Redundant parking control method and system, storage medium and autonomous vehicle

Abstract

The invention discloses a redundant parking control method and system, a storage medium and an automatic driving vehicle, and relates to the technical field of computers. The method is applied to a redundant parking system and specifically comprises the steps that an intelligent driving control module sends first control information and second control information to a first signal processing module and a second signal processing module in parallel; the first signal processing module and the second signal processing module respectively perform pre-detection processing on the first control information and the second control information so as to respectively obtain first parking control information and second parking control information, and respectively send the first parking control information and the second parking control information to the parking control module; and the parking control module detects the first parking control information and the second parking control information by using a preset detection strategy so as to control the vehicle to park on the basis of the first parking control information or the second parking control information under the condition that the first parking control information is consistent with the second parking control information.

Description

Technical Field

[0001] The present application relates to the field of computer technology, specifically to technical fields such as big data technology and data acquisition technology, and in particular to a redundant parking control method, system, storage medium and autonomous driving vehicle. Background Art

[0002] In autonomous driving technology, the automatic parking function of the intelligent parking system can help the vehicle automatically park at the designated location to ensure the safety of the vehicle and avoid problems such as slipping.

[0003] At present, the intelligent parking systems of autonomous driving vehicles mostly use single-link control, which cannot guarantee the normal use of the system when the control unit or execution unit fails, and easily leads to safety problems when the system fails. Summary of the invention

[0004] The present application provides a redundant parking control method, system, storage medium and autonomous driving vehicle, which can solve the problem of poor reliability of parking control. The technical solution is as follows:

[0005] In a first aspect, a redundant parking control method is provided, which is applied to a redundant parking system, wherein the redundant parking system includes an intelligent driving control module, a first signal processing module, a second signal processing module and a parking control module, and the method includes:

[0006] The intelligent driving control module sends the first control information and the second control information to the first signal processing module and the second signal processing module in parallel;

[0007] The first signal processing module performs pre-detection processing on the received first control information and the second control information to obtain first parking control information, and sends the first parking control information to the parking control module;

[0008] The second signal processing module performs pre-detection processing on the received first control information and the second control information to obtain second parking control information, and sends the second parking control information to the parking control module;

[0009] The parking control module uses a preset detection strategy to detect and process the received first parking control information and second parking control information, so that when the result of the detection and processing is that the first parking control information and the second parking control information are consistent, the parking control processing of the vehicle is performed based on the first parking control information or the second parking control information.

[0010] In a possible implementation, the redundant parking system of the vehicle further includes a first bus and a second bus, and the intelligent driving control module sends the first control information and the second control information to the first signal processing module and the second signal processing module in parallel, including:

[0011] The intelligent driving control module sends the first control information to the first signal processing module and the second signal processing module respectively through the first bus;

[0012] The intelligent driving control module sends the second control information to the first signal processing module and the second signal processing module respectively through the second bus, wherein the first control information and the second control information are sent in parallel.

[0013] In a possible implementation, the redundant parking system of the vehicle further includes a third bus and a fourth bus, and sending the first parking control information to the parking control module includes:

[0014] The first signal processing module sends the first parking control information to the parking control module through the third bus;

[0015] The sending the second parking control information to the parking control module includes:

[0016] The second signal processing module sends the second parking control information to the parking control module through the fourth bus.

[0017] In a possible implementation, the parking control module uses a preset detection strategy to detect and process the received first parking control information and second parking control information, including:

[0018] The parking control module determines the first parking control information and the second parking control information that meet the preset verification condition based on the preset verification condition, the first parking control information and the second parking control information;

[0019] The parking control module compares the first parking control information and the second parking control information that meet the preset verification condition to obtain a result of the comparison process;

[0020] The result of the comparison process is used as the result of the detection process.

[0021] In a possible implementation, the first parking control information includes a first intelligent driving switch signal and a first verification code signal, the second parking control information includes a second intelligent driving switch signal and a second verification code signal, and the parking control module determines the first parking control information and the second parking control information that meet the preset verification condition based on a preset verification condition, the first parking control information and the second parking control information, including:

[0022] The parking control module determines first parking control information that meets a preset verification condition based on the first verification code signal and the first intelligent driving switch signal;

[0023] The parking control module determines second parking control information that meets a preset verification condition based on the second verification code signal and the second intelligent driving switch signal.

[0024] In a possible implementation, after performing parking control processing on the vehicle, the method further includes:

[0025] The parking control module obtains the result of the parking control processing;

[0026] The parking control module feeds back the result of the parking control processing to the intelligent driving control module through the first signal processing module and / or the second signal processing module.

[0027] In a second aspect, a redundant parking control system is provided, the redundant parking system comprising an intelligent driving control module, a first signal processing module, a second signal processing module and a parking control module;

[0028] The intelligent driving control module is used to send the first control information and the second control information to the first signal processing module and the second signal processing module in parallel;

[0029] a first signal processing module, configured to perform pre-detection processing on the received first control information and the second control information to obtain first parking control information, and send the first parking control information to a parking control module;

[0030] a second signal processing module, configured to perform pre-detection processing on the received first control information and the second control information to obtain second parking control information, and send the second parking control information to a parking control module;

[0031] The parking control module is used to detect and process the received first parking control information and second parking control information using a preset detection strategy, so as to perform parking control processing on the vehicle based on the first parking control information or the second parking control information when the result of the detection and processing is that the first parking control information and the second parking control information are consistent.

[0032] In a third aspect, a computer-readable storage medium is provided, wherein at least one instruction is stored in the storage medium, and the at least one instruction is loaded and executed by a processor to implement the method of the above-mentioned aspect and any possible implementation manner.

[0033] According to a fourth aspect, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the above-mentioned aspects and any possible implementation method.

[0034] In a fifth aspect, an autonomous driving vehicle is provided, comprising the system as described above.

[0035] The beneficial effects of the technical solution provided by this application include at least:

[0036] It can be seen from the above technical solution that the embodiment of the present application can send the first control information and the second control information in parallel to the first signal processing module and the second signal processing module through the intelligent driving control module, and then the first signal processing module can perform pre-detection processing on the received first control information and the second control information to obtain the first parking control information, and send the first parking control information to the parking control module, and the second signal processing module can perform pre-detection processing on the received first control information and the second control information to obtain the second parking control information, and send the second parking control information to the parking control module, so that the parking control module can use a preset detection strategy to detect and process the received first parking control information and the second parking control information, so that when the result of the detection processing is that the first parking control information and the second parking control information are consistent, the vehicle is parked based on the first parking control information or the second parking control information. Since redundant parking control information can be provided to the parking control module through the first signal processing module and the second signal processing module, the safety and reliability of the intelligent parking function of the autonomous driving vehicle can be improved.

[0037] 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 application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 is a flowchart of a redundant parking control method provided by an embodiment of the present application;

[0040] Figure 2 is a schematic diagram of the architecture of a redundant parking system provided by another embodiment of the present application;

[0041] Figure 3 This is a schematic diagram of the architecture of a redundant parking system in an application scenario provided in yet another embodiment of the present application. DETAILED DESCRIPTION

[0042] The following is a description of exemplary embodiments of the present application in conjunction with the accompanying drawings, including various details of the embodiments of the present application 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 can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0043] Obviously, the described embodiments are only part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0044] It should be noted that the terminal devices involved in the embodiments of the present application may include but are not limited to mobile phones, personal digital assistants (PDAs), wireless handheld devices, tablet computers and other smart devices; display devices may include but are not limited to personal computers, televisions and other devices with display functions.

[0045] In addition, the term "and / or" in this article is only a description of the association relationship between the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0046] Please refer to Figure 1 , which shows a flow chart of a redundant parking control method provided by an embodiment of the present application. The redundant parking control method can be applied to a redundant parking system, which includes an intelligent driving control module, a first signal processing module, a second signal processing module and a parking control module, and can specifically include:

[0047] Step 101: The intelligent driving control module sends the first control information and the second control information to the first signal processing module and the second signal processing module in parallel.

[0048] Step 102: The first signal processing module performs pre-detection processing on the received first control information and the second control information to obtain first parking control information, and sends the first parking control information to a parking control module.

[0049] Step 103: The second signal processing module performs pre-detection processing on the received first control information and the second control information to obtain second parking control information, and sends the second parking control information to the parking control module.

[0050] Step 104: The parking control module uses a preset detection strategy to detect and process the received first parking control information and second parking control information, so that when a result of the detection and processing is that the first parking control information and the second parking control information are consistent, the parking control processing of the vehicle is performed based on the first parking control information or the second parking control information.

[0051] It should be noted that the first control information and the second control information may be control information sent from the intelligent driving control module to the first signal processing module and the second signal processing module at the same time.

[0052] It should be noted that the first control information may include a handbrake signal, a check code signal, an intelligent driving switch signal, etc. The second control information may also include a handbrake signal, a check code signal, an intelligent driving switch signal, etc.

[0053] It should be noted that, here, the parking control process may be to control the vehicle to perform a handbrake control operation, for example, pulling up the handbrake, or releasing the handbrake.

[0054] In this way, the first control information and the second control information can be sent in parallel to the first signal processing module and the second signal processing module through the intelligent driving control module, and then the first signal processing module can perform pre-detection processing on the received first control information and the second control information to obtain the first parking control information, and send the first parking control information to the parking control module; the second signal processing module can perform pre-detection processing on the received first control information and the second control information to obtain the second parking control information, and send the second parking control information to the parking control module, so that the parking control module can use a preset detection strategy to detect and process the received first parking control information and the second parking control information, so that when the result of the detection and processing is that the first parking control information and the second parking control information are consistent, the vehicle is parked based on the first parking control information or the second parking control information. Since redundant parking control information can be provided to the parking control module through the first signal processing module and the second signal processing module, the safety and reliability of the intelligent parking function of the autonomous driving vehicle can be improved.

[0055] Optionally, in a possible implementation of this embodiment, the redundant parking system of the vehicle also includes a first bus and a second bus. In step 101, specifically, the intelligent driving control module can send the first control information to the first signal processing module and the second signal processing module respectively through the first bus. At the same time, the intelligent driving control module can send the second control information to the first signal processing module and the second signal processing module respectively through the second bus.

[0056] In this implementation, the first control information and the second control information are sent in parallel.

[0057] Here, the intelligent driving control module can be connected to the first signal processing module and the second signal processing module through the first bus. At the same time, the intelligent driving control module can also be connected to the first signal processing module and the second signal processing module through the second bus.

[0058] Preferably, the control information sent via the first bus may be first control information. Both the first signal processing module and the second signal processing module may receive the first control information. The control information sent via the second bus may be second control information. Both the first signal processing module and the second signal processing module may receive the second control information.

[0059] In this way, control information can be sent to the first signal processing module and the second signal processing module in parallel through the first bus and the second bus to ensure that the first signal processing module and the second signal processing module can both receive the control information sent through the two buses to ensure the redundancy of the control information, thereby further ensuring the reliability of the parking control.

[0060] Optionally, in a possible implementation of this embodiment, the redundant parking system of the vehicle may further include a third bus and a fourth bus, and in step 102, the first signal processing module may send the first parking control information to the parking control module via the third bus. In step 103, the second signal processing module may send the second parking control information to the parking control module via the fourth bus.

[0061] In this way, the parking control module can receive redundant parking control information, and the system can still be used normally after a single-threaded network or a single signal processing unit fails, further improving the safety and reliability of the parking function of the intelligent driving vehicle.

[0062] In this implementation, the first control information and the second control information may both include an intelligent driving switch signal, a verification code signal, a handbrake signal, etc.

[0063] In a specific implementation process of this implementation method, in step 102, first, the first signal processing module can determine the first control information that meets the preset verification conditions based on the check code signal and the intelligent driving switch signal of the first control information, and can determine the second control information that meets the preset verification conditions based on the check code signal and the intelligent driving switch signal of the second control information. Secondly, the first signal processing module can compare and process the handbrake signal of the first control information that meets the preset verification conditions with the handbrake signal of the second control information that meets the preset verification conditions to determine whether the handbrake signal of the first control information and the handbrake signal of the second control information are consistent. Again, if it is determined that the handbrake signal of the first control information is consistent with the handbrake signal of the second control information, the first control information, or the second control information, can be packaged and processed to obtain the first parking control information sent to the parking control module.

[0064] In another specific implementation process of this implementation method, in step 103, first, the second signal processing module can determine the first control information that meets the preset verification conditions based on the check code signal and the intelligent driving switch signal of the first control information, and can determine the second control information that meets the preset verification conditions based on the check code signal and the intelligent driving switch signal of the second control information. Secondly, the second signal processing module can compare and process the handbrake signal of the first control information that meets the preset verification conditions with the handbrake signal of the second control information that meets the preset verification conditions to determine whether the handbrake signal of the first control information is consistent with the handbrake signal of the second control information. Again, if the second signal processing module determines that the handbrake signal of the first control information is consistent with the handbrake signal of the second control information, the second signal processing module can encapsulate the first control information, or the second control information, to obtain the second parking control information sent to the parking control module.

[0065] It can be understood that the first signal processing module and the second signal processing module can perform the same pre-detection processing on the received first control information and the second control information to achieve pre-detection of redundant information to ensure the validity of the redundant control information.

[0066] It should be noted that the specific implementation process provided in this implementation can be combined with the various specific implementation processes provided in the aforementioned implementation to implement the redundant parking control method of this embodiment. For detailed description, please refer to the relevant content in the aforementioned implementation, which will not be repeated here.

[0067] Optionally, in a possible implementation of this embodiment, in step 104, specifically, the parking control module can determine the first parking control information and the second parking control information that meet the preset verification condition based on the preset verification condition, the first parking control information and the second parking control information, and then the parking control module can compare the first parking control information and the second parking control information that meet the preset verification condition to obtain a result of the comparison processing, and use the result of the comparison processing as the result of the detection processing.

[0068] In this implementation, the first parking control information may include a first intelligent driving switch signal and a first verification code signal. The second parking control information may include a second intelligent driving switch signal and a second verification code signal.

[0069] In a specific implementation process of this implementation method, first, the parking control module can determine the first parking control information that meets the preset verification conditions based on the first verification code signal and the first intelligent driving switch signal, and can determine the second parking control information that meets the preset verification conditions based on the second verification code signal and the second intelligent driving switch signal.

[0070] In this implementation, the first check code signal and the second check code signal may be CRC check code signals. The preset verification condition may include that the CRC check code signal verification result is correct and the smart driving switch signal indicates that the smart driving function is turned on.

[0071] One scenario of the specific implementation process is that, in response to the CRC check code signal verification result of the first check code signal being correct and the first intelligent driving switch signal indicating that the intelligent driving function is turned on, it is determined that the first parking control information meets the preset verification conditions.

[0072] Another situation of the specific implementation process is that, in response to the CRC check code signal verification result of the second check code signal being correct and the second intelligent driving switch signal indicating that the intelligent driving function is turned on, it is determined that the second parking control information meets the preset verification conditions.

[0073] In this implementation, the first parking control information may further include a first hand brake signal. The second parking control information may further include a second hand brake signal.

[0074] In another case of the specific implementation process, the parking control module can also determine whether the first hand brake signal of the first parking control information and the second hand brake signal of the second parking control information that meet the preset verification condition are within a preset signal value range. If they are not within the preset signal value range, it can be determined that the first hand brake signal and the second hand brake signal are invalid; if they are within the preset signal value range, it can be determined that the first hand brake signal and the second hand brake signal are valid.

[0075] Exemplarily, the preset signal value range may be the normal signal value range of the handbrake signal. For example, the normal signal value range may be 50 to 100. If the signal value of the first handbrake signal or the signal value of the second handbrake signal is 105, it indicates that the signal is invalid.

[0076] Another situation of the specific implementation process is that the parking control module can compare the first handbrake signal of the first parking control information and the second handbrake signal of the second parking control information that meet the preset verification conditions, obtain the result of the comparison processing, and use the result of the comparison processing as the result of the detection processing.

[0077] Here, the result of the detection process may include that the first parking control information and the second parking control information are consistent, or that the first parking control information and the second parking control information are inconsistent.

[0078] In a specific implementation process of the implementation method, first, in response to the inconsistency between the first parking control information and the second parking control information, it can be determined whether the first parking control information and the second parking control information meet the preset verification conditions and whether the handbrake signal is valid. Secondly, in response to the first parking control information meeting the preset verification conditions and the handbrake signal being valid, the vehicle is subjected to parking control processing based on the first parking control information, or, in response to the second parking control information meeting the preset verification conditions and the handbrake signal being valid, the vehicle is subjected to parking control processing based on the second parking control information. Thirdly, in response to the first parking control information not meeting the preset verification conditions and the handbrake signal being invalid, and the second parking control information not meeting the preset verification conditions and the handbrake signal being invalid, the vehicle may not be subjected to parking control processing and an alarm message may be output.

[0079] In this implementation, the first parking control information and the second parking control information both include handbrake signals, and the consistency of the first parking control information and the second parking control information may include consistent handbrake signals, for example, the handbrake signals are both pulling the handbrake. The inconsistency of the first parking control information and the second parking control information may include inconsistent handbrake signals.

[0080] In another specific implementation process of the implementation mode, in response to the result of the detection processing being that the handbrake signal is consistent, parking control processing can be performed on the vehicle based on the handbrake signal. In response to the result of the detection processing being that the handbrake signal is inconsistent, parking control processing may not be performed, and then fault information corresponding to the result of the detection processing may be fed back.

[0081] In another specific implementation process of this implementation method, in response to the first parking control information and the second parking control information both not satisfying the preset verification conditions and the handbrake signals are both invalid, parking control processing may not be performed, and fault information corresponding to the result of the detection processing may be fed back.

[0082] It is understandable that it is also possible to first determine whether the first handbrake signal and the second handbrake signal are valid based on a preset signal value range, and then verify the first parking control information and the second parking control information. Here, the order of processing different signals in the first parking control information and the second parking control information may not be specifically limited.

[0083] In this way, by verifying and comparing the first parking control information and the second parking control information, more accurate and effective detection and processing results can be obtained, further ensuring the reliability of the intelligent parking function.

[0084] In this implementation, the result of the detection process may further include that the first parking control information or the second parking control information does not meet the preset condition, or the handbrake signal of the first parking control information or the second parking control information is invalid. The result of the detection process is that the first parking control information does not meet the preset condition, or the handbrake signal is invalid, which may indicate that the first parking control information is invalid. The result of the detection process is that the second parking control information does not meet the preset condition, or the handbrake signal is invalid, which may indicate that the second parking control information is invalid information.

[0085] In another specific implementation process of this implementation, when the result of the detection processing is that the first parking control information is valid information and the second parking control information is invalid information, parking control processing is performed on the vehicle based on the first parking control information.

[0086] In another specific implementation process of this implementation method, when the result of the detection processing is that the second parking control information is valid information and the first parking control information is invalid information, parking control processing can be performed on the vehicle based on the second parking control information.

[0087] In this way, it can be ensured that when there is a failure in a single transmission link, or there is a problem with the parking control information, the parking control information of another link can be used to perform parking control processing, further ensuring the reliability of the intelligent parking function.

[0088] It should be noted that the specific implementation process provided in this implementation can be combined with the various specific implementation processes provided in the aforementioned implementation to implement the redundant parking control method of this embodiment. For detailed description, please refer to the relevant content in the aforementioned implementation, which will not be repeated here.

[0089] Optionally, in a possible implementation of this embodiment, after step 104, further, the parking control module obtains the result of the parking control processing, and the parking control module feeds back the result of the parking control processing to the intelligent driving control module through the first signal processing module and / or the second signal processing module.

[0090] In this implementation, the result of the control process may include control execution information, which may include whether the handbrake is pulled up successfully, whether the handbrake is released successfully, a handbrake signal status value, and the like.

[0091] In addition, if the control process is not executed successfully, the result of the control process may also include handbrake status information and corresponding fault type information.

[0092] In a specific implementation process of this implementation, the parking control module may perform feedback processing of the control execution information through a single link. The parking control module may also perform feedback processing of the control execution information through a dual link.

[0093] One scenario of the specific implementation process is that the parking control module can perform feedback processing of the control execution information through a single link composed of the third bus, the first signal processing module, and the first bus, or a single link composed of the fourth bus, the second signal processing module, and the second bus.

[0094] Another situation of this specific implementation process is that the parking control module can perform feedback processing of the control execution information through a single link composed of the third bus, the first signal processing module, and the first bus, and a dual link composed of the fourth bus, the second signal processing module, and the second bus.

[0095] In this way, by feeding back the results of the control processing to the intelligent driving control module, the intelligent driving control module can perform response processing based on the results of the control processing, which can further improve the reliability of the intelligent driving parking function.

[0096] It should be noted that the specific implementation process provided in this implementation can be combined with the various specific implementation processes provided in the aforementioned implementation to implement the redundant parking control method of this embodiment. For detailed description, please refer to the relevant content in the aforementioned implementation, which will not be repeated here.

[0097] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0098] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0099] Figure 2 is a schematic diagram of the architecture of a redundant parking system provided by another embodiment of the present application. Figure 2 In this embodiment, the redundant parking system can be used to execute the redundant parking control method in the aforementioned embodiment, and the redundant parking system can specifically include an intelligent driving control module, a first signal processing module, a second signal processing module and a parking control module.

[0100] In this embodiment, Figure 2 As shown, the intelligent driving control module can be used to send the first control information and the second control information in parallel to the first signal processing module and the second signal processing module. The first signal processing module can be used to perform pre-detection processing on the received first control information and the second control information to obtain the first parking control information, and send the first parking control information to the parking control module. The second signal processing module can be used to perform pre-detection processing on the received first control information and the second control information to obtain the second parking control information, and send the second parking control information to the parking control module. The parking control module can be used to detect and process the received first parking control information and the second parking control information using a preset detection strategy, so as to control the parking of the vehicle based on the first parking control information or the second parking control information when the result of the detection processing is that the first parking control information and the second parking control information are consistent.

[0101] Optionally, in a possible implementation of this embodiment, the redundant parking system of the vehicle also includes a first bus and a second bus. Specifically, the intelligent driving control module can be used to send first control information to the first signal processing module and the second signal processing module respectively through the first bus. At the same time, the intelligent driving control module can be used to send second control information to the first signal processing module and the second signal processing module respectively through the second bus.

[0102] In this implementation, the intelligent driving control module can be connected to the first signal processing module and the second signal processing module through the first bus. At the same time, the intelligent driving control module can also be connected to the first signal processing module and the second signal processing module through the second bus.

[0103] Here, the first control information and the second control information are sent in parallel.

[0104] Preferably, the control information sent via the first bus may be first control information. Both the first signal processing module and the second signal processing module may receive the first control information. The control information sent via the second bus may be second control information. Both the first signal processing module and the second signal processing module may receive the second control information.

[0105] Optionally, in a possible implementation of this embodiment, the redundant parking system of the vehicle may further include a third bus and a fourth bus, and the first signal processing module may be used to send the first parking control information to the parking control module through the third bus. The second signal processing module may be used to send the second parking control information to the parking control module through the fourth bus.

[0106] In this implementation, the first control information and the second control information may both include an intelligent driving switch signal, a verification code signal, a handbrake signal, etc.

[0107] In a specific implementation process of this implementation method, first, the first signal processing module can be used to determine the first control information that meets the preset verification conditions based on the check code signal and the intelligent driving switch signal of the first control information, and can determine the second control information that meets the preset verification conditions based on the check code signal and the intelligent driving switch signal of the second control information. Secondly, the first signal processing module can be used to compare and process the handbrake signal of the first control information that meets the preset verification conditions and the handbrake signal of the second control information that meets the preset verification conditions to obtain the first control information and the second control information with consistent handbrake signals. Thirdly, the first signal processing module can be used to encapsulate the first control information, or the second control information, to obtain the first parking control information sent to the parking control module.

[0108] In another specific implementation process of this implementation method, first, the second signal processing module can be used to determine the first control information that meets the preset verification conditions based on the check code signal and the intelligent driving switch signal of the first control information, and can determine the second control information that meets the preset verification conditions based on the check code signal and the intelligent driving switch signal of the second control information. Secondly, the second signal processing module can be used to compare and process the handbrake signal of the first control information that meets the preset verification conditions and the handbrake signal of the second control information that meets the preset verification conditions to obtain the first control information and the second control information with consistent handbrake signals. Thirdly, the second signal processing module can be used to encapsulate the first control information, or the second control information, to obtain the second parking control information sent to the parking control module.

[0109] Optionally, in a possible implementation of this embodiment, specifically, the parking control module can be used to determine the first parking control information and the second parking control information that meet the preset verification conditions based on the preset verification conditions, the first parking control information and the second parking control information, and then the parking control module can be used to compare the first parking control information and the second parking control information that meet the preset verification conditions to obtain the result of the comparison processing, and use the result of the comparison processing as the result of the detection processing.

[0110] Optionally, in a possible implementation of this embodiment, the parking control module can be used to obtain the result of the parking control processing, and the parking control module can be used to feed back the result of the parking control processing to the intelligent driving control module through the first signal processing module and / or the second signal processing module.

[0111] In this implementation, the result of the control process may include control execution information, which may include whether the handbrake is pulled up successfully, whether the handbrake is released successfully, a handbrake signal status value, and the like.

[0112] In addition, if the control process is not executed successfully, the result of the control process may also include handbrake status information and corresponding fault type information.

[0113] In this embodiment, exemplarily, the intelligent driving control module can be an intelligent driving control unit, i.e., an automated driving control unit (ADCU); the first signal processing module can be a signal processing unit (Electronic Control Unit, ECU), i.e., a signal processing controller ECU1; the second signal processing module can be a signal processing unit (Electronic Control Unit, ECU), i.e., a signal processing controller ECU2; and the parking control module can be an electronic parking brake system (Electrical Park Brake, EPB), i.e., a parking brake actuator.

[0114] Figure 3 is a schematic diagram of the architecture of a redundant parking system in an application scenario provided by another embodiment of the present application, such as Figure 3 As shown. The redundant parking system may include an ADCU intelligent driving control unit, an ECU1 signal processing unit 1, an ECU2 signal processing unit 2, an EPB electronic parking brake system and a CAN bus. The CAN bus may include CAN1 and CAN2, CAN3 and CAN4.

[0115] Here, CAN1 and CAN2 are intelligent driving CANs, which are used to connect ADCU, ECU1 and ECU2. The functions of CAN1 and CAN2 are to send control information and receive controlled state feedback from EPB. CAN3 is a control CAN, which connects ECU1 and EPB. Its function is to send effective control information after judgment and receive controlled state feedback from EPB. CAN4 is a control CAN, which connects ECU2 and EPB. Its function is to send effective control instructions after judgment and receive controlled state feedback from EPB.

[0116] Preferably, if Figure 3As shown, when ADCU sends control information, the same control information with signal switch protection is sent to CAN1 and CAN2 at the same time. ECU1 and ECU2 receive the control information on CAN1 and CAN2 sent from ADCU at the same time. To prevent the controller from miscontrolling, after ECU1 receives the control information from CAN1 and CAN2, it needs to verify the check code signal of the control information, judge the difference in the handbrake signal value of the control information, verify the intelligent driving signal switch protection of the control information, and judge the validity of the handbrake signal of the control information before it can send the valid parking control information to CAN3. Correspondingly, to prevent the controller from miscontrolling, after ECU2 receives the control information from CAN1 and CAN2, it needs to verify the check code signal of the control information, judge the difference in the handbrake signal value of the control information, verify the intelligent driving signal switch protection of the control information, and judge the validity of the handbrake signal of the control information before it can send the valid parking control information to CAN4. EPB can receive parking control information through CAN3 and CAN4. If the parking control information received from CAN3 and CAN4 is the same, EPB can support single-line control. After EPB is controlled, it sends the system controlled state to CAN3 and CAN4 at the same time. ECU1 receives the controlled state feedback from EPB and sends it to CAN1 and CAN2 respectively. ECU2 receives the controlled state feedback from EPB and sends it to CAN1 and CAN2 respectively. ADCU can receive the controlled state feedback of EPB from ECU1 and ECU2 at the same time through CAN1 and CAN2.

[0117] Preferably, when one of the CAN buses CAN1 or CAN2 fails, control information can be sent and controlled feedback can be received through a bus without failure. When one of the signal processing units ECU1 or ECU2 fails, control information can be sent and controlled feedback can be received through a signal processing unit without failure. When one of the CAN buses CAN3 or CAN4 fails, control information can be sent and controlled feedback can be received through a bus without failure.

[0118] In this implementation, the intelligent driving signal switch protection can determine whether the vehicle is in the intelligent driving mode based on the intelligent driving switch signal. When in the intelligent driving mode, the redundant parking control method in this application can be executed.

[0119] In this embodiment, ECU1 or ECU2 can also receive brake pedal information. If the brake pedal information is received as being pressed in the smart driving mode, the smart driving mode can be directly exited. In addition, whether to exit or start the smart driving mode can also be determined based on the driver's operation of the hardware switch button of the vehicle's smart driving mode.

[0120] In this embodiment, the controlled feedback may include the result of the control process and the EPB system status information. For example, the EPB system status information may include the EPB system in self-test, self-test completed and available for function enabling, function enabled but not meeting the start conditions, all channels are fault-free, parking brake started, etc. The result of the control process may also include fault type information. For example, the fault type information may include limited function and ineffectiveness, error, both the main and auxiliary control channels of CAN1 and CAN2 are unavailable, the main control channel of CAN1 is available and the auxiliary control channels of CAN2 are unavailable, CAN1 or CAN2 channel fault is downgraded, etc.

[0121] In this embodiment, it can be understood that intelligent parking control can also be performed through more than two multi-links. The specific implementation method is similar to the above implementation method and will not be repeated here.

[0122] The solution in this embodiment can ensure normal use of the system after a single-threaded network or a single signal processing module fails through the redundant control solution of the parking system, greatly improving the safety and reliability of the parking function of the intelligent driving vehicle.

[0123] In addition, by adopting the solution in this embodiment, through multi-link control and execution status feedback, when a single link fails, the remaining links can ensure the normal operation of the system and ensure the parking safety of the intelligent driving vehicle.

[0124] In the technical solution of this application, the user personal information involved, such as the collection, storage, use, processing, transmission, provision and disclosure of user images and attribute data, etc., complies with the provisions of relevant laws and regulations and does not violate public order and good morals.

[0125] In the embodiments of the present application, an electronic device, a readable storage medium and a computer program product are also provided.

[0126] According to an embodiment of the present application, further, an autonomous driving vehicle including the provided electronic device is provided, and the autonomous driving vehicle may include an autonomous driving vehicle with manual control at level L2 or above. For example, the autonomous driving vehicle may include a commercial vehicle, a family car, a large vehicle, etc.

[0127] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0128] 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 solution disclosed in this application can be achieved, and this document is not limited here.

[0129] The above specific implementations do not constitute a limitation on the protection scope of this application. 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 modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A method for redundant parking control, characterized in that: Applied to a redundant parking system, the redundant parking system includes an intelligent driving control module, a first signal processing module, a second signal processing module and a parking control module, and the method includes: The intelligent driving control module sends the first control information and the second control information to the first signal processing module and the second signal processing module in parallel; The first signal processing module performs pre-detection processing on the received first control information and the second control information to obtain first parking control information, and sends the first parking control information to the parking control module; The second signal processing module performs pre-detection processing on the received first control information and the second control information to obtain second parking control information, and sends the second parking control information to the parking control module; The parking control module uses a preset detection strategy to detect and process the received first parking control information and second parking control information, so that when the result of the detection and processing is that the first parking control information and the second parking control information are consistent, the parking control processing of the vehicle is performed based on the first parking control information or the second parking control information.

2. The method according to claim 1, characterized in that The redundant parking system of the vehicle further includes a first bus and a second bus, and the intelligent driving control module sends the first control information and the second control information to the first signal processing module and the second signal processing module in parallel, including: The intelligent driving control module sends the first control information to the first signal processing module and the second signal processing module respectively through the first bus; The intelligent driving control module sends the second control information to the first signal processing module and the second signal processing module respectively through the second bus, wherein the first control information and the second control information are sent in parallel.

3. The method according to claim 1, characterized in that The redundant parking system of the vehicle further includes a third bus and a fourth bus, and the sending of the first parking control information to the parking control module includes: The first signal processing module sends the first parking control information to the parking control module through the third bus; The sending the second parking control information to the parking control module includes: The second signal processing module sends the second parking control information to the parking control module through the fourth bus.

4. The method according to claim 1, characterized in that: The parking control module detects and processes the received first parking control information and second parking control information using a preset detection strategy, including: The parking control module determines the first parking control information and the second parking control information that meet the preset verification condition based on the preset verification condition, the first parking control information and the second parking control information; The parking control module compares the first parking control information and the second parking control information that meet the preset verification condition to obtain a result of the comparison process; The result of the comparison process is used as the result of the detection process.

5. The method according to claim 4, characterized in that The first parking control information includes a first intelligent driving switch signal and a first verification code signal, the second parking control information includes a second intelligent driving switch signal and a second verification code signal, and the parking control module determines the first parking control information and the second parking control information that meet the preset verification condition based on the preset verification condition, the first parking control information and the second parking control information, including: The parking control module determines first parking control information that meets a preset verification condition based on the first verification code signal and the first intelligent driving switch signal; The parking control module determines second parking control information that meets a preset verification condition based on the second verification code signal and the second intelligent driving switch signal.

6. The method according to claim 1, characterized in that After performing parking control processing on the vehicle, the method further includes: The parking control module obtains the result of the parking control processing; The parking control module feeds back the result of the parking control processing to the intelligent driving control module through the first signal processing module and / or the second signal processing module.

7. A redundant parking system, characterized in that: The redundant parking system includes an intelligent driving control module, a first signal processing module, a second signal processing module and a parking control module; The intelligent driving control module is used to send the first control information and the second control information to the first signal processing module and the second signal processing module in parallel; a first signal processing module, configured to perform pre-detection processing on the received first control information and the second control information to obtain first parking control information, and send the first parking control information to a parking control module; a second signal processing module, configured to perform pre-detection processing on the received first control information and the second control information to obtain second parking control information, and send the second parking control information to a parking control module; The parking control module is used to detect and process the received first parking control information and second parking control information using a preset detection strategy, so as to perform parking control processing on the vehicle based on the first parking control information or the second parking control information when the result of the detection and processing is that the first parking control information and the second parking control information are consistent.

8. 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 1-6.

9. A computer program product, comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 6.

10. An autonomous driving vehicle comprising the system as claimed in claim 7.

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