Method, device, equipment and storage medium for intelligent driving side parking control

Abstract

The present invention relates to the field of automatic driving and intelligent transportation technology, and specifically discloses a method, device, equipment and storage medium for intelligent driving pull-over parking control, including real-time monitoring of the driver's mental state, issuing a pull-over parking instruction when the driver's mental state is abnormal; executing the pull-over parking condition judgment logic based on the pull-over parking instruction to obtain a judgment result; performing one of the following operations based on the judgment result: parking as close to the road as possible, parking at an ideal position, and not performing a pull-over parking operation and providing feedback. In the case where the intelligent driving system cannot obtain timely takeover by the driver, the method should try to adopt an emergency parking strategy so that the vehicle can park as safely as possible on the side of the road or other safe areas to avoid traffic accidents.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving and intelligent traffic technology, and in particular to a method, device, equipment and storage medium for intelligent driving pull-over parking control. Background Art

[0002] With the rapid development of intelligent driving technology, the application of high-level intelligent driving systems (such as L2 and above autonomous driving systems) in the field of commercial vehicles has gradually expanded, especially in highway environments, where intelligent driving systems can assist drivers in completing some driving tasks and are increasingly used. However, most current commercial vehicle intelligent driving systems are still at the L2 level or lower, relying on the driver to be in the loop (ready to take over at any time) to ensure the safe operation of the system; when an abnormal situation occurs, the system will issue a takeover request and expect the driver to respond in time and take over the vehicle.

[0003] In some extreme scenarios, or in emergency situations such as abnormal weather, system failure, driver abnormality, etc., the intelligent driving system generally requests the driver to take over the vehicle; but it is inevitable that when the driver is unable to take over the vehicle in time due to severe distraction, fatigue, coma, etc., the existing autonomous driving technology usually implements the emergency handling strategy of braking and stopping in the lane. In this highway scenario, if the vehicle is forced to brake and stop in the lane because the driver is unable to take over, this behavior may cause very dangerous consequences; for example, sudden stopping or deceleration while driving at high speed can easily lead to secondary accidents such as rear-end collisions of subsequent vehicles, seriously endangering the safety of passengers in the car and other road users.

[0004] However, the existing technology lacks a solution that can automatically sense the driver's status and safely and stably implement pull-over parking when necessary, especially in complex driving environments such as highways. Summary of the invention

[0005] In view of the above problems, the first purpose of the present invention is to provide a method for intelligent driving pull-over parking control. When the intelligent driving system cannot obtain timely takeover by the driver, the method should try to adopt an emergency parking strategy so that the vehicle can be parked as safely as possible on the side of the road or other safe areas to avoid traffic accidents.

[0006] A second object of the present invention is to provide the above-mentioned intelligent driving pull-over parking control device.

[0007] The third object of the present invention is to provide a terminal device.

[0008] A fourth object of the present invention is to provide a computer-readable storage medium.

[0009] The first technical solution adopted by the present invention is: a method for intelligent driving side parking control, comprising the following steps:

[0010] Monitor the driver's mental state in real time, and issue a pull-over instruction when the driver's mental state becomes abnormal;

[0011] Based on the execution of the pull-over parking instruction, executing the pull-over parking condition judgment logic to obtain a judgment result;

[0012] Based on the determination result, one of the following operations is performed: parking as close to the side as possible, parking at an ideal position, and not performing the parking close to the side and providing feedback.

[0013] Preferably, when the driver is seriously distracted or fatigued and still cannot recover after being reminded by the HMI, it is determined that the driver's mental state is abnormal.

[0014] Preferably, the logic for executing the pull-over parking condition judgment includes:

[0015] Determine whether the vehicle speed meets the first-stage safe speed condition. If not, decelerate the vehicle speed to the first-stage safe speed and determine again whether the vehicle speed meets the first-stage safe speed condition.

[0016] If the first-stage safe speed condition is met, it is further determined whether the vehicle meets the hard conditions for safe parking. If the hard conditions for safe parking are not met, the pull-over operation is not performed and feedback is given;

[0017] If the hard conditions for safe parking are met, it is further determined whether the vehicle meets the predictable conditions for pull-over parking. If the predictable conditions for pull-over parking are not met, the pull-over parking operation is not performed and feedback is given;

[0018] If the predictable conditions for pull-over parking are met, it is further determined whether the vehicle meets the dynamic conditions for pull-over parking. If the dynamic conditions for pull-over parking are met, the ideal position parking operation is performed;

[0019] If the dynamic condition of pull-over parking is not met, further determine whether the dynamic condition check of pull-over parking exceeds a preset time; if it does not exceed the preset time, determine again whether the vehicle meets the dynamic condition of pull-over parking;

[0020] If the preset time is exceeded, it is further determined whether the vehicle meets the conditions for parking as close to the side as possible;

[0021] If the conditions for parking as close as possible are not met, the parking operation will not be performed and feedback will be given; if the conditions for parking as close as possible are met, the parking operation will be performed.

[0022] Preferably, the first-stage safe vehicle speed condition is that the vehicle speed is less than a first set threshold;

[0023] The hard conditions for safe parking include a first static entity condition, an environmental condition, and the vehicle's own state. The first static entity condition includes that the high-precision map is valid and complete and the vehicle is located in the rightmost lane. The environmental condition includes that the light is normal.

[0024] The predictable conditions for pull-over parking include that the slope of the target parking area can be passed through the unsafe parking area within a preset time and is less than a second set threshold;

[0025] The dynamic condition for pull-over parking includes a second static entity condition, wherein the second static entity condition includes that the distance between the vehicle and the target ideal parking area is greater than a third set threshold, the lateral distance between the vehicle and the curb is greater than or equal to a fourth set threshold, and the vehicle does not belong to a special area;

[0026] The conditions for parking as close as possible include a third static entity condition and a dynamic entity condition. The third static entity condition includes that the length of the continuous parking area in front of the vehicle is greater than a third set threshold and that the vehicle is located in the rightmost lane; the dynamic entity condition includes that the collision time between the vehicle and the lateral and longitudinal obstacles is greater than a fifth set threshold.

[0027] Preferably, the performing of the operation of parking as close to the side as possible includes:

[0028] Determine whether the vehicle speed meets the second-stage safety speed condition. If not, decelerate the vehicle speed to the second-stage safety speed and then determine again whether the vehicle speed meets the second-stage safety speed condition.

[0029] If the second-stage safe speed condition is met, the vehicle is parked as close to the side as possible. During the process of parking the vehicle as close to the side as possible, it is continuously determined whether the vehicle meets the lateral movement stage condition;

[0030] If the vehicle does not meet the conditions for the lateral shift phase when parking the vehicle as close to the side as possible, the side parking operation will not be performed and feedback will be given;

[0031] If the vehicle always meets the lateral shifting stage condition during the process of parking the vehicle as close to the side as possible, the operation of parking the vehicle as close to the side as possible is continuously performed until the vehicle is parked as close to the side as possible.

[0032] Preferably, performing the ideal position parking operation includes:

[0033] Determine whether the vehicle speed meets the second-stage safety speed condition. If not, decelerate the vehicle speed to the second-stage safety speed and then determine again whether the vehicle speed meets the second-stage safety speed condition.

[0034] If the second-stage safe speed condition is met, the vehicle is parked in the ideal area. During the process of parking the vehicle in the ideal area, it is continuously determined whether the vehicle meets the lateral movement stage condition;

[0035] If the vehicle does not meet the conditions of the lateral movement phase during the process of parking the vehicle in the ideal area, the pull-over operation will not be performed and feedback will be given;

[0036] If the vehicle always meets the lateral shifting stage condition during the process of parking the vehicle in the ideal area, the operation of parking the vehicle in the ideal area is performed until the vehicle is parked in the ideal area.

[0037] Preferably, the second-stage safe vehicle speed condition is that the vehicle speed is less than a sixth set threshold; the sixth set threshold is less than the first set threshold;

[0038] The lateral movement phase conditions include the hard conditions for safe parking and the dynamic conditions for pull-over parking.

[0039] The second technical solution adopted by the present invention is: an intelligent driving pull-over parking control device, including a driver monitoring module, a monitoring module and a planning control decision module;

[0040] The driver monitoring module is used to monitor the driver's mental state in real time, and when the driver's mental state is abnormal, an alarm is sent to the monitoring module;

[0041] The monitoring module is used to receive the alarm issued by the driver monitoring module and send an execution pull-over parking instruction to the planning control decision module;

[0042] The planning control decision module is used to receive an execution pull-over parking instruction issued by the monitoring module, and execute the pull-over parking condition judgment logic based on the execution pull-over parking instruction to obtain a judgment result; based on the judgment result, perform one of the following operations: try to park by the side, park at an ideal position, and do not perform the pull-over parking operation and provide feedback.

[0043] The third technical solution adopted by the present invention is: a terminal device, comprising:

[0044] one or more processors;

[0045] A memory for storing one or more programs;

[0046] When the one or more programs are executed by the one or more processors, the one or more processors implement the method of intelligent driving pull-over parking control as described in any one of the first technical solutions.

[0047] The fourth technical solution adopted by the present invention is: a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for intelligent driving pull-over parking control as described in any one of the first technical solutions.

[0048] Beneficial effects of the above technical solution:

[0049] (1) In the case where the intelligent driving system cannot obtain timely takeover by the driver, the method of intelligent driving pull-over parking control disclosed by the present invention should try to adopt an emergency parking strategy to enable the vehicle to park as safely as possible on the side of the road or other safe areas to avoid traffic accidents.

[0050] (2) The present invention aims to provide a method for intelligent driving pull-over parking control, so that when the driver is unable to take over in time, the intelligent commercial vehicle can conform to human driving habits as much as possible and park the vehicle safely in the emergency lane to avoid the harm of secondary accidents such as rear-end collisions.

[0051] (3) The method disclosed in the present invention can realize the autonomous parking and parking operations of the vehicle in special scenarios in complex highway environments, and is particularly suitable for emergency parking scenarios when the driver loses the ability to take over in high-level intelligent driving systems.

[0052] (4) Compared with the prior art, the present invention takes comprehensive safety considerations and handles abnormal conditions encountered during the execution process; the present invention executes the pull-over parking condition judgment logic based on the information input from the high-precision map, and can promptly know whether the road conditions ahead are suitable for pull-over parking; it also considers the methods of "pre-judgment" and "pull-over as much as possible", which greatly improves the decision-making efficiency and success rate of pull-over parking.

[0053] (5) The present invention uses the pull-over parking condition judgment logic to ensure the safety and efficiency of the execution process as much as possible and avoid other risks in the execution of the safety strategy.

[0054] (6) The present invention introduces information from high-precision maps, which enables the auxiliary intelligent driving system to make the most appropriate judgment and decision in the shortest time, thereby preventing possible risks in the process of searching for parking spots in vain; the present invention also introduces the decision option of "pull to the side as much as possible", which enables the intelligent driving system to reduce parking in the lane as much as possible while ensuring safety, thereby avoiding secondary accidents such as rear-end collisions that are prone to occur on highways. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 A schematic diagram of pull-over parking condition determination logic provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] The following detailed description of the embodiments of the present invention is further described in detail in conjunction with the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to exemplarily illustrate the principles of the present invention, but cannot be used to limit the scope of the present invention, that is, the present invention is not limited to the preferred embodiments described, and the scope of the present invention is defined by the claims.

[0057] In the description of the present invention, it should be noted that, unless otherwise specified, “plurality” means two or more than two; the terms “first”, “second”, etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance; for ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0058] Embodiment 1

[0059] An embodiment of the present invention provides a method for intelligent driving pull-over parking control, comprising the following steps:

[0060] S100: monitor the driver's mental state in real time, and issue a pull-over instruction when the driver's mental state is abnormal;

[0061] The driver's mental state is monitored in real time through monitoring sensors to determine whether the driver can take over the vehicle at any time; when the driver's mental state is abnormal, it is determined that the driver cannot take over the vehicle at any time and a pull-over instruction must be issued.

[0062] The monitoring sensors include but are not limited to DMS driver monitoring sensors and HOD sensors.

[0063] Among them, when the driver is seriously distracted, fatigued, etc., and the driver is still unable to recover after appropriate HMI reminders, it is determined that the driver's mental state is abnormal.

[0064] S200: Based on the pull-over parking instruction, executing the pull-over parking condition judgment logic to obtain a judgment result; based on the judgment result, performing one of the following operations: performing a pull-over parking operation as far as possible, performing a parking operation at an ideal position, and not performing a pull-over parking operation and providing feedback;

[0065] Execute the pull-over parking instruction and start the pull-over parking condition judgment logic. If the judgment result is to execute pull-over parking, then park at the ideal position or try to park as close to the side as possible (not so perfect); if the judgment result is not to execute pull-over parking, then exit the pull-over parking operation and provide feedback so as to switch to other appropriate minimum risk operations (such as parking in this lane).

[0066] like Figure 1 As shown, when a pull-over parking instruction is received, the pull-over parking condition judgment logic includes:

[0067] Determine whether the vehicle speed meets the first-stage safe speed condition. If not, decelerate the vehicle speed to the first-stage safe speed and then determine again whether the vehicle speed meets the first-stage safe speed condition. If the first-stage safe speed condition is met, further determine whether the vehicle meets the hard conditions for safe parking. If not, do not perform the pullover operation and give feedback to perform other minimum risk operations. If the hard conditions for safe parking are met, further determine whether the vehicle meets the predictable pullover conditions. If not, do not perform the pullover operation and give feedback to perform other minimum risk operations. If the predictable pullover conditions are met, further determine whether the vehicle meets the dynamic pullover conditions. If the dynamic pullover conditions are met, perform the ideal position parking operation.

[0068] If the dynamic conditions for pullover parking are not met, it is further determined whether the dynamic conditions check for pullover parking exceeds the preset time (that is, you cannot keep looking for the opportunity to pull over. If you still cannot find the opportunity to pull over after a certain period of time, you need to give up). If the dynamic conditions check for pullover parking does not exceed the preset time, it is determined again whether the vehicle meets the dynamic conditions for pullover parking; if the dynamic conditions check for pullover parking exceeds the preset time, it is further determined whether the vehicle meets the conditions for pulling over as much as possible; if the conditions for pulling over as much as possible are not met, the pullover parking operation is not performed and feedback is given to perform other operations with the lowest risk; if the conditions for pulling over as much as possible are met, the pullover parking operation is performed.

[0069] The first-stage safe vehicle speed condition is that the vehicle speed is less than a first set threshold (eg, 60 kph).

[0070] The hard conditions for safe parking include but are not limited to the first static entity conditions, environmental conditions and the vehicle's own status. The static entity conditions include, for example, that the high-precision map is valid and complete and that the vehicle is located in the rightmost lane; the environmental conditions include, for example, that the light is normal.

[0071] The predictable conditions for pull-over parking include but are not limited to being able to pass through a non-safe parking area (such as a ramp, tunnel, bridge, etc.) within a preset time, the slope of the target parking area being less than a second set threshold, etc. The second set threshold can be set based on experience.

[0072] The dynamic conditions for pull-over parking include but are not limited to the second static entity conditions, such as the distance between the vehicle and the target ideal parking area is greater than a third set threshold, the lateral distance between the vehicle and the curb is greater than or equal to a fourth set threshold, and the vehicle does not belong to a split area, merge area, bridge, tunnel, construction and other special areas; the third set threshold and the fourth set threshold can be set based on experience.

[0073] The conditions for parking as close as possible include but are not limited to a third static entity condition and a dynamic entity condition. The third static entity condition includes, for example, that the length of the continuous parking area in front of the vehicle is greater than a third set threshold and that the vehicle is located in the rightmost lane; the dynamic entity condition includes, for example, that the TTC (collision time) between the vehicle and lateral and longitudinal obstacles is greater than a fifth set threshold; the fifth set threshold can be set based on experience.

[0074] The information in the first static entity condition, the second static entity condition and the third static entity condition, such as the distance between the vehicle and the target ideal parking area, the lateral distance between the vehicle and the curb, the area not belonging to a special area, the length of the continuous parking area in front of the vehicle, and the vehicle being located in the rightmost lane, are all obtained based on the information input from the high-precision map.

[0075] The pull-over maneuver includes:

[0076] Determine whether the vehicle speed meets the second-stage safety speed condition. If it does not meet the second-stage safety speed condition, decelerate the vehicle speed to the second-stage safety speed, and then determine again whether the vehicle speed meets the second-stage safety speed condition. If it meets the second-stage safety speed condition, stop the vehicle as close to the side as possible. During the process of parking the vehicle as close to the side as possible, continuously determine whether the vehicle meets the lateral shifting stage condition. If the vehicle does not meet the lateral shifting stage condition during the process of parking the vehicle as close to the side as possible, do not perform the pull-over parking operation and provide feedback to perform other minimum risk operations (such as parking in the current lane). If the vehicle always meets the lateral shifting stage condition during the process of parking the vehicle as close to the side as possible, continue to perform the operation of parking the vehicle as close to the side as possible until the vehicle stops as close to the side as possible. Further, after the vehicle is parked in the close to the side as possible, control the vehicle to stop and perform electronic parking, and continue to perform double flash control until an intervention operation occurs.

[0077] Executing the ideal parking position includes:

[0078] Determine whether the vehicle speed meets the second-stage safety speed condition. If it does not meet the second-stage safety speed condition, decelerate the vehicle speed to the second-stage safety speed, and then determine again whether the vehicle speed meets the second-stage safety speed condition. If it meets the second-stage safety speed condition, stop the vehicle in the ideal area. During the process of parking the vehicle in the ideal area, continue to determine whether the vehicle meets the lateral shifting stage condition. If the vehicle does not meet the lateral shifting stage condition during the process of parking the vehicle in the ideal area, do not perform the pull-over parking operation and provide feedback to perform other minimum risk operations (such as parking in the current lane). If the vehicle always meets the lateral shifting stage condition during the process of parking the vehicle in the ideal area, continue to perform the operation of parking the vehicle in the ideal area until the vehicle stops in the ideal area. Further, after the vehicle is parked in the ideal area, control the vehicle to stop and then perform electronic parking, and continue to perform double flash control until an intervention operation occurs.

[0079] Among them, the second-stage safe speed condition is the maximum speed of the vehicle before the vehicle performs lateral movement, and the second-stage safe speed condition is that the speed is less than a sixth set threshold (for example, 50 kph); the sixth set threshold is less than the first set threshold.

[0080] The lateral movement phase conditions include the hard conditions for safe parking and the dynamic conditions for pull-over parking.

[0081] Park your car as close to the road as possible or in ideal areas including:

[0082] Based on the vehicle's moving stage (longitudinal moving stage or turning and lateral moving stage), output the vehicle's lateral and longitudinal throttle / steering / braking control instructions (for example, when the vehicle is in the longitudinal moving stage, the double flash light control should be executed, and when the vehicle is in the turning and lateral moving stage, the turn signal control should be executed), and control the vehicle's HMI operation according to the timing of the lateral movement to achieve the vehicle's lateral movement to the side as close as possible or to the ideal area.

[0083] Embodiment 2

[0084] An embodiment of the present invention provides an intelligent driving pull-over parking control device, comprising a driver monitoring module, a monitoring module and a planning control decision module;

[0085] The driver monitoring module is used to monitor the driver's mental state in real time, and when the driver's mental state is abnormal, an alarm is sent to the monitoring module;

[0086] The monitoring module is used to receive the alarm issued by the driver monitoring module and send an execution pull-over parking instruction to the planning control decision module;

[0087] The planning control decision module is used to receive an execution pull-over parking instruction issued by the monitoring module, and execute the pull-over parking condition judgment logic based on the execution pull-over parking instruction to obtain a judgment result; based on the judgment result, perform one of the following operations: try to park by the side, park at an ideal position, and do not perform the pull-over parking operation and provide feedback.

[0088] Embodiment 3

[0089] An embodiment of the present invention provides a terminal device, including:

[0090] one or more processors;

[0091] A memory for storing one or more programs;

[0092] When the one or more programs are executed by the one or more processors, the one or more processors implement the method for intelligent driving pull-over parking control described in Example 1.

[0093] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for intelligent driving pull-over parking control as described in Embodiment 1.

[0094] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the embodiments of the present invention can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0095] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0096] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0097] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0098] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical disks.

[0099] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for intelligent driving side parking control, characterized in that: The following steps are involved: Monitor the driver's mental state in real time, and issue a pull-over instruction when the driver's mental state becomes abnormal; Based on the execution of the pull-over parking instruction, executing the pull-over parking condition judgment logic to obtain a judgment result; Based on the determination result, one of the following operations is performed: parking as close to the side as possible, parking at an ideal position, and not performing the parking close to the side and providing feedback.

2. The method for intelligent driving side parking control according to claim 1, characterized in that: When the driver is seriously distracted or fatigued and is unable to recover after being reminded by the HMI, it is determined that the driver's mental state is abnormal.

3. The method for intelligent driving side parking control according to claim 1, characterized in that: The logic for executing the pull-over parking condition judgment includes: Determine whether the vehicle speed meets the first-stage safe speed condition. If not, decelerate the vehicle speed to the first-stage safe speed and determine again whether the vehicle speed meets the first-stage safe speed condition. If the first-stage safe speed condition is met, it is further determined whether the vehicle meets the hard conditions for safe parking. If the hard conditions for safe parking are not met, the pull-over operation is not performed and feedback is given; If the hard conditions for safe parking are met, it is further determined whether the vehicle meets the predictable conditions for pull-over parking. If the predictable conditions for pull-over parking are not met, the pull-over parking operation is not performed and feedback is given; If the predictable conditions for pull-over parking are met, it is further determined whether the vehicle meets the dynamic conditions for pull-over parking. If the dynamic conditions for pull-over parking are met, the ideal position parking operation is performed; If the dynamic condition of pull-over parking is not met, further determine whether the dynamic condition check of pull-over parking exceeds a preset time; if it does not exceed the preset time, determine again whether the vehicle meets the dynamic condition of pull-over parking; If the preset time is exceeded, it is further determined whether the vehicle meets the conditions for parking as close to the side as possible; If the conditions for parking as close as possible are not met, the parking operation will not be performed and feedback will be given; if the conditions for parking as close as possible are met, the parking operation will be performed.

4. The method for intelligent driving side parking control according to claim 3 is characterized in that: The first-stage safe vehicle speed condition is that the vehicle speed is less than a first set threshold; The hard conditions for safe parking include a first static entity condition, an environmental condition, and the vehicle's own state. The first static entity condition includes that the high-precision map is valid and complete and the vehicle is located in the rightmost lane. The environmental condition includes that the light is normal. The predictable conditions for pull-over parking include that the slope of the target parking area can be passed through the unsafe parking area within a preset time and is less than a second set threshold; The dynamic condition for pull-over parking includes a second static entity condition, wherein the second static entity condition includes that the distance between the vehicle and the target ideal parking area is greater than a third set threshold, the lateral distance between the vehicle and the curb is greater than or equal to a fourth set threshold, and the vehicle does not belong to a special area; The conditions for parking as close as possible include a third static entity condition and a dynamic entity condition. The third static entity condition includes that the length of the continuous parking area in front of the vehicle is greater than a third set threshold and that the vehicle is located in the rightmost lane; the dynamic entity condition includes that the collision time between the vehicle and the lateral and longitudinal obstacles is greater than a fifth set threshold.

5. The method for intelligent driving side parking control according to claim 3 is characterized in that: The operation of performing the pull-over parking operation includes: Determine whether the vehicle speed meets the second-stage safety speed condition. If not, decelerate the vehicle speed to the second-stage safety speed and then determine again whether the vehicle speed meets the second-stage safety speed condition. If the second-stage safe speed condition is met, the vehicle is parked as close to the side as possible. During the process of parking the vehicle as close to the side as possible, it is continuously determined whether the vehicle meets the lateral movement stage condition; If the vehicle does not meet the conditions for the lateral shift phase when parking the vehicle as close to the side as possible, the side parking operation will not be performed and feedback will be given; If the vehicle always meets the lateral shifting stage condition during the process of parking the vehicle as close to the side as possible, the operation of parking the vehicle as close to the side as possible is continuously performed until the vehicle is parked as close to the side as possible.

6. The method for intelligent driving side parking control according to claim 3 is characterized in that: The execution of the ideal position parking operation includes: Determine whether the vehicle speed meets the second-stage safety speed condition. If not, decelerate the vehicle speed to the second-stage safety speed and then determine again whether the vehicle speed meets the second-stage safety speed condition. If the second-stage safe speed condition is met, the vehicle is parked in the ideal area. During the process of parking the vehicle in the ideal area, it is continuously determined whether the vehicle meets the lateral movement stage condition; If the vehicle does not meet the conditions of the lateral movement phase during the process of parking the vehicle in the ideal area, the pull-over operation will not be performed and feedback will be given; If the vehicle always meets the lateral shifting stage condition during the process of parking the vehicle in the ideal area, the operation of parking the vehicle in the ideal area is performed until the vehicle is parked in the ideal area.

7. The method for intelligent driving side parking control according to claim 5 or 6, characterized in that: The second stage safety vehicle speed condition is that the vehicle speed is less than a sixth set threshold; the sixth set threshold is less than the first set threshold; The lateral movement phase conditions include the hard conditions for safe parking and the dynamic conditions for pull-over parking.

8. An intelligent driving parking control device, characterized in that: It includes driver monitoring module, monitoring module and planning control decision module; The driver monitoring module is used to monitor the driver's mental state in real time, and when the driver's mental state is abnormal, an alarm is sent to the monitoring module; The monitoring module is used to receive the alarm issued by the driver monitoring module and send an execution pull-over parking instruction to the planning control decision module; The planning control decision module is used to receive an execution pull-over parking instruction issued by the monitoring module, and execute the pull-over parking condition judgment logic based on the execution pull-over parking instruction to obtain a judgment result; based on the judgment result, perform one of the following operations: try to park by the side, park at an ideal position, and do not perform the pull-over parking operation and provide feedback.

9. A terminal device, characterized in that: include: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method for intelligent driving pull-over parking control as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for intelligent driving pull-over parking control as described in any one of claims 1-7 is implemented.

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