wheel while the vehicle is driving along the curve.

[0057] For another example, if the vehicle control information received by the vehicle in a remote parking scenario in a parking lot includes a parking instruction, the vehicle can brake and decelerate until it stops.

[0058] For example, a vehicle passes through the cruise gate scene, ramp cruise scene, straight cruise and parking in the parking lot. If a braking command is received in the cruise gate scene, the vehicle can control itself to brake and slow down in front of the gate through the braking system. If a reverse command and a turn command are received in the parking scene, the vehicle can control itself to reverse and turn to enter the parking space.

[0059] In the disclosed embodiment, the vehicle is able to exchange information with a device external to the vehicle to improve the safety of the parking process in response to the control of the device external to the vehicle in one or more parking test scenarios.

[0060] In one embodiment, the vehicle external device includes one or more of a user terminal, a cloud or a field end. For example, the user terminal may include a mobile phone, a tablet computer, a wearable device, etc. The cloud may include a parking management system. The parking management system may include a management system for scheduling and remotely assisting vehicles with automatic parking functions built through intelligent facilities, cloud service platforms, etc. The field end may include parking management related equipment in a parking lot or other test site, such as cameras, infrared and other sensing devices in the parking lot, and a parking management server in the parking lot.

[0061] In an embodiment of the present disclosure, a user terminal, a cloud end, or a field end may send one or more of the above-mentioned vehicle control information to a vehicle to control the driving state of the vehicle. The types of vehicle control information that can be sent by the user terminal, the cloud end, and the field end may be the same or different. For example, the cloud end may send more types of vehicle control information, and the user terminal and the field end may send fewer types of vehicle control information. In addition, the vehicle control information sent by the user terminal, the cloud end, and the field end may have different priorities, for example, the vehicle control information sent by the cloud end has the highest priority. Vehicle external devices may assist the vehicle in driving more safely in parking test scenarios through vehicle control information.

[0062] Figure 2 It is a flowchart of an information interaction method based on a parking test scenario according to another embodiment of the present disclosure. The method may include one or more features of the above-mentioned information interaction method. In one embodiment, the vehicle control information includes a parking instruction. Step S102 controls the driving state of the vehicle in the one or more parking test scenarios in response to the vehicle control information, including: S201, controlling the vehicle to brake until it stops in the one or more parking test scenarios according to the parking instruction. For example, in a remote parking test scenario, a vehicle external device such as a parking management system in the cloud can issue a stop instruction to the automatic parking system of the vehicle. After receiving the parking instruction, the automatic parking system can control the vehicle to brake until it stops. The remote parking test scenario can be combined with other test scenarios. For example, remote parking in straight cruising, remote parking in ramp cruising, remote parking in parking obstacle avoidance scenario, etc. In one or more parking test scenarios, the external parking instruction can assist in controlling the vehicle to stop, improve the vehicle safety, thereby improving the operational flexibility in the parking test scenario, facilitating the enrichment of the test scenario, and more accurately determining the parking performance of the vehicle.

[0063] In one embodiment, the vehicle control information includes a vehicle start instruction, and step S102 controls the driving state of the vehicle in the one or more parking test scenarios in response to the vehicle control information, including:

[0064] S202, in a parking state, sending a vehicle start request to an external device of the vehicle;

[0065] S203, receiving a vehicle start instruction returned by the vehicle external device in response to the vehicle start request;

[0066] S204: Control the vehicle to start in the one or more parking test scenarios according to the vehicle start instruction.

[0067] In an embodiment of the present application, after parking, if the vehicle needs to resume operation, it can request confirmation from an external device of the vehicle, such as a user terminal or a parking management system in the cloud, before resuming. For example, the vehicle can send a vehicle start request to the user terminal. After the user sees the vehicle start request on the user terminal, the user can control the user terminal to issue a vehicle start command or a rejection command. The vehicle start command can be understood as a command to confirm the start. After the vehicle receives the start command, it can control its engine, etc. to resume operation. If the vehicle receives a rejection command or has not received a feedback command, it may not resume operation. In this way, the safety of the vehicle, especially the autonomous driving vehicle, can be improved through the start command.

[0068] In the embodiment of the present disclosure, S201 may not be executed, and only S202, S203, and S204 may be executed. That is, whether or not the vehicle is stopped by a parking instruction of an external device, the vehicle can be controlled to run by a start instruction. In the embodiment of the present disclosure, S201 and S202 may not be executed, and only S203 and S204 may be executed, that is, the vehicle is started actively controlled by an external device of the vehicle, without responding to a request of the vehicle to control the vehicle to start.

[0069] In one embodiment, the method further includes: S103, when no one is inside the vehicle and the vehicle is in an activated state, sending the status information and / or location information of the vehicle to the device outside the vehicle.

[0070] In the disclosed embodiment, the automatic parking system of the vehicle may include a not-ready state, a ready state, an activated state, an operating state, a state of executing a minimum risk strategy, etc. In the disclosed embodiment, when it is detected that there is no one in the vehicle and the automatic parking system is in an activated state, the vehicle may send the operating state of the vehicle to the user terminal, the parking management system in the cloud, or the field end, such as the vehicle's speed, acceleration, deceleration, steering angle, throttle opening, brake opening, etc. The user terminal, the parking management system in the cloud, or the field end may determine whether to continue to send control information to the vehicle based on the vehicle's state information, thereby improving the safety of the vehicle in the parking test scenario.

[0071] In the embodiments of the present disclosure, the human-computer interaction requirements of the automatic parking system may include: the user may perform human-computer interaction through a vehicle-mounted or mobile terminal, etc., and the system human-computer interaction may meet the following exemplary requirements:

[0072] a) When there is no one in the vehicle and the system is activated, the system can control the vehicle to stop while ensuring safety after receiving a parking instruction from the user or the parking management system.

[0073] b) After the remote parking function controls the vehicle to park, it can resume operation after confirmation by the user or the parking management system.

[0074] c) When there is no one in the vehicle and the system is in an activated state, it can provide the vehicle operating status and / or location information to the user or the parking management system.

[0075] In the disclosed embodiment, the automatic parking system may have the following self-checking functions and continuously perform self-checking during the operation of the system:

[0076] a) Check whether the main control components and execution components are operating normally;

[0077] b) Check whether all sensor components are operating normally;

[0078] c) Check whether the current vehicle status affects system operation.

[0079] In the embodiment of the present disclosure, an example of the state transition requirement of the automatic parking system is as follows:

[0080] (1) The automatic parking system switches from the not-ready state to the ready state by at least meeting the following conditions: the automatic parking system passes the self-test; and meets other operational design conditions (ODC) declared for the automatic driving function.

[0081] (2) The automated parking system can switch from the ready state to the not ready state at least when the self-check fails or other ODCs declared by the automated driving function are not met.

[0082] (3) The automatic parking system can switch from the ready state to the active state after confirmation by the user or the parking management system. The automatic parking system does not directly enter the active state every time the vehicle is started.

[0083] (4) The automatic parking system receives an emergency parking command and can switch from the running state to the remote parking state.

[0084] (5) The conditions for the automatic parking system to switch from the running state to the state of executing the minimum risk strategy meet one of the definitions of the triggering requirements of the minimum risk strategy: the automatic parking system does not meet the ODC; the automatic parking system sends a takeover request but the vehicle user does not take over within the specified time.

[0085] (6) When the vehicle is completely stationary, the automatic parking system can switch from executing the minimum risk strategy state to the minimum risk state.

[0086] (7) The automatic parking system switches from the minimum risk state to the ready state when at least the following conditions are met: the automatic parking system satisfies the ODC; the user or the parking management system sends a confirmation message.

[0087] (8) When the user or the parking management system sends a confirmation message, the automatic parking system can switch from the remote parking state to the ready state.

[0088] Figure 3 It is a flow chart of an information interaction method based on a parking test scenario according to another embodiment of the present disclosure. The method may include one or more features of the above-mentioned information interaction method. In one embodiment, the one or more parking test scenarios include a remote parking test scenario; the method further includes: S301, controlling the test vehicle to travel at a first speed at a first position in a parking function activation area. For example, the parking function activation area may include an area on the road where the test vehicle is located after the automatic parking system enters an activated state. The first position may be any position in the parking function activation area. The speed of the test vehicle at the first position is a first speed. The first speed may be a preset initial speed, a speed at which the test vehicle reaches a stable cruising state, or a speed at which it enters an activated state, etc.

[0089] In the method, S101 may include: S302, receiving a parking instruction from the vehicle external device when the test vehicle is in the second position.

[0090] In the method, S102 may include: S303, controlling the test vehicle to stop at a third position in response to a parking instruction.

[0091] For example, the test vehicle may continue to travel from the first position to the second position, and when the test vehicle travels to the second position, the user terminal or the cloud sends a stop command to the vehicle. After receiving the stop command, the test vehicle may control itself to stop at the third position.

[0092] In one embodiment, the speed of the test vehicle at the second position is the second speed, and the time required for the test vehicle to park is determined based on the first moment of the test vehicle at the second position and the second moment of the test vehicle at the third position. In the remote parking test scenario, the time required for parking can be determined based on the moments of the test vehicle at the second position and the third position. By recording the moments, speed, etc. of the test vehicle at the second position and the third position in the remote parking test scenario, it can be determined whether the time required for parking, speed, etc. of the test vehicle meet the remote parking requirements, thereby accurately determining whether the test vehicle passes the remote parking test.

[0093] In one embodiment, the scene features of the remote parking test scene include at least one of the following: no one is in the vehicle, no obstacles are set on the driving track of the vehicle, and the communication between the vehicle and the external device of the vehicle is normal.

[0094] In one embodiment, the passing requirement of the remote parking test scenario includes at least one of the following:

[0095] When the second speed when the vehicle external device issues a parking command is within a set speed range, the time required for the test vehicle to stop meets the time requirement corresponding to the set speed range;

[0096] Control the test vehicle to turn on the hazard warning lights after it stops;

[0097] After controlling the test vehicle to send status information to the vehicle external device, a notification message is sent to the vehicle external device.

[0098] Example 1: Remote parking

[0099] 1. Experimental scene setting

[0100] like Figure 4 As shown, the test scenario may include the following elements: (1) people are outside the vehicle; (2) there are no obstacles on the driving trajectory; and (3) the communication between the vehicle and a user terminal such as a remote control terminal or a parking management system in the cloud is normal.

[0101] 2. The test method is as follows:

[0102] (1) The test vehicle VUT is driven at a design speed V0 at any position A (i.e., an example of the first position) in the parking function activation area;

[0103] (2) The position when the parking instruction is triggered is point B (i.e., an example of the second position), and the position when the vehicle is completely stationary is point C (i.e., an example of the third position). The speed V of the vehicle at point B and the time t required to travel from point B to point C are recorded.

[0104] 3. Pass requirements:

[0105] For example, for a system where a person is outside the vehicle, after conducting a remote parking test according to the above test method, the automatic parking system passes the test if it meets the following requirements:

[0106] (1) After the user or parking management system issues a remote parking command, the automatic parking system should achieve complete parking of the vehicle within the specified time. An example of the time requirement for this process can be found in Table 1.

[0107] Table 1 Time requirements from issuing a parking command to the vehicle coming to a stop

[0108] Speed ​​when the stop command is issued (V) Stop time requirement (t) 0km / h<V≤10km / h t≤3s 10km / h<V≤20km / h t≤4s 20km / h<V≤30km / h t≤5s

[0109] (2) Turn on the hazard warning lights when the vehicle is stationary;

[0110] (3) The vehicle sends status information to the user or parking management system.

[0111] In the disclosed embodiment, based on the scenario characteristics, test methods, and passing requirements of the remote parking test scenario, it can be more accurately and reasonably determined whether the test vehicle has passed the remote parking test.

[0112] Figure 5 It is a flow chart of an information interaction method based on a parking test scenario according to another embodiment of the present disclosure. The method may include one or more features of the above-mentioned information interaction method. In one embodiment, the one or more test scenarios include a ramp cruising obstacle avoidance test scenario; step S102 controls the driving state of the vehicle in the one or more parking test scenarios in response to the vehicle control information, including: S501, in response to the vehicle control information, controls the test vehicle to drive up or down along the parking lot ramp at a first speed. Among them, the test vehicle and the obstacles on the ramp may collide on the driving path of the test vehicle. For example, the ramp may include a straight slope or a spiral curve. In the ramp cruising obstacle avoidance test scenario, the user terminal, the cloud or the field end may send vehicle control information to the test vehicle. The vehicle control information may control the test vehicle to drive up or down along the parking lot ramp at a first speed. The first speed may be the design speed, initial speed or stable cruising speed of the vehicle entering the test scenario. The first speed in different test scenarios may be the same or different. In the disclosed embodiment, the vehicle control information can assist in controlling the driving state of the vehicle in the hill cruise obstacle avoidance test scenario, thereby more accurately and reasonably determining whether the test vehicle can pass the hill cruise obstacle avoidance test.

[0113] In one embodiment, the scene features of the ramp cruise obstacle avoidance test scene include at least one of the following: the ramp, static obstacles on the ramp, and dynamic obstacles on the ramp; wherein the ramp includes a straight slope or a spiral curve.

[0114] In one embodiment, the obstacle avoidance requirements of the ramp cruise obstacle avoidance test scenario include at least one of the following:

[0115] The test vehicle does not collide with or physically contact any obstacle located on the ramp;

[0116] The test vehicle circumvents a static obstacle located on the ramp;

[0117] The test vehicle continues to travel along the planned cruising path after meeting the dynamic obstacle on the ramp;

[0118] The test vehicle does not slip and / or pause during the process of following the dynamic obstacle on the ramp to start and stop.

[0119] In the disclosed embodiment, based on the scenario characteristics, test methods, and passing requirements of the hill cruise obstacle avoidance test scenario, it can be more accurately and reasonably determined whether the test vehicle passes the hill cruise obstacle avoidance test.

[0120] In one embodiment, the ramp cruise obstacle avoidance test scenario includes a test scenario with a static obstacle on the ramp. The static obstacle may also be referred to as a stationary obstacle. The characteristics of the static obstacle may include at least one of the following:

[0121] The static obstacle is in the cruising path of the test vehicle;

[0122] the static obstacle is located on the slope of the ramp;

[0123] the static obstacle is located on a straight section at the top of the ramp;

[0124] the static obstacle is located on a straight section at the bottom of the ramp;

[0125] The initial distance between the static obstacle and the test vehicle is not less than the set distance.

[0126] In the test scenario with static obstacles on the ramp, static obstacles may include traffic cones, dummies, etc. placed at a certain position on the ramp. If the test vehicle does not adjust its operation in time, it may collide with the traffic cones, dummies, etc. The test vehicle automatically controls or adjusts its vehicle state in response to control information from external devices, and may stop or bypass the traffic cones and dummies to pass the test. Conducting a test in the test scenario with static obstacles on the ramp can test whether the test vehicle can successfully avoid obstacles in this scenario.

[0127] Example 2: Static Obstacle on a Ramp

[0128] 1. Experimental scene setting

[0129] The test scenario may include the following elements: static obstacle scenario on spiral curve such as Figure 6a As shown in the figure, the static obstacle scene on the straight slope is as follows Figure 6b As shown:

[0130] (1) Two traffic cone targets placed in parallel;

[0131] (2) For a one-way spiral curve or straight slope, the lane width shall not be less than the set width, such as 3.5 m, and the slope shall not be less than the set slope, such as 8%.

[0132] 2. Test methods

[0133] (1) The test vehicle VUT travels down the slope at the design speed V0;

[0134] (2) The traffic cone is placed in the middle of the ramp, at a distance no less than a set distance from the test vehicle, e.g. 10 m.

[0135] Example 3: The obstacle is stationary at the top or bottom of the slope

[0136] 1. Experimental scene setting

[0137] The test scenario may include the following elements, such as Figure 7a and Figure 7b As shown:

[0138] (1) Upright child dummy;

[0139] (2) For a one-way ramp, the lane width shall not be less than a set width, such as 3.5 m, and the slope shall not be less than a set slope, such as 8%.

[0140] 2. Test methods

[0141] (1) The test vehicle VUT drives uphill and downhill at the design speed V0;

[0142] (2) The child dummy is placed upright on a straight section at the top or bottom of a slope.

[0143] 3. Obstacle avoidance requirement or passing requirement (Example 2 and Example 3)

[0144] The test is conducted according to the test method of the test scenario where the obstacle is stationary at the top or bottom of the slope, and the vehicle does not collide with or physically contact the obstacle such as a child dummy.

[0145] In the disclosed embodiment, based on the scenario characteristics, test methods and passing requirements of the test scenario with a static obstacle on a ramp, it can be more accurately and reasonably determined whether the test vehicle has passed the obstacle avoidance test of the test scenario with a static obstacle on a ramp.

[0146] In one embodiment, the ramp cruising obstacle avoidance test scenario includes an opposing motion test scenario on a ramp, and the characteristics of the dynamic obstacles on the ramp include at least one of the following:

[0147] The dynamic obstacle moves upward or downward along the ramp in a direction opposite to the test vehicle;

[0148] The moving speed of the dynamic obstacle is less than or equal to the first speed of the test vehicle.

[0149] In the on-ramp opposing motion test scenario, dynamic obstacles may include target vehicles, non-motorized vehicles, pedestrians, etc. For example, the target vehicle moves up or down the ramp and may meet the test vehicle. If the test vehicle does not adjust its operation in time, it may collide with the target vehicle. The test vehicle may avoid the target vehicle and pass the test by automatically controlling or adjusting the vehicle state in response to control information from an external device. Conducting a test in the on-ramp opposing motion test scenario can test whether the test vehicle can successfully avoid obstacles in this scenario.

[0150] Example 4: Meeting on a slope

[0151] 1. Experimental scene setting

[0152] The test scenarios may include the following elements: spiral curve meeting scenario such as Figure 8a As shown in the figure, the straight slope meeting scene is as follows Figure 8b As shown:

[0153] (1) Target vehicle;

[0154] (2) For a bidirectional spiral curve or straight slope, the lane width shall not be less than the set width, such as 6.5 m, and the slope shall not be less than the set slope, such as 8%.

[0155] 2. Test methods

[0156] The test may consist of two runs, the test method is as follows:

[0157] (1) The test vehicle VUT travels down the slope at the design speed V0;

[0158] (2) The target vehicle VT is traveling upward in the opposite lane of the ramp, and the speed V1 can be the same as the cruising speed of the test vehicle VUT, for example, V0;

[0159] (3) The two vehicles reverse directions and conduct a second test.

[0160] 3. Obstacle avoidance or passing requirements

[0161] The test is conducted according to the test method of the ramp meeting test scenario. During the cruising process, the outer edge of any tire of the test vehicle VUT does not cross the outer edge of the lane line, and any point of the vehicle body does not collide or physically contact with the wall, etc. In addition, the test vehicle VUT does not collide with the target vehicle VT, and continues to drive according to the cruising path planned by the system after the meeting.

[0162] In the disclosed embodiment, based on the scenario characteristics, test methods and passing requirements of the opposing motion on a ramp test scenario, it can be more accurately and reasonably determined whether the test vehicle has passed the obstacle avoidance test of the opposing motion on a ramp test scenario.

[0163] In one embodiment, the ramp cruising obstacle avoidance test scenario includes a same-direction movement test scenario on a ramp, and the characteristics of the dynamic obstacles on the ramp include at least one of the following:

[0164] The dynamic barrier travels in front of the test vehicle;

[0165] The dynamic obstacle moves upward or downward along the ramp in the same direction as the test vehicle;

[0166] The moving speed of the dynamic obstacle is not higher than the first speed of the test vehicle;

[0167] The dynamic obstacle slows down and / or stops while the test vehicle is following stably;

[0168] The dynamic obstacle starts to operate after a set period of time in a decelerated and / or stopped state.

[0169] In the same-direction movement on a ramp test scenario, dynamic obstacles may include target vehicles, non-motorized vehicles, pedestrians, etc. For example, the target vehicle moves up or down the ramp and may travel in the same direction as the test vehicle. If the test vehicle follows the target vehicle along a straight slope or a spiral curve, and the speed of the test vehicle is greater than the speed of the target vehicle, the test vehicle may collide with the target vehicle if it does not adjust the vehicle state in time. The test vehicle may slow down, stop, or overtake the target vehicle and pass the test by automatically controlling or adjusting the vehicle state in response to control information from an external device. Conducting tests in the same-direction movement on a ramp test scenario can test whether the test vehicle can successfully avoid obstacles in this scenario.

[0170] Example 5: Slope-following start-stop

[0171] 1. Experimental scene setting

[0172] The test scenarios may include the following elements: spiral curve following driving scenario such as Figure 9a As shown in the figure, the straight slope following driving scene is as follows Figure 9b As shown:

[0173] (1) For a one-way spiral curve or straight slope, the lane width shall not be less than the set width, such as 3.5 m, and the slope shall not be less than the set slope, such as 8%;

[0174] (2) The target vehicle travels at a low speed and completes start-stop on a slope.

[0175] 2. Test methods

[0176] (1) The test vehicle cruises and follows the target vehicle on a slope at a speed higher than that of the target vehicle;

[0177] (2) After the test vehicle reaches a stable following state, the target vehicle decelerates and stops;

[0178] (3) After a set time, such as 10 seconds, the target vehicle starts to move and reaches the end of the slope.

[0179] 3. Obstacle avoidance or passing requirements

[0180] The test is conducted according to the test method of the slope following start-stop test scenario. The vehicle should be able to complete the slope following start-stop on a slope with a slope not less than the set slope, such as 8%. There should be no slipping during starting and parking, the vehicle should not pause during the process, and there should be no collision or physical contact with obstacles.

[0181] In the disclosed embodiment, based on the scenario characteristics, test methods and passing requirements of the same-direction moving on a ramp test scenario, it can be more accurately and reasonably determined whether the test vehicle has passed the obstacle avoidance test of the same-direction moving on a ramp test scenario.

[0182] Fig.10 : is a flow chart of an information interaction method based on a parking test scenario according to another embodiment of the present disclosure. The method may include one or more features of the above-mentioned information interaction method. In one embodiment, the method further includes:

[0183] S1001. When the vehicle exceeds the designed operating conditions (ODC) or the system fails to function, perform abnormal situation handling operations. In the embodiment of the present disclosure, ODC can be a general term for various conditions applicable to the functional operation of a system, such as an automatic parking system, which are determined when the system is designed. For example, ODC may include the designed operating range, vehicle status, driver and passenger status, and other necessary conditions. If the test vehicle can normally perform abnormal situation handling operations when the ODC is exceeded in any one or more parking test scenarios, it can be determined that the test has passed. If the test vehicle can normally perform abnormal situation handling operations when the system fails to function in any one or more parking test scenarios, it can be determined that the test has passed.

[0184] In one embodiment, the abnormal situation handling operation includes at least one of the following:

[0185] Issue a request for intervention;

[0186] Triggering the minimum risk strategy;

[0187] Issue a warning message.

[0188] In the disclosed embodiment, the intervention request may be a request issued by the vehicle through its own internal sound, light, display and other devices to request the driver to intervene in the control. The intervention request may also be referred to as a takeover request. The minimal risk maneuver (MRM) may include measures taken to bring the vehicle to a minimum risk state when the automatic parking system is unable to continue to perform dynamic driving tasks. For example, the vehicle triggers deceleration, emergency braking, etc. The warning information may be the sound emitted by the sound-emitting device, the light emitted by the light-emitting device, the text or image displayed by the display device, etc. By testing abnormal situation handling operations such as issuing intervention requests, triggering the minimum risk maneuver, and issuing warning information, it can be determined whether the test vehicle can reasonably perform abnormal situation handling operations, and then determine whether the test vehicle is safe.

[0189] In one implementation, the parking test scenario includes an abnormal situation handling test scenario; the abnormal situation handling test scenario includes an ODC exceeding scenario and / or a system function failure scenario.

[0190] In one embodiment, the method further includes: when the test vehicle exceeds the ODC scenario or the system function failure scenario occurs during the parking process in the parking lot, the driving process information of the test vehicle is obtained. For example, the driving process information of the test vehicle may include the vehicle's speed, acceleration, deceleration, steering angle, throttle opening, brake opening, distance to obstacles, vehicle position, driving path, etc. Based on the driving process information of the test vehicle in the scenario of exceeding the ODC scenario or the system function failure scenario, it can be tested whether the vehicle can reasonably perform abnormal situation handling operations, and then determine whether the test vehicle is safe.

[0191] Example 6: Abnormal situation handling test

[0192] Example 6-1. Beyond ODC

[0193] 1. Test scenario setting: no obstacles are set on the driving track.

[0194] 2. Test method: The system controls the normal operation of the test vehicle to produce at least one scenario that exceeds the ODC, and the vehicle performance is recorded.

[0195] 3. Pass requirements

[0196] When tested according to test methods beyond the ODC scenario, the automatic parking system can issue an intervention request or trigger the minimum risk strategy and issue a warning message.

[0197] Example 6-2. System function failure

[0198] 1. Test scenario setting: no obstacles are set on the driving track.

[0199] 2. The test method is as follows:

[0200] (1) The test vehicle identifies the target parking space and starts parking;

[0201] (2) When the test vehicle is parking in a parking space, create a system functional failure (such as disconnected sensors, network failure) and record the vehicle performance.

[0202] 3. Pass requirements

[0203] When testing according to the test method of system function failure scenario, the automatic parking system can issue an intervention request or trigger the minimum risk strategy and issue a warning message.

[0204] In one embodiment, the system function failure scenario includes a vehicle-to-park interruption scenario; wherein, when the vehicle is normally traveling on a path in the parking function activation area at a first speed and the power supply of all wireless access points is cut off, after a preset period of time, the interruption of the wireless connection is identified as a permanent interruption. If the vehicle identifies the interruption of the wireless connection as a permanent interruption, it can be considered that a system function failure scenario of vehicle-to-park interruption has occurred, thereby accurately determining whether the test vehicle can pass the park interruption scenario.

[0205] In one implementation, the scene characteristics of the scene where the communication between the vehicle and the terminal is interrupted include at least one of the following:

[0206] No one was in the car;

[0207] The communication between the vehicle and the user terminal or the cloud is normal;

[0208] The vehicle's automatic parking function is successfully activated;

[0209] The vehicle is in autonomous driving mode.

[0210] Example 7: Communication interruption test

[0211] The field solution can test the interruption of communication between the vehicle and the field, as follows:

[0212] 1. Experimental scene setting:

[0213] (1) People are outside the vehicle;

[0214] (2) The communication between the vehicle and the mobile terminal or parking management system is normal;

[0215] (3) The vehicle's automatic parking function is successfully activated and the vehicle is in automatic driving mode.

[0216] 2. Test methods:

[0217] (1) The test vehicle is traveling normally at the design speed V0 on the path in the parking function activation area;

[0218] (2 Cut off the power supply of all Wi-Fi wireless access points;

[0219] (3) Wait for a set time, such as 10 seconds, until the system identifies the interruption of the wireless connection as a permanent interruption.

[0220] In the disclosed embodiment, based on the scenario characteristics, test methods, and passing requirements of the abnormal situation handling test scenario, it can be more accurately and reasonably determined whether the test vehicle has passed the abnormal situation handling test.

[0221] Example 8: Parking lot test

[0222] 1. Experimental scene setting

[0223] Select a representative parking lot based on the design and operation range of the automatic parking system submitted by the manufacturer. The selected parking lot should cover the scene elements within the design and operation range. The parking lot elements can be found in Table 2.

[0224] Table 2 Parking lot scene elements

[0225]

[0226]

[0227] 2. Test requirements

[0228] If the automatic parking function of the test vehicle can be activated under conditions of illumination lower than 501x ​​and is suitable for open-air parking, a night test should be carried out and the corresponding illumination intensity should be selected according to its design operating conditions with reference to Table 2.

[0229] Among them, the night test period is the period between sunset and sunrise the next day. The sunrise and sunset times are based on the information released by the local meteorological bureau.

[0230] 3. The parking lot test meets the following conditions:

[0231] For vehicles that can be used in ≥3 parking lots or parking garages, at least three parking lots or parking garages need to be tested, and the elements of the parking lots need to cover the design operating range declared by the manufacturer; for vehicles that can be used in <3 parking lots or parking garages, all tests are required.

[0232] Each parking lot needs to cover three time periods: morning (6:00-9:00), noon (11:00-13:00), and evening (17:00-20:00). Each time period needs to be tested no less than a set number of times, such as 5 times, and the pass rate is a set target, such as 100%. Parking lot tests in office areas should be conducted on weekdays, and parking lots in shopping malls should be conducted on weekends. For example, for a Class I system, completing the identification of storage spaces and parking in and out of parking spaces is a complete test. For another example, for a Class II system, completing cruising, identifying storage spaces and parking in and out of parking spaces, cruising to the designated location to park is a complete test.

[0233] For vehicles suitable for special weather conditions, the manufacturer can apply and the testing agency will conduct tests based on actual conditions.

[0234] 4. During a single continuous test, when the test vehicle enters the test road and the test personnel activate the automatic parking function as required, the single continuous test begins; the test vehicle travels along the planned path, and the single continuous test ends after the single continuous test settings are completed.

[0235] 5. When the test results meet the relevant passing requirements, the test can be judged as passed.

[0236] 6. Test method: The parking lot test route may include one or more field test scenarios, such as field test routes for parking in, parking out, remote parking, and ramp cruise obstacle avoidance scenarios.

[0237] Example 8-1: Parking in a parking space

[0238] 1. Experimental scene setting

[0239] The test scenario may include the following elements, such as Fig.11a and Fig.11b As shown:

[0240] (1) Parking spaces A, B and C are arranged side by side, and vertical, parallel or inclined parking spaces can be selected according to the supported parking space types;

[0241] (2) If the parking space is a parking space with parking lines, the target vehicle VT is parked in parking space A, a traffic cone is placed in parking space B, and the traffic cone is located in the center of the parking space. Parking space C is an empty parking space;

[0242] (3) If the parking space is a free parking space, then parking spaces A and C are used to park the target vehicle VT, and parking space B is an empty parking space. In addition, a corresponding insufficient parking space should be set according to the parking space type, that is, parking space B should not be sufficient to park the test vehicle VUT;

[0243] (4) There are no obstacles on the driving path to the parking space.

[0244] 2. Test methods

[0245] Class I systems are as follows:

[0246] (1) Start the automatic parking system. For a Type I parking system, the test vehicle VUT drives through the target parking space at a speed not greater than a set speed, such as 10 km / h. For a Type II parking system, the test vehicle drives through the target parking space at a speed set by the system, such as Fig.11a Middle parking space C or Fig.11b Parking space B in the

[0247] (2) After the automatic parking system recognizes the target parking space, it parks in the parking space according to the parking strategy, and the timing starts when the test vehicle is shifted into the R gear;

[0248] (3) Set the three parking spaces A, B and C to the parking space types supported by the system and conduct tests in sequence;

[0249] (4) Record the time taken to park in the parking space.

[0250] Among them, for the Class I automatic parking system, when the test vehicle searches for the target parking space and the system is ready to take over the test vehicle, the tester shall not drive the test vehicle more than a set distance, such as 10 meters, from the center line of the target parking space.

[0251] The test method for Class II systems is as follows:

[0252] (1) Plan routes that cover as many scenarios as possible, including at least straight roads, curves, and intersections, and set target parking spaces;

[0253] (2) The tester activates the automatic parking system according to the operating instructions at the designated location (it is recommended to select a drop-off area far from the target parking space) and starts the parking function;

[0254] (3) The test personnel observe and record the entire process of the test vehicle from the starting point to parking in the target parking space. The record content is shown in Example 10 below.

[0255] Example 8-2: Parking out of a parking space

[0256] 1. Experimental scene setting

[0257] The test scenario includes the following elements, such as Fig.11c As shown:

[0258] (1) Parking spaces A, B and C are arranged side by side, which can be vertical, parallel or inclined;

[0259] (2) The test vehicle VUT is parked in one of the parking spaces, such as B, and the parking position meets the parking end position requirements;

[0260] (3) The target vehicle VT is parked in a parking space on one or both sides of the test vehicle, and there are no obstacles on the driving trajectory out of the parking space.

[0261] 2. The test method for Class I system is as follows:

[0262] (1) The test vehicle is parked in the parking space in accordance with relevant requirements;

[0263] (3) The test personnel activate the automatic parking system and start the parking exit instruction. The test vehicle parks out of the parking space according to the designed strategy at a speed not exceeding the set speed, such as 10 km / h;

[0264] (3) Set the three parking spaces A, B and C to the parking space types supported by the system in turn, and conduct tests in turn;

[0265] (4) Record the time taken to park in and out of the parking space.

[0266] The test method for Class II systems is as follows:

[0267] (1) Plan a route that covers as many scenarios as possible, including at least straight roads, curves, and intersections, and set a target pick-up area (it is recommended to choose the parking lot exit);

[0268] (2) The test personnel activate the automatic parking system in the parking space according to the operating instructions;

[0269] (3) The test personnel observe and record the entire process of the test vehicle from the starting point to the target passenger pick-up area. The record content is shown in Example 10 below.

[0270] In the embodiments of the present disclosure, the driving trajectory, driving path, lane width, driving distance, etc. of the vehicle in the figures of each test scenario are only for illustration and may change in the actual test scenario.

[0271] Example 9: Simulation test

[0272] 1. Test requirements

[0273] (1) The simulation test covers all scenarios within the operational design domain (ODD) declared by the manufacturer, especially various complex scenarios that are difficult to reproduce in field tests and parking lot tests, as well as safety-related scenarios, such as obstacle avoidance scenarios and abnormal situation handling scenarios. ODD may include external environmental conditions determined during the design of the automatic parking system that are suitable for its functional operation. Examples of external environmental conditions may include roads, traffic, weather, lighting, etc.

[0274] (2) The various tool chains used in the simulation test are verified to confirm that the simulation tool chains and models are effective for the test scenario verification and can achieve the corresponding verification objectives.

[0275] (3) The simulation platform organizes simulation tests according to the test process and formulates test plans based on the system type and its design and operating conditions.

[0276] (4) The multi-scenario continuous simulation test should include at least one complete test route, and the single-scenario simulation test items should be reasonably set up and connected.

[0277] (5) When the test results meet the relevant requirements, they can be judged as passed.

[0278] 2. The test method is as follows:

[0279] (1) Different simulation tools and their combinations can be used for simulation experiments;

[0280] (2) The interaction between the automatic parking system and the test environment can be either open-loop simulation or closed-loop simulation;

[0281] (3) The simulation platform organizes simulation tests according to the test process and formulates test plans based on the system type and its design and operating conditions. After the simulation test is completed, a test report should be generated to record the test scenario, test model version information, simulation tools, etc., and form a test conclusion;

[0282] (4) Evaluate the safety of the automatic parking system in specific scenarios and its overall safety level in a statistical sense through simulation tests;

[0283] (6) Evaluate the parking performance of the automatic parking system in specific scenarios and the overall parking performance level in a statistical sense through simulation tests.

[0284] Example 10: Test records (may vary depending on the test scenario)

[0285] The test process record shall contain at least one or more of the following:

[0286] (1) Software and hardware version information of the test vehicle’s automatic parking system;

[0287] (2) Test vehicle control mode;

[0288] (3) Test vehicle operating status parameters:

[0289] (4) Test vehicle lighting and related prompt information status;

[0290] (5) In-vehicle video and voice monitoring that reflects the user and human-machine interaction status;

[0291] (6) Video information reflecting the driving status of the test vehicle;

[0292] (7) The location and motion data of the target object.

[0293] In one embodiment, the functional parameter requirements of the field end include at least one of the following: perception capability requirements, positioning requirements, map requirements, communication requirements, and parking management system requirements. The field end may be based on the functions of perception capability, positioning, map, communication, and interaction with the parking management system. Different functions may have corresponding functional parameter requirements of the field end. Based on the various functions of the field end, more accurate auxiliary information can be provided to the vehicle, and the information interaction performance between the test vehicle and the vehicle external equipment can be tested.

[0294] In one embodiment, the perception capability requirement includes at least one of the following: parking space status recognition accuracy, perception result output frequency, obstacle type perception accuracy, minimum recognition accuracy, obstacle position lateral perception position error, obstacle position longitudinal perception position error;

[0295] The positioning requirement includes at least one of the following: a lateral positioning error of a field-side positioning service, a longitudinal positioning error of a field-side positioning service, a height positioning error of a field-side positioning service, a heading angle positioning error of a field-side positioning service, and a positioning delay of a field-side positioning service;

[0296] The map is required to include at least one of the following: relative accuracy error, absolute accuracy error;

[0297] The communication requirements include at least one of the following: network latency, data update frequency;

[0298] The parking management system requirements include data reliability.

[0299] In the embodiments of the present disclosure, based on the automatic parking capability requirements of intelligent vehicles, intelligent vehicles can be divided into types such as modified vehicles, collaborative perception vehicles, semi-intelligent vehicles, and fully intelligent vehicles. Examples of functional implementation methods of each type are shown in Table 3.

[0300] Table 3 Implementation methods of automatic parking functions for various intelligent vehicles

[0301]

[0302] Modified vehicles, collaborative perception vehicles, and semi-intelligent vehicles are deployed on the field side according to the functional implementation methods in Table 3. Examples of relevant functional elements are shown in Table 4.

[0303] Table 4 Functional parameters of modified vehicles, cooperative perception vehicles, and semi-intelligent vehicles

[0304]

[0305] Fig.121 is a flow chart of an information interaction method based on a parking test scenario according to another embodiment of the present disclosure. The method can be used for vehicle external devices. The method may include:

[0306] S1201. Send vehicle control information to a vehicle in one or more parking test scenarios, where the vehicle control information is used to control a driving state of the vehicle in the one or more parking test scenarios.

[0307] In the disclosed embodiment, the vehicle external device sends vehicle control information to the vehicle in one or more parking test scenarios, such as start, forward, reverse, brake, stop and other instructions.

[0308] In one embodiment, the vehicle control information is sent by a vehicle external device, and the vehicle external device includes one or more of a user terminal, a cloud terminal, or a field terminal.

[0309] In one implementation, the vehicle control information includes a parking instruction, and the parking instruction is used to control the braking of the vehicle until it stops in the one or more parking test scenarios.

[0310] Fig.13 1 is a flow chart of an information interaction method based on a parking test scenario according to another embodiment of the present disclosure. The method may include one or more features of the above-mentioned information interaction method, and the method may be used for a vehicle external device. In one embodiment, the vehicle control information includes a vehicle start instruction, and the method further includes:

[0311] S1301, receiving a vehicle start request sent by a vehicle in a parking state;

[0312] S1302: Return a vehicle start instruction for the vehicle start request to the vehicle, where the vehicle start instruction is used to control vehicle start in the one or more parking test scenarios.

[0313] For example, after receiving the vehicle start request sent by the vehicle, the terminal device, the parking management system in the cloud, or the field end returns a start instruction to the vehicle if the vehicle start is allowed. After receiving the start instruction, the vehicle can control the vehicle start.

[0314] In one embodiment, the method further comprises:

[0315] S1303: Receive status information and / or location information of the vehicle sent when the vehicle is unmanned and in an activated state.

[0316] In one embodiment, the one or more parking test scenarios include a remote parking test scenario; the vehicle control information is used to control the test vehicle to stop at a third position when the test vehicle travels from a first position in the parking function activation area to a second position at a first speed. For example, when the test vehicle travels from a first position in the parking function activation area to a second position at a first speed, a parking instruction is sent to the test vehicle, and the parking instruction is used to control the test vehicle to stop at the third position.

[0317] The speed of the test vehicle at the second position is a second speed, and the time required for the test vehicle to stop is determined based on a first moment when the test vehicle is at the second position and a second moment when the test vehicle is at the third position.

[0318] In one embodiment, the scene features of the remote parking test scene include at least one of the following: no one is in the vehicle, no obstacles are set on the driving track of the vehicle, and the communication between the vehicle and the external device of the vehicle is normal;

[0319] The passing requirements for this remote parking test scenario include at least one of the following:

[0320] When the second speed when the vehicle external device issues a parking command is within a set speed range, the time required for the test vehicle to stop meets the time requirement corresponding to the set speed range;

[0321] Control the test vehicle to turn on the hazard warning lights after it stops;

[0322] After controlling the test vehicle to send status information to the vehicle external device, a notification message is sent to the vehicle external device.

[0323] In one embodiment, the one or more test scenarios include a ramp cruise obstacle avoidance test scenario; the vehicle control information is used to control the test vehicle to travel up or down a parking lot ramp at a first speed; wherein the test vehicle may collide with an obstacle on the ramp on the driving path of the test vehicle.

[0324] In one embodiment, the ramp cruise obstacle avoidance test scenario includes a test scenario with a static obstacle on the ramp, and the characteristics of the static obstacle include at least one of the following:

[0325] The static obstacle is in the cruising path of the test vehicle;

[0326] the static obstacle is located on the slope of the ramp;

[0327] the static obstacle is located on a straight section at the top of the ramp;

[0328] the static obstacle is located on a straight section at the bottom of the ramp;

[0329] The initial distance between the static obstacle and the test vehicle is not less than the set distance.

[0330] In one embodiment, the ramp cruising obstacle avoidance test scenario includes an opposing motion test scenario on a ramp, and the characteristics of the dynamic obstacles on the ramp include at least one of the following:

[0331] The dynamic obstacle moves upward or downward along the ramp in a direction opposite to the test vehicle;

[0332] The moving speed of the dynamic obstacle is less than or equal to the first speed of the test vehicle.

[0333] In one embodiment, the ramp cruising obstacle avoidance test scenario includes a same-direction movement test scenario on a ramp, and the characteristics of the dynamic obstacles on the ramp include at least one of the following:

[0334] The dynamic barrier travels in front of the test vehicle;

[0335] The dynamic obstacle moves upward or downward along the ramp in the same direction as the test vehicle;

[0336] The moving speed of the dynamic obstacle is not higher than the first speed of the test vehicle;

[0337] The dynamic obstacle slows down and / or stops while the test vehicle is following stably;

[0338] The dynamic obstacle starts to operate after a set period of time in a decelerated and / or stopped state.

[0339] In one embodiment, the scene features of the ramp cruise obstacle avoidance test scene include at least one of the following: the ramp, static obstacles on the ramp, and dynamic obstacles on the ramp; wherein the ramp includes a straight slope or a spiral curve;

[0340] The obstacle avoidance requirements of the ramp cruise obstacle avoidance test scenario include at least one of the following:

[0341] The test vehicle does not collide with or physically contact any obstacle located on the ramp;

[0342] The test vehicle circumvents a static obstacle located on the ramp;

[0343] The test vehicle continues to travel along the planned cruising path after meeting the dynamic obstacle on the ramp;

[0344] The test vehicle does not slip and / or pause during the process of following the dynamic obstacle on the ramp to start and stop.

[0345] In one embodiment, the method further comprises:

[0346] S1204: When the vehicle exceeds the ODC or the system fails, perform abnormal situation processing operations.

[0347] In one embodiment, the abnormal situation handling operation includes at least one of the following:

[0348] receiving intervention requests;

[0349] Triggering the minimum risk strategy;

[0350] Receive alert messages.

[0351] In one implementation, the parking test scenario includes an abnormal situation handling test scenario; the abnormal situation handling test scenario includes an ODC exceeding scenario or a system function failure scenario.

[0352] In one embodiment, the method further includes: when an ODC scenario or a system function failure scenario occurs during the normal operation of the test vehicle, a vehicle external device obtains driving process information of the test vehicle.

[0353] In one embodiment, the system function failure scenario includes a scenario in which communication between the vehicle and the parking terminal is interrupted; wherein, when the vehicle is driving normally at a first speed on a path in the parking function activation area and the power supply of all wireless access points is cut off, after a preset period of time, the interruption of the wireless connection is deemed to be a permanent interruption.

[0354] In one implementation, the scene characteristics of the scene where the communication between the vehicle and the terminal is interrupted include at least one of the following:

[0355] No one was in the car;

[0356] The communication between the vehicle and the user terminal or the cloud is normal;

[0357] The vehicle's automatic parking function is successfully activated;

[0358] The vehicle is in autonomous driving mode.

[0359] In one implementation, the functional parameter requirement of the field terminal includes at least one of the following:

[0360] Perception capability requirements, positioning requirements, map requirements, communication requirements, and parking management system requirements.

[0361] In one embodiment, the perception capability requirement includes at least one of the following: parking space status recognition accuracy, perception result output frequency, obstacle type perception accuracy, minimum recognition accuracy, obstacle position lateral perception position error, obstacle position longitudinal perception position error;

[0362] The positioning requirement includes at least one of the following: a lateral positioning error of a field-side positioning service, a longitudinal positioning error of a field-side positioning service, a height positioning error of a field-side positioning service, a heading angle positioning error of a field-side positioning service, and a positioning delay of a field-side positioning service;

[0363] The map is required to include at least one of the following: relative accuracy error, absolute accuracy error;

[0364] The communication requirements include at least one of the following: network latency, data update frequency;

[0365] The parking management system requirements include data reliability.

[0366] For specific examples of the vehicle external device executing information interaction method of this embodiment, please refer to the relevant description of the vehicle external device such as user terminal, cloud or field end in the above-mentioned vehicle executing information interaction method. For the sake of brevity, it will not be repeated here.

[0367] Fig.14 : is a schematic diagram of a structure of an information interaction device based on a parking test scenario according to an embodiment of the present disclosure. The device may be arranged in a vehicle, and the device may include:

[0368] The receiving module 1401 is used to receive vehicle control information sent by a vehicle external device in one or more parking test scenarios;

[0369] The response module 1402 is used to control the driving state of the vehicle in the one or more parking test scenarios in response to the vehicle control information.

[0370] In one embodiment, the vehicle external device includes one or more of a user terminal, a cloud terminal, or a field terminal.

[0371] Fig.15 1 is a schematic diagram of a structure of an information interaction device based on a parking test scenario according to another embodiment of the present disclosure. The device may be arranged in a vehicle, and the device may include one or more features of the above-mentioned information interaction device. In one embodiment, the response module 1402 is used to control the vehicle to brake until it stops in the one or more parking test scenarios according to the parking instruction.

[0372] In one embodiment, the response module 1402 is also used to send a vehicle start request to the vehicle external device when the vehicle is parked; receive a vehicle start instruction returned by the vehicle external device for the vehicle start request; and control the vehicle start in the one or more parking test scenarios according to the vehicle start instruction.

[0373] In one embodiment, Fig.15 As shown, the device also includes:

[0374] The sending module 1501 is used to send the status information and / or location information of the vehicle to the external device of the vehicle when there is no one in the vehicle and the vehicle is in an activated state.

[0375] In one embodiment, the one or more parking test scenarios include a remote parking test scenario; the apparatus further includes: a control module 1502, configured to control the test vehicle to travel at a first speed at a first position in a parking function activation area;

[0376] The receiving module 1401 is also used to receive a parking instruction from the vehicle external device when the test vehicle is in the second position;

[0377] The response module 1402 is further configured to control the test vehicle to stop at a third position in response to a stop instruction;

[0378] The speed of the test vehicle at the second position is a second speed, and the time required for the test vehicle to stop is determined based on a first moment of the test vehicle at the second position and a second moment of the test vehicle at the third position.

[0379] In one embodiment, the scene features of the remote parking test scene include at least one of the following:

[0380] There is no one in the vehicle, there are no obstacles on the vehicle's driving track, and the communication between the vehicle and its external equipment is normal;

[0381] The passing requirements for this remote parking test scenario include at least one of the following:

[0382] When the second speed when the vehicle external device issues a parking command is within a set speed range, the time required for the test vehicle to stop meets the time requirement corresponding to the set speed range;

[0383] Control the test vehicle to turn on the hazard warning lights after it stops;

[0384] After controlling the test vehicle to send status information to the vehicle external device, a notification message is sent to the vehicle external device.

[0385] In one embodiment, the one or more test scenarios include a ramp cruise obstacle avoidance test scenario; the response module 1402 is further used to control the test vehicle to travel up or down a parking lot ramp at a first speed in response to the vehicle control information; wherein the test vehicle may collide with an obstacle on the ramp on the driving path of the test vehicle.

[0386] In one embodiment, the ramp cruise obstacle avoidance test scenario includes a test scenario with a static obstacle on the ramp, and the characteristics of the static obstacle include at least one of the following:

[0387] The static obstacle is in the cruising path of the test vehicle;

[0388] the static obstacle is located on the slope of the ramp;

[0389] the static obstacle is located on a straight section at the top of the ramp;

[0390] the static obstacle is located on a straight section at the bottom of the ramp;

[0391] The initial distance between the static obstacle and the test vehicle is not less than the set distance.

[0392] In one embodiment, the ramp cruising obstacle avoidance test scenario includes an opposing motion test scenario on a ramp, and the characteristics of the dynamic obstacles on the ramp include at least one of the following:

[0393] The dynamic obstacle moves upward or downward along the ramp in a direction opposite to the test vehicle;

[0394] The moving speed of the dynamic obstacle is less than or equal to the first speed of the test vehicle.

[0395] In one embodiment, the ramp cruising obstacle avoidance test scenario includes a same-direction movement test scenario on a ramp, and the characteristics of the dynamic obstacles on the ramp include at least one of the following:

[0396] The dynamic barrier travels in front of the test vehicle;

[0397] The dynamic obstacle moves upward or downward along the ramp in the same direction as the test vehicle;

[0398] The moving speed of the dynamic obstacle is not higher than the first speed of the test vehicle;

[0399] The dynamic obstacle slows down and / or stops while the test vehicle is following stably;

[0400] The dynamic obstacle starts to operate after a set period of time in a decelerated and / or stopped state.

[0401] In one embodiment, the scene features of the ramp cruise obstacle avoidance test scene include at least one of the following: the ramp, static obstacles on the ramp, and dynamic obstacles on the ramp; wherein the ramp includes a straight slope or a spiral curve;

[0402] The obstacle avoidance requirements of the ramp cruise obstacle avoidance test scenario include at least one of the following:

[0403] The test vehicle does not collide with or physically contact any obstacle located on the ramp;

[0404] The test vehicle circumvents a static obstacle located on the ramp;

[0405] The test vehicle continues to travel along the planned cruising path after meeting the dynamic obstacle on the ramp;

[0406] The test vehicle does not slip and / or pause during the process of following the dynamic obstacle on the ramp to start and stop.

[0407] In one embodiment, the device also includes: an abnormal situation processing module 1003, which is used to perform at least one of the following abnormal situation processing operations when the vehicle exceeds the design operating condition ODC or the system function fails: issuing an intervention request; triggering a minimum risk strategy; issuing a warning message.

[0408] In one implementation, the parking test scenario includes an abnormal situation handling test scenario; the abnormal situation handling test scenario includes an ODC exceeding scenario and / or a system function failure scenario.

[0409] In one embodiment, the system function failure scenario includes a scenario in which communication between the vehicle and the parking terminal is interrupted; wherein, when the vehicle is driving normally at a first speed on a path in the parking function activation area and the power supply of all wireless access points is cut off, after a preset period of time, the interruption of the wireless connection is deemed to be a permanent interruption.

[0410] In one implementation, the scene characteristics of the scene where the communication between the vehicle and the terminal is interrupted include at least one of the following:

[0411] No one was in the car;

[0412] The communication between the vehicle and the user terminal or the cloud is normal;

[0413] The vehicle's automatic parking function is successfully activated;

[0414] The vehicle is in autonomous driving mode.

[0415] In one implementation, the functional parameter requirement of the field terminal includes at least one of the following:

[0416] Perception capability requirements, positioning requirements, map requirements, communication requirements, and parking management system requirements.

[0417] In one embodiment, the perception capability requirement includes at least one of the following: parking space status recognition accuracy, perception result output frequency, obstacle type perception accuracy, minimum recognition accuracy, obstacle position lateral perception position error, obstacle position longitudinal perception position error;

[0418] The positioning requirement includes at least one of the following: a lateral positioning error of a field-side positioning service, a longitudinal positioning error of a field-side positioning service, a height positioning error of a field-side positioning service, a heading angle positioning error of a field-side positioning service, and a positioning delay of a field-side positioning service;

[0419] The map is required to include at least one of the following: relative accuracy error, absolute accuracy error;

[0420] The communication requirements include at least one of the following: network latency, data update frequency;

[0421] The parking management system requirements include data reliability.

[0422] Fig.16 : is a schematic diagram of the structure of an information interaction device based on a parking test scenario according to another embodiment of the present disclosure. The device can be set in a vehicle external device, and the device may include:

[0423] The sending module 1601 is used to send vehicle control information to the vehicle in one or more parking test scenarios, where the vehicle control information is used to control the driving state of the vehicle in the one or more parking test scenarios.

[0424] In one embodiment, the vehicle control information is sent by a vehicle external device, and the vehicle external device includes one or more of a user terminal, a cloud terminal, or a field terminal.

[0425] In one implementation, the vehicle control information includes a parking instruction, and the parking instruction is used to control the braking of the vehicle until it stops in the one or more parking test scenarios.

[0426] Fig.17 1 is a schematic diagram of a structure of an information interaction device based on a parking test scenario according to another embodiment of the present disclosure. The device may be arranged in a vehicle external device, and the device may include one or more features of the above-mentioned information interaction device. In one embodiment, the vehicle control information includes a vehicle start instruction, and the device further includes:

[0427] The receiving module 1701 is used to receive a vehicle start request sent by the vehicle in a parking state;

[0428] The return module 1702 is used to return a vehicle start instruction for the vehicle start request to the vehicle, where the vehicle start instruction is used to control the vehicle start in the one or more parking test scenarios.

[0429] In one embodiment, the receiving module 1701 is further configured to receive status information and / or location information of the vehicle sent when the vehicle is unmanned and in an activated state.

[0430] In one implementation, the one or more parking test scenarios include a remote parking test scenario; the sending module 1701 is further used to send vehicle control information received by the vehicle external device in one or more parking test scenarios.

[0431] In one embodiment, in a hill cruise obstacle avoidance test scenario, the vehicle control information is used to control the test vehicle to stop at a third position when the test vehicle travels from a first position in a parking function activation area to a second position at a first speed.

[0432] In one embodiment, the speed of the test vehicle at the second position is a second speed, and the time required for the test vehicle to stop is determined based on a first moment of the test vehicle at the second position and a second moment of the test vehicle at the third position.

[0433] In one embodiment, the scene features of the remote parking test scene include at least one of the following: no one is in the vehicle, no obstacles are set on the driving track of the vehicle, and the communication between the vehicle and the external device of the vehicle is normal;

[0434] The passing requirements for this remote parking test scenario include at least one of the following:

[0435] When the second speed when the vehicle external device issues a parking command is within a set speed range, the time required for the test vehicle to stop meets the time requirement corresponding to the set speed range;

[0436] Control the test vehicle to turn on the hazard warning lights after it stops;

[0437] After controlling the test vehicle to send status information to the vehicle external device, a notification message is sent to the vehicle external device.

[0438] In one embodiment, the one or more test scenarios include a ramp cruise obstacle avoidance test scenario; the vehicle control information is used to control the test vehicle to travel up or down a parking lot ramp at a first speed; wherein the test vehicle may collide with an obstacle on the ramp on the driving path of the test vehicle.

[0439] In one embodiment, the ramp cruise obstacle avoidance test scenario includes a test scenario with a static obstacle on the ramp, and the characteristics of the static obstacle include at least one of the following:

[0440] The static obstacle is in the cruising path of the test vehicle;

[0441] the static obstacle is located on the slope of the ramp;

[0442] the static obstacle is located on a straight section at the top of the ramp;

[0443] the static obstacle is located on a straight section at the bottom of the ramp;

[0444] The initial distance between the static obstacle and the test vehicle is not less than the set distance.

[0445] In one embodiment, the ramp cruising obstacle avoidance test scenario includes an opposing motion test scenario on a ramp, and the characteristics of the dynamic obstacles on the ramp include at least one of the following:

[0446] The dynamic obstacle moves upward or downward along the ramp in a direction opposite to the test vehicle;

[0447] The moving speed of the dynamic obstacle is less than or equal to the first speed of the test vehicle.

[0448] In one embodiment, the ramp cruising obstacle avoidance test scenario includes a same-direction movement test scenario on a ramp, and the characteristics of the dynamic obstacles on the ramp include at least one of the following:

[0449] The dynamic barrier travels in front of the test vehicle;

[0450] The dynamic obstacle moves upward or downward along the ramp in the same direction as the test vehicle;

[0451] The moving speed of the dynamic obstacle is not higher than the first speed of the test vehicle;

[0452] The dynamic obstacle slows down and / or stops while the test vehicle is following stably;

[0453] The dynamic obstacle starts to operate after a set period of time in a decelerated and / or stopped state.

[0454] In one embodiment, the scene features of the ramp cruise obstacle avoidance test scene include at least one of the following: the ramp, static obstacles on the ramp, and dynamic obstacles on the ramp; wherein the ramp includes a straight slope or a spiral curve;

[0455] The obstacle avoidance requirements of the ramp cruise obstacle avoidance test scenario include at least one of the following:

[0456] The test vehicle does not collide with or physically contact any obstacle located on the ramp;

[0457] The test vehicle circumvents a static obstacle located on the ramp;

[0458] The test vehicle continues to travel along the planned cruising path after meeting the dynamic obstacle on the ramp;

[0459] The test vehicle does not slip and / or pause during the process of following the dynamic obstacle on the ramp to start and stop.

[0460] In one embodiment, the device also includes: an abnormal situation processing module 1604, which is used to perform at least one of the following abnormal situation processing operations when the vehicle exceeds the design operating condition ODC or the system function fails: receiving an intervention request; triggering a minimum risk strategy; receiving a warning message.

[0461] In one implementation, the parking test scenario includes an abnormal situation handling test scenario; the abnormal situation handling test scenario includes an ODC exceeding scenario and / or a system function failure scenario.

[0462] In one embodiment, the system function failure scenario includes a scenario in which communication between the vehicle and the parking terminal is interrupted; wherein, when the vehicle is driving normally at a first speed on a path in the parking function activation area and the power supply of all wireless access points is cut off, after a preset period of time, the interruption of the wireless connection is deemed to be a permanent interruption.

[0463] In one implementation, the scene characteristics of the scene where the communication between the vehicle and the terminal is interrupted include at least one of the following:

[0464] No one was in the car;

[0465] The communication between the vehicle and the user terminal or the cloud is normal;

[0466] The vehicle's automatic parking function is successfully activated;

[0467] The vehicle is in autonomous driving mode.

[0468] In one implementation, the functional parameter requirement of the field terminal includes at least one of the following:

[0469] Perception capability requirements, positioning requirements, map requirements, communication requirements, and parking management system requirements.

[0470] In one embodiment, the perception capability requirement includes at least one of the following: parking space status recognition accuracy, perception result output frequency, obstacle type perception accuracy, minimum recognition accuracy, obstacle position lateral perception position error, obstacle position longitudinal perception position error;

[0471] The positioning requirement includes at least one of the following: a lateral positioning error of a field-side positioning service, a longitudinal positioning error of a field-side positioning service, a height positioning error of a field-side positioning service, a heading angle positioning error of a field-side positioning service, and a positioning delay of a field-side positioning service;

[0472] The map is required to include at least one of the following: relative accuracy error, absolute accuracy error;

[0473] The communication requirements include at least one of the following: network latency, data update frequency;

[0474] The parking management system requirements include data reliability.

[0475] For the description of specific functions and examples of each module and submodule of the device in the embodiment of the present disclosure, reference can be made to the relevant description of the corresponding steps in the above method embodiment, which will not be repeated here.

[0476] In the technical solution disclosed herein, the acquisition, storage and application of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0477] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0478] Fig.18 A schematic block diagram of an example electronic device 1800 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0479] like Fig.18 As shown, the device 1800 includes a computing unit 1801, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1802 or a computer program loaded from a storage unit 1808 into a random access memory (RAM) 1803. In the RAM 1803, various programs and data required for the operation of the device 1800 can also be stored. The computing unit 1801, the ROM 1802, and the RAM 1803 are connected to each other via a bus 1804. An input / output (I / O) interface 1805 is also connected to the bus 1804.

[0480] A number of components in the device 1800 are connected to the I / O interface 1805, including: an input unit 1806, such as a keyboard, a mouse, etc.; an output unit 1807, such as various types of displays, speakers, etc.; a storage unit 1808, such as a disk, an optical disk, etc.; and a communication unit 1809, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1809 allows the device 1800 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0481] The computing unit 1801 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 1801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 1801 performs the various methods and processes described above, such as the information interaction method based on the parking test scenario. For example, in some embodiments, the information interaction method based on the parking test scenario may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 1808. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 1800 via the ROM 1802 and / or the communication unit 1809. When the computer program is loaded into the RAM 1803 and executed by the computing unit 1801, one or more steps of the information interaction method based on the parking test scenario described above may be performed. Alternatively, in other embodiments, the computing unit 1801 may be configured to execute the information interaction method based on the parking test scenario in any other appropriate manner (for example, by means of firmware).

[0482] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0483] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0484] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0485] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0486] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0487] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0488] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0489] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. An information interaction method based on a parking test scenario, comprising: receiving vehicle control information sent by a device external to the vehicle in one or more parking test scenarios; The driving state of the vehicle in the one or more parking test scenarios is controlled in response to the vehicle control information.

2. The method according to claim 1, wherein: The vehicle external device includes one or more of a user terminal, a cloud terminal or a field terminal.

3. The method according to claim 1 or 2, wherein: The vehicle control information includes a parking instruction, and controlling the driving state of the vehicle in the one or more parking test scenarios in response to the vehicle control information includes: The vehicle is controlled to brake until it stops in the one or more parking test scenarios according to the parking instruction.

4. The method according to any one of claims 1 to 3, wherein: The vehicle control information includes a vehicle start instruction, and controlling the driving state of the vehicle in the one or more parking test scenarios in response to the vehicle control information includes: In a parking state, sending a vehicle start request to the vehicle external device; receiving a vehicle start instruction returned by the vehicle external device in response to the vehicle start request; According to the vehicle start instruction, the vehicle is controlled to start in the one or more parking test scenarios.

5. The method according to any one of claims 1 to 4, further comprising: When there is no one in the vehicle and the vehicle is in an activated state, the state information and / or position information of the vehicle is sent to the vehicle external device.

6. The method according to any one of claims 1 to 5, wherein: The one or more parking test scenarios include a remote parking test scenario; the method further includes: controlling the test vehicle to travel at a first speed in a first position of a parking function activation area; Receiving vehicle control information sent by a vehicle external device in one or more parking test scenarios includes: receiving a parking instruction from the vehicle external device when the test vehicle is in a second position; Controlling the driving state of the vehicle in the one or more parking test scenarios in response to the vehicle control information includes: controlling the test vehicle to stop at a third position in response to a parking instruction; The speed of the test vehicle at the second position is a second speed, and the time required for the test vehicle to stop is determined based on a first moment when the test vehicle is at the second position and a second moment when the test vehicle is at the third position.

7. The method according to claim 6, wherein: The scene features of the remote parking test scene include at least one of the following: no one is in the vehicle, no obstacles are set on the driving track of the vehicle, and the communication between the vehicle and the external device of the vehicle is normal; The passing requirements of the remote parking test scenario include at least one of the following: When the second speed when the vehicle external device issues a parking command is within a set speed range, the time required for the test vehicle to stop meets the time requirement corresponding to the set speed range; Controlling the test vehicle to turn on hazard warning lights after it comes to a stop; After controlling the test vehicle to send status information to the vehicle external device, a notification message is sent to the vehicle external device.

8. The method according to any one of claims 1 to 7, wherein: The one or more test scenarios include a ramp cruise obstacle avoidance test scenario; Controlling the driving state of the vehicle in the one or more parking test scenarios in response to the vehicle control information includes: In response to the vehicle control information, the test vehicle is controlled to travel upward or downward along a parking lot ramp at a first speed; wherein the test vehicle may collide with an obstacle on the ramp on the driving path of the test vehicle.

9. The method according to claim 8, wherein: The ramp cruising obstacle avoidance test scenario includes a test scenario with a static obstacle on the ramp, and the characteristics of the static obstacle include at least one of the following: The static obstacle is on the cruising path of the test vehicle; The static obstacle is located on the slope of the ramp; The static obstacle is located at the straight section at the top of the ramp; The static obstacle is located at a straight section at the bottom of the ramp; The initial distance between the static obstacle and the test vehicle is not less than a set distance.

10. The method according to claim 8 or 9, wherein: The ramp cruising obstacle avoidance test scenario includes an opposing motion test scenario on a ramp, and the characteristics of the dynamic obstacles on the ramp include at least one of the following: The dynamic obstacle moves upward or downward along the ramp in a direction opposite to the test vehicle; The moving speed of the dynamic obstacle is less than or equal to the first speed of the test vehicle.

11. The method according to any one of claims 8 to 10, wherein: The ramp cruising obstacle avoidance test scenario includes a same-direction movement test scenario on a ramp, and the characteristics of the dynamic obstacles on the ramp include at least one of the following: The dynamic obstacle travels in front of the test vehicle; The dynamic obstacle moves upward or downward along the ramp in the same direction as the test vehicle; The moving speed of the dynamic obstacle is not higher than the first speed of the test vehicle; The dynamic obstacle decelerates and / or stops while the test vehicle is following stably; The dynamic obstacle starts to run after a set time period in a decelerated and / or stopped state.

12. The method according to any one of claims 8 to 11, wherein: The scene features of the ramp cruise obstacle avoidance test scene include at least one of the following: the ramp, static obstacles on the ramp, and dynamic obstacles on the ramp; wherein the ramp includes a straight slope or a spiral curve; The obstacle avoidance requirements of the ramp cruise obstacle avoidance test scenario include at least one of the following: The test vehicle does not collide with or physically contact an obstacle located on the ramp; The test vehicle bypasses a static obstacle located on the ramp; After the test vehicle meets the dynamic obstacle on the ramp, the test vehicle continues to travel along the planned cruising path; The test vehicle does not slip and / or pause during the process of following the dynamic obstacle on the ramp to start and stop.

13. The method according to any one of claims 1 to 12, further comprising: In the event that the vehicle exceeds the design operating condition ODC or the system malfunctions, perform at least one of the following abnormal situation handling operations: Issue a request for intervention; Triggering the minimum risk strategy; Issue a warning message.

14. The method according to claim 13, wherein: The parking test scenario includes an abnormal situation handling test scenario; the abnormal situation handling test scenario includes an ODC exceeding scenario and / or a system function failure scenario.

15. The method according to claim 14, wherein: The system function failure scenario includes a scenario in which communication between the vehicle and the parking terminal is interrupted; wherein, when the vehicle is driving normally on a path in the parking function activation area at a first speed and the power supply of all wireless access points is cut off, after a preset period of time, the interruption of the wireless connection is deemed to be a permanent interruption.

16. The method according to claim 15, wherein: The scene characteristics of the scene where the communication between the vehicle and the terminal is interrupted include at least one of the following: No one was in the car; The communication between the vehicle and the user terminal or the cloud is normal; The vehicle's automatic parking function is successfully activated; The vehicle is in autonomous driving mode.

17. The method according to claim 2, 15 or 16, wherein: The functional parameter requirements of the field end include at least one of the following: Perception capability requirements, positioning requirements, map requirements, communication requirements, and parking management system requirements.

18. The method according to claim 17, wherein: The sensing capability requirements include at least one of the following: parking space status recognition accuracy, sensing result output frequency, obstacle type perception accuracy, minimum recognition accuracy, obstacle position lateral perception position error, obstacle position longitudinal perception position error; The positioning requirement includes at least one of the following: a lateral positioning error of a field-side positioning service, a longitudinal positioning error of a field-side positioning service, a height positioning error of a field-side positioning service, a heading angle positioning error of a field-side positioning service, and a positioning delay of a field-side positioning service; The map requirements include at least one of the following: relative accuracy error, absolute accuracy error; The communication requirements include at least one of the following: network latency, data update frequency; The parking management system requirements include data reliability.

19. An information interaction method based on a parking test scenario, comprising: Vehicle control information is sent to the vehicle in one or more parking test scenarios, where the vehicle control information is used to control the driving state of the vehicle in the one or more parking test scenarios.

20. The method according to claim 19, wherein: The vehicle control information is sent by a vehicle external device, and the vehicle external device includes one or more of a user terminal, a cloud terminal or a field terminal.

21. The method according to claim 19 or 20, wherein: The vehicle control information includes a parking instruction, and the parking instruction is used to control the braking of the vehicle until it stops in the one or more parking test scenarios.

22. The method according to any one of claims 19 to 21, wherein: The vehicle control information includes a vehicle start instruction, and the method further includes: In a parking state, receiving a vehicle start request sent by the vehicle; A vehicle start instruction for the vehicle start request is returned to the vehicle, where the vehicle start instruction is used to control vehicle start in the one or more parking test scenarios.

23. The method according to any one of claims 19 to 21, further comprising: The vehicle status information and / or location information is received when the vehicle is in an activated state and no one is inside the vehicle.

24. The method according to any one of claims 19 to 23, wherein: The one or more parking test scenarios include a remote parking test scenario; The vehicle control information is used to control the test vehicle to stop at a third position when the test vehicle travels from a first position in the parking function activation area to a second position at a first speed; The speed of the test vehicle at the second position is a second speed, and the time required for the test vehicle to stop is determined based on a first moment when the test vehicle is at the second position and a second moment when the test vehicle is at the third position.

25. The method according to claim 24, wherein: The scene features of the remote parking test scene include at least one of the following: no one is in the vehicle, no obstacles are set on the driving track of the vehicle, and the communication between the vehicle and the external device of the vehicle is normal; The passing requirements of the remote parking test scenario include at least one of the following: When the second speed when the vehicle external device issues a parking command is within a set speed range, the time required for the test vehicle to stop meets the time requirement corresponding to the set speed range; Controlling the test vehicle to turn on hazard warning lights after it comes to a stop; After controlling the test vehicle to send status information to the vehicle external device, a notification message is sent to the vehicle external device.

26. The method according to any one of claims 19 to 25, wherein: The one or more test scenarios include a ramp cruise obstacle avoidance test scenario; the vehicle control information is used to control the test vehicle to travel up or down a parking lot ramp at a first speed; wherein the test vehicle may collide with an obstacle on the ramp on the driving path of the test vehicle.

27. The method according to claim 26, wherein: The ramp cruising obstacle avoidance test scenario includes a test scenario with a static obstacle on the ramp, and the characteristics of the static obstacle include at least one of the following: The static obstacle is on the cruising path of the test vehicle; The static obstacle is located on the slope of the ramp; The static obstacle is located at the straight section at the top of the ramp; The static obstacle is located at a straight section at the bottom of the ramp; The initial distance between the static obstacle and the test vehicle is not less than a set distance.

28. The method according to claim 26 or 27, wherein: The ramp cruising obstacle avoidance test scenario includes an opposing motion test scenario on a ramp, and the characteristics of the dynamic obstacles on the ramp include at least one of the following: The dynamic obstacle moves upward or downward along the ramp in a direction opposite to the test vehicle; The moving speed of the dynamic obstacle is less than or equal to the first speed of the test vehicle.

29. The method according to any one of claims 26 to 28, wherein: The ramp cruising obstacle avoidance test scenario includes a same-direction movement test scenario on a ramp, and the characteristics of the dynamic obstacles on the ramp include at least one of the following: The dynamic obstacle travels in front of the test vehicle; The dynamic obstacle moves upward or downward along the ramp in the same direction as the test vehicle; The moving speed of the dynamic obstacle is not higher than the first speed of the test vehicle; The dynamic obstacle decelerates and / or stops while the test vehicle is following stably; The dynamic obstacle starts to run after a set time period in a decelerated and / or stopped state.

30. The method according to any one of claims 26 to 29, wherein: The scene features of the ramp cruise obstacle avoidance test scene include at least one of the following: the ramp, static obstacles on the ramp, and dynamic obstacles on the ramp; wherein the ramp includes a straight slope or a spiral curve; The obstacle avoidance requirements of the ramp cruise obstacle avoidance test scenario include at least one of the following: The test vehicle does not collide with or physically contact an obstacle located on the ramp; The test vehicle bypasses a static obstacle located on the ramp; After the test vehicle meets the dynamic obstacle on the ramp, the test vehicle continues to travel along the planned cruising path; The test vehicle does not slip and / or pause during the process of following the dynamic obstacle on the ramp to start and stop.

31. The method according to any one of claims 19 to 30, further comprising: In the event that the vehicle exceeds the design operating condition ODC or the system malfunctions, perform at least one of the following abnormal situation handling operations: receiving intervention requests; Triggering the minimum risk strategy; Receive alert messages.

32. The method according to claim 31, wherein: The parking test scenario includes an abnormal situation handling test scenario; the abnormal situation handling test scenario includes an ODC exceeding scenario and / or a system function failure scenario.

33. The method of claim 32, wherein: The system function failure scenario includes a scenario in which communication between the vehicle and the parking terminal is interrupted; wherein, when the vehicle is driving normally on a path in the parking function activation area at a first speed and the power supply of all wireless access points is cut off, after a preset period of time, the interruption of the wireless connection is deemed to be a permanent interruption.

34. The method of claim 33, wherein: The scene characteristics of the scene where the communication between the vehicle and the terminal is interrupted include at least one of the following: No one was in the car; The communication between the vehicle and the user terminal or the cloud is normal; The vehicle's automatic parking function is successfully activated; The vehicle is in autonomous driving mode.

35. The method of claim 20, 33 or 34, wherein: The functional parameter requirements of the field end include at least one of the following: Perception capability requirements, positioning requirements, map requirements, communication requirements, and parking management system requirements.

36. The method of claim 35, wherein: The sensing capability requirements include at least one of the following: parking space status recognition accuracy, sensing result output frequency, obstacle type perception accuracy, minimum recognition accuracy, obstacle position lateral perception position error, obstacle position longitudinal perception position error; The positioning requirement includes at least one of the following: a lateral positioning error of a field-side positioning service, a longitudinal positioning error of a field-side positioning service, a height positioning error of a field-side positioning service, a heading angle positioning error of a field-side positioning service, and a positioning delay of a field-side positioning service; The map requirements include at least one of the following: relative accuracy error, absolute accuracy error; The communication requirements include at least one of the following: network latency, data update frequency; The parking management system requirements include data reliability.

37. An information interaction device based on a parking test scenario, comprising: A receiving module, used to receive vehicle control information sent by a vehicle external device in one or more parking test scenarios; A response module is used to control the driving state of the vehicle in the one or more parking test scenarios in response to the vehicle control information.

38. An information interaction device based on a parking test scenario, comprising: The sending module is used to send vehicle control information to the vehicle in one or more parking test scenarios, wherein the vehicle control information is used to control the driving state of the vehicle in the one or more parking test scenarios.

39. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-18 or any one of claims 19-36.

40. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-18 or any one of claims 19-36.

41. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-18 or any one of claims 19-36.

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