Parking method, device, equipment and storage medium

Abstract

The embodiment of the invention provides a parking method, device and equipment and a storage medium, the parking method and device are applied to a functional safety area of a vehicle, the functional safety area is in communication connection with a sensor and a state machine of the vehicle, and the parking method comprises the steps that multiple pieces of collision target information are determined according to sensor signals sent by the sensor; generating a braking instruction according to the collision target information; detecting whether the sensor and the functional safety area have faults or not, and correspondingly generating fault information; parking state information sent by the state machine is obtained; and controlling the vehicle to be automatically braked in the parking process according to the braking instruction, the fault information and the parking state information. According to the method, the function safety integrity and the development and design workload can be balanced under the condition of not spending high cost, and the parking function safety requirement capable of meeting the obstacle parking requirement can be met.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a parking method and device, an electronic device and a storage medium. Background Art

[0002] With the rapid development of intelligence, the field of intelligent driving has made significant progress, presenting diversified forms such as cabin parking, line parking, cabin line parking, etc. The design of cockpit and intelligent driving chips has also become more diversified, making functional safety present in many different forms. In some projects, parking may not only have the need to stop obstacles, but also have higher requirements in the functional safety zone computing power of domain control hardware SOC (System on Chip), safety island, MCU (Microcontroller Unit), functional safety of vision or radar sensors, functional safety capabilities of perception software, and functional safety capabilities of operating systems.

[0003] Functional safety design for intelligent driving usually adopts a large and comprehensive design approach to meet various requirements such as obstacle avoidance. This design relies on the functional safety capabilities of powerful chip SOC and MCU, sufficient and surplus computing power, and comprehensive functional safety guarantees in chip hardware and underlying software, so that more new functions can be integrated into the platform. However, such functional safety-rich chips and underlying software are often expensive, and in order to ensure the integrity of functional safety, a lot of manpower costs need to be invested in the development and design process related to functional safety.

[0004] Therefore, how to balance the functional safety integrity and development and design workload without incurring high costs and achieve a parking functional safety design that can meet obstacle prevention requirements has become an urgent problem to be solved. Summary of the invention

[0005] The embodiment of the present application provides a parking method to solve the problem that a large amount of capital and manpower costs need to be invested in the parking function safety design process, otherwise it is difficult to ensure the functional safety integrity.

[0006] Correspondingly, the embodiments of the present application also provide a parking device, an electronic device and a storage medium to ensure the implementation and application of the above method.

[0007] In order to solve the above problems, an embodiment of the present application discloses a parking method, which is applied to a functional safety zone of a vehicle, wherein the functional safety zone is communicatively connected with a sensor and a state machine of the vehicle, and the method comprises:

[0008] determining a plurality of collision target information according to the sensor signal sent by the sensor;

[0009] generating a brake stop instruction according to the collision target information;

[0010] Detecting whether there is a fault between the sensor and the functional safety zone, and generating fault information accordingly;

[0011] Acquire parking status information sent by the state machine;

[0012] The vehicle is controlled to automatically brake during parking according to the brake instruction, fault information and parking status information.

[0013] Optionally, determining a plurality of collision target information according to the sensor signal sent by the sensor includes:

[0014] Receiving a sensor signal sent by the sensor, wherein the sensor signal includes environmental data collected by the sensor; the sensor includes a sensor with a sensing algorithm and a sensor without a sensing algorithm;

[0015] A plurality of collision target information is obtained according to the environmental data, wherein the collision target information includes distance information of the collision target.

[0016] Optionally, determining a plurality of collision target information according to the environmental data includes:

[0017] If the sensor is a sensor with its own sensing algorithm, the corresponding sensor signal includes the collision target information, and the collision target information is extracted from the sensor signal;

[0018] If the sensor is a sensor without a perception algorithm, the corresponding environmental data is raw data, and the collision target information is generated based on the raw data.

[0019] Optionally, generating a brake instruction according to the collision target information includes:

[0020] Reading distance information of a collision target from the plurality of collision target information;

[0021] Determine whether the distance information of the collision target is less than a preset safety distance threshold;

[0022] If the distance to any of the collision targets is less than the preset safety distance threshold, the brake stop instruction is generated.

[0023] Optionally, controlling the vehicle to automatically brake during parking according to the brake instruction, fault information and parking status information includes:

[0024] reading the braking instruction, fault information and parking status information; the parking status information includes whether the parking function has been activated and whether the parking function has not been activated;

[0025] Under the condition that the parking state information indicates that the parking function has been activated and the brake stop instruction and / or the fault information exist, generating a braking instruction according to the brake stop instruction and / or the fault information;

[0026] Detecting whether the vehicle is stationary;

[0027] After the vehicle is in a stationary state, a parking lock command and a parking function exit command are generated.

[0028] Optionally, the method further includes:

[0029] Under the condition that the parking state information indicates that the parking function is not started and only the fault information exists, an instruction to not start the parking function is output.

[0030] Optionally, the method further includes:

[0031] reading the braking instruction and the parking function exit instruction;

[0032] Sending the braking command to a chassis controller of the vehicle so that the chassis controller performs a corresponding braking task;

[0033] The parking function exit instruction is sent to the vehicle controller of the vehicle, so that the vehicle controller generates a parking function exit prompt instruction; the chassis controller and the vehicle controller are respectively connected to the functional safety area for communication.

[0034] The embodiment of the present application further discloses a parking device, which is applied to a functional safety zone of a vehicle, wherein the functional safety zone is communicatively connected with a sensor and a state machine of the vehicle, and includes:

[0035] A determination module, used to determine a number of collision target information according to the sensor signal sent by the sensor;

[0036] A brake command generation module, used to generate a brake command according to the collision target information;

[0037] A fault information generating module, used to detect whether there is a fault between the sensor and the functional safety zone, and to generate fault information accordingly;

[0038] A parking status information acquisition module, used to acquire the parking status information sent by the state machine;

[0039] The control module is used to control the vehicle to automatically brake during parking according to the brake instruction, fault information and parking status information.

[0040] The embodiment of the present application also discloses an electronic device, including: a processor; and a memory, on which executable code is stored. When the executable code is executed, the processor executes the parking method as described in one or more of the embodiments of the present application.

[0041] The embodiments of the present application also disclose one or more computer-readable media on which executable codes are stored. When the executable codes are executed, the processor executes the parking method as described in one or more of the embodiments of the present application.

[0042] Compared with the prior art, the embodiments of the present application have the following advantages:

[0043] In the embodiment of the present application, the functional safety zone of the vehicle is connected to the sensor and state machine of the vehicle in communication, and a number of collision target information can be determined according to the sensor signal sent by the sensor, and a brake command can be generated according to the collision target information to detect whether there is a fault between the sensor and the functional safety zone, and generate fault information according to the detection result, obtain the parking state information sent by the state machine, and then control the vehicle to automatically brake during the parking process according to the brake command, fault information and parking state information. Without relying on expensive chips and underlying software, it is possible to greatly save the funds and manpower costs invested in the development and design process while meeting the functional safety integrity. It not only meets the obstacle stopping requirements after the parking function is turned on, but also fully meets the functional safety integrity requirements of failure safety and the ability to enter a safe state after failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] 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 creative work.

[0045] Figure 1 It is a schematic diagram of the large and comprehensive functional safety zone structure of a vehicle in the related technology;

[0046] Figure 2 is a flowchart of steps of an embodiment of a parking method of the present application;

[0047] Figure 3 is a schematic diagram of a parking function safety solution of a parking method embodiment of the present application;

[0048] Figure 4 It is a design step flow chart of a parking function safety design of the present application;

[0049] Figure 5 It is a structural block diagram of a parking device embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0051] With the rapid development of intelligence, the field of intelligent driving has made significant progress. In order to meet various needs such as obstacle avoidance and obstacle stopping, the functional safety areas of intelligent driving are mostly designed in a large and comprehensive way. Figure 1 , is a schematic diagram of the structure of a large and comprehensive functional safety zone for a vehicle in the relevant technology. In the design of a large and comprehensive functional safety zone, the functional safety zone includes a perception unit, a mapping / map information unit, a fusion unit, a planning unit, a positioning unit, a control unit, a fault detection unit, a state machine, and an output unit. Among them, the perception unit can obtain the sensor signal of the vehicle, the fusion unit fuses the sensor signal and the information sent by the mapping / map information unit, confirms the collision target and the current position information and outputs it to the planning unit, and the planning unit can plan the planned driving route of the vehicle. The control and positioning unit can give lateral and longitudinal control instructions according to the current state of the vehicle and make real-time corrections. At the same time, the fault detection unit can monitor the software and hardware faults of the entire system, and the state machine combines the current fault state and the vehicle state to give information on the operating status of the parking function, and finally the output unit outputs the safety status information. This large and comprehensive functional safety design covers the entire parking control link with the control flow arranged in the functional safety zone, so that it can be used as a redundant channel to provide a reference value for the calculation results of the non-safe zone, thereby improving the reliability of the control results. However, this design relies on powerful chip functional safety capabilities and sufficient and surplus computing power, as well as comprehensive functional safety guarantees in chip hardware and underlying software. Such functional safety-rich chips and underlying software are often expensive, and a lot of manpower costs are required to ensure the integrity of functional safety.

[0052] In view of the above problems, in order to reduce the development and design costs of vehicle functional safety and balance the development and design workload while ensuring the functional safety integrity of the vehicle, the present application provides a parking method.

[0053] Reference Figure 2 , is a flowchart of a parking method embodiment of the present application, the method is applied to a functional safety zone of a vehicle, the functional safety zone is communicatively connected with a sensor and a state machine of the vehicle, and includes the following steps:

[0054] Step 201, determining a plurality of collision target information according to the sensor signal sent by the sensor;

[0055] Among them, the sensors may include a variety of radar and camera sensors on the vehicle. The radar sensor can be used to measure distance, create a 3D map of the surrounding environment, detect obstacles and provide obstacle information, etc. The camera sensor can identify details and dynamic objects, etc. The combination of multiple sensors such as radar and camera can achieve more comprehensive environmental perception and ensure the reliability and accuracy of information acquisition. The corresponding sensor signal can be a signal sent by the vehicle's sensor to the functional safety zone. The collision target can be various obstacles around the vehicle that may have a collision possibility. The collision target information determined each time according to the sensor signal sent by the sensor can be one or more according to the actual situation of the surrounding environment.

[0056] Step 202: generating a brake stop instruction according to the collision target information;

[0057] Among them, the brake stop instruction can be used to control the downstream module to execute the brake stop logic.

[0058] Step 203, detecting whether there is a fault between the sensor and the functional safety zone, and generating fault information accordingly;

[0059] Among them, sensor failures and functional safety zone failures may include sensor software and hardware failures, computing unit (SOC or SOC safety island or MCU) software and hardware failures and communication failures, etc. The computing unit (SOC or SOC safety island or MCU) is the hardware used to run functional safety application software.

[0060] Step 204: Acquire parking status information sent by the state machine;

[0061] The vehicle's state machine may be used to manage and control the operating status of each subsystem of the vehicle, and the parking status information is information output by the vehicle's state machine that characterizes the operating status of the parking function.

[0062] Step 205: Control the vehicle to automatically brake during parking according to the brake instruction, fault information and parking status information.

[0063] The parking method provided in the embodiment of the present application is applied to the functional safety zone of the vehicle, and the functional safety zone is connected to the sensor and state machine of the vehicle. Functional safety refers to avoiding unreasonable risks caused by failures of electronic and electrical systems. That is, random hardware failures and systematic failures will not lead to incorrect functions of the safety system, thereby causing human injury and death, or environmental pollution, or property and equipment loss. The functional safety zone of the vehicle is an area on the on-board chip used to deploy safety application software. When designing the functional safety zone of the vehicle, first, it is necessary to select the functional safety zone equipment. Among them, the selection criteria need to be in accordance with the design specifications of ISO 26262 or GB / T 34590. ISO 26262 is a standard formulated by the International Organization for Standardization (ISO) specifically for safety-related electronic and electrical systems in the automotive industry and for the functional safety of road vehicles. GB / T 34590 is a national standard formulated by the National Technical Committee for Automotive Standardization based on the ISO 26262 standard, applicable to all activities of safety-related systems composed of electronic, electrical and software components on road vehicles within the safety life cycle. Functional safety zone equipment can be used to run functional safety application software including computing unit hardware and underlying software, etc. The computing unit hardware can be SOC or SOC safety island or MCU, etc. The underlying software can be OS (Operating System, operating system), and common operating systems include Linux, MacOS, Windows, etc. Among them, the functional safety application software is arranged in the functional safety computing area. In addition, at least one branch of the sensor used to collect collision target information meets the requirements of the corresponding functional safety level, and the selection of sensors and their communication interfaces also needs to meet functional safety. Hardware or software components that meet functional safety need to be developed and managed throughout the life cycle in accordance with the processes in the functional safety standard ISO 26262 or GB / T 34590 design specifications to ensure compliance with the requirements of the corresponding safety level. Second, the software calculations in the functional safety zone only involve life-threatening vehicle behaviors. For example, the functional safety-related vehicle behaviors for the parking function can be obstacle parking. Obstacle parking refers to an emergency measure taken by the driver when the vehicle encounters an obstacle or emergency during driving, that is, stopping the vehicle to avoid collision or other dangerous situations. The various links of control and monitoring of the vehicle's obstacle-stopping action include collision target detection and judgment, safety distance judgment, functional safety fault detection, braking and retreat functions. Non-functional safety-related calculations, such as parking space recognition, video display, etc., are not included in the obstacle-stopping control link. Compared with the control of the non-functional safety area, the control of the functional safety area plays the role of identifying safety-related logic and realizing the monitoring of the entire control link. Third, the functional safety area is also designed with a verification and output software module, which can be used to comprehensively judge and arbitrate the braking instructions of the functional safety area and the non-functional safety area. If there is a braking request in either area, it will be output to the downstream.The vehicle safety functional areas designed according to the above requirements can fully meet the functional safety integrity requirements of failure safety and the ability to enter a safe state after failure.

[0064] In this embodiment, a number of collision target information can be determined based on the sensor signal sent by the vehicle sensor, and a brake command can be generated accordingly based on the received collision target information. By detecting whether there is a fault in the sensor and the functional safety area, fault information can be generated accordingly. The parking status information of the vehicle can be obtained through a state machine that is connected to the functional safety area in communication. The vehicle can be controlled to automatically brake during the parking process based on the brake command, fault information and parking status information. Through the above steps, not only the obstacle stopping requirements after the parking function is turned on are met, but also the functional safety integrity requirements of failure safety and the ability to enter a safe state after failure can be fully met when faults occur in the sensor and the functional safety area, and there is no need to rely on expensive chips and underlying software, which can greatly save the development and design costs of the functional safety area.

[0065] Reference Figure 3 , the present application provides a schematic diagram of a parking function safety solution of an embodiment of a parking method. In an embodiment of the present application, the determining of a plurality of collision target information according to the sensor signal sent by the sensor includes:

[0066] receiving a sensor signal sent by the sensor, wherein the sensor signal includes environmental data collected by the sensor;

[0067] Among them, the sensors include sensors with built-in perception algorithms and sensors without perception algorithms;

[0068] A plurality of collision target information is obtained according to the environmental data, wherein the collision target information includes distance information of the collision target.

[0069] The collision target information may also include the collision target and the position information of the collision target.

[0070] In this embodiment, the vehicle's radar or camera and other sensors collect surrounding environmental information, obtain corresponding environmental data, and then output the sensor signal containing the environmental data to the functional safety area on the computing unit hardware. After receiving the sensor signal, the perception unit on the functional safety area can obtain several collision target information according to the environmental data, including the collision target, the distance information of the collision target, and the orientation information of the collision target. Through the above steps, obstacles around the vehicle can be sensed, obstacles can be regarded as possible collision targets, and collision target information can be obtained as the basis for judgment to achieve obstacle parking.

[0071] In an embodiment of the present application, the determining of a plurality of collision target information according to the environmental data includes:

[0072] If the sensor is a sensor with its own sensing algorithm, the corresponding sensor signal includes the collision target information, and the collision target information is extracted from the sensor signal;

[0073] Among them, sensors with built-in perception algorithms refer to sensors with built-in data processing and analysis functions, which can directly process the collected data without relying on external processors, and then output corresponding perception data.

[0074] If the sensor is a sensor without a perception algorithm, the corresponding environmental data is raw data, and the collision target information is generated based on the raw data.

[0075] Among them, the data output by the sensor without a perception algorithm is raw data that has not been analyzed and processed. The raw data may include raw point cloud signals and raw image information, etc.

[0076] In this embodiment, if the vehicle's sensor is a sensor with a built-in perception algorithm, then after collecting the surrounding environment data, the sensor will analyze and process it through the internal perception algorithm and then output it. The output sensor signal is the processed environmental data, which includes the corresponding collision target information. The functional safety zone can directly extract the corresponding collision target information from the sensor signal sent by the sensor with its own perception algorithm. If the vehicle's sensor is a sensor without a perception algorithm, then the sensor will directly output it after collecting the surrounding environment data. The output sensor signal is the unprocessed environmental data, that is, the raw data, including the raw point cloud signal and the raw image information. Reference Figure 3 , the perception unit in the functional safety area will analyze and process the environmental data sent by the sensor, and then obtain the collision target information detected by the sensor, including the collision target, the distance information of the collision target, and the orientation information of the collision target, and output the obtained collision target information. For example, the use of multiple sensor fusion technologies, such as laser radar, millimeter wave radar, ultrasonic sensor, etc., can improve the accuracy and reliability of collision target detection.

[0077] In an embodiment of the present application, generating a brake instruction according to the collision target information includes:

[0078] Reading distance information of a collision target from the plurality of collision target information;

[0079] respectively determining whether the distance information of the collision target is less than the preset safety distance threshold;

[0080] Among them, the safety distance threshold refers to the minimum distance that should be maintained between the vehicle and the collision target to ensure sufficient time and distance for reaction and braking to avoid collision. The safety distance threshold can be set according to different vehicle models, different ASIL (Automotive Safety Integrity Level) requirements and different driving scenarios. ASIL is a risk classification system defined by the ISO26262 standard, which is divided into five levels: QM, ASIL-A, B, C and D. ASIL-D represents the highest automotive functional safety requirements. The ASIL level is determined by three factors: Severity (S), Probability of Exposure (E), and Controllability (C).

[0081] If the distance to any of the collision targets is less than a preset safety distance threshold, a brake command is generated.

[0082] In this embodiment, it is determined whether the parking function of the vehicle is turned on. If the parking function is turned on, refer to Figure 3 , the safety distance judgment unit reads the information of several collision targets output by the sensing unit, and then judges the possibility of collision between the vehicle and the corresponding several collision targets according to the distance information of the collision targets in the collision target information. If the distance of any of the collision targets is less than the safety distance threshold preset in the judgment unit, it is judged that there is a possibility of collision between the vehicle and the corresponding collision target. After obtaining the judgment result of possible collision, the safety distance judgment unit can generate and output a brake stop instruction. Exemplarily, if the ASIL requirement is a safety target of ASIL B level, the corresponding safety distance threshold can be preset to 0.5 meters. Different threshold settings can also be made for different driving scenarios, including different weather conditions, such as foggy, rainy, snowy, etc., and different road conditions, such as slippery, rugged, etc. Through the above steps, the obstacle stopping requirements of the vehicle during parking can be met after the parking function is turned on, and the vehicle can be prevented from colliding with surrounding obstacles when parking. For example, if the functional safety zone of the present application only involves obstacle-stopping logic, and only accesses and processes information related to the collision target, the collision target information is directly input into the safety distance judgment unit. For the parking function with only obstacle-stopping requirements, the functional safety zone can be designed based on the above method, and the project cost can be greatly saved while meeting the functional safety integrity.

[0083] In one embodiment of the present application, the step of controlling the vehicle to automatically brake during parking according to the brake instruction, fault information, and parking status information includes:

[0084] reading the braking instruction, fault information and parking status information; the parking status information includes whether the parking function has been activated and whether the parking function has not been activated;

[0085] Under the condition that the parking state information indicates that the parking function has been activated and the brake stop instruction and / or the fault information exist, generating a braking instruction according to the brake stop instruction and / or the fault information;

[0086] Detecting whether the vehicle is stationary;

[0087] Among them, whether the vehicle is in a stationary state can be detected by using sensors on the vehicle, such as wheel speed sensors.

[0088] After the vehicle is in a stationary state, a parking lock command and a parking function exit command are generated.

[0089] The parking lock command may refer to a command outputted after the vehicle stops during parking to lock the vehicle by pulling the EPB (Electrical Park Brake) or shifting the P (Parking) gear to prevent the vehicle from sliding. The parking function exit command may control the vehicle to exit the current parking function. After a certain period of time after the parking function exit command is outputted, the parking state information detected by the state machine will change from the parking function being activated to the parking function not being activated.

[0090] In this embodiment, refer to Figure 3, the vehicle's state machine detects the operating status of the vehicle's parking function in real time, and outputs parking status information to the brake stop and retreat function unit. The functional safety fault detection unit continuously detects faults in sensors and functional safety areas, including sensor software and hardware faults, software and hardware faults of the functional safety area calculation unit, and communication faults, and generates corresponding fault information when a fault is detected, and outputs the fault information to the brake stop and retreat function unit. After the safety distance judgment unit determines that there is a possibility of collision between the vehicle and the collision target, it outputs a brake stop instruction to the brake stop and retreat function unit. The brake stop and retreat function unit reads the received brake stop instruction, fault information, and parking status information and makes a comprehensive judgment. If the corresponding parking status information is that the parking function has been activated, and the brake stop instruction and / or fault information are read at the same time, that is, as long as at least one of the brake stop instruction and fault information is read when the parking function is activated, it can be determined that the brake stop logic needs to be executed, and a corresponding braking instruction is generated and sent to the verification and output unit. After outputting the braking command, the stationary state of the vehicle can continue to be detected. After detecting that the vehicle is in a stationary state, a parking lock command and a parking function exit command are generated, that is, pull the EPB / P gear and exit the function command. Through the above steps, not only can the obstacle stopping requirements of the vehicle during parking be met, but also the failure safety in the case of a fault in the sensor and functional safety area and the functional safety integrity requirements of being able to enter a safe state after a failure can be met, ensuring that the vehicle can still take safety measures such as emergency braking or automatic parking in the event of a fault.

[0091] In an embodiment of the present application, the method further includes:

[0092] Under the condition that the parking state information indicates that the parking function is not started and only the fault information exists, an instruction to not start the parking function is output.

[0093] In this embodiment, the brake stop and reverse function unit reads the received brake stop instruction, fault information and parking status information. If the corresponding parking status information is that the parking function is not activated, the driver may be in a state of manual parking or not in a parking state, and the brake stop instruction is not read, and only the fault information is read, the brake stop and reverse function unit outputs an instruction not to activate the parking function. Exemplarily, if the fault information is read when the parking function is not activated, the parking function will not be activated even if the vehicle is about to or is parking.

[0094] In addition, the brake and reverse function unit can also generate corresponding classical Chinese signals based on the brake command, fault information and parking status information read. The classical Chinese signal can be output to the central control screen to generate warning information to remind the driver. For example, it can remind the vehicle that there is a possibility of collision with an obstacle and it needs to brake, remind the vehicle that a sensor or functional safety area has a fault and specific fault information, or remind the current parking status.

[0095] For example, a monitoring and analysis unit for vehicle dynamic performance and driver operating behavior may be added to the design of the functional safety zone to provide early warning of potential safety risks.

[0096] For example, the parking software in the non-functional safety zone continues to run, and according to system requirements, when parking is completed or a non-safety parking fault occurs, a braking command, a parking lock command, and a parking function exit command may also be output. Figure 3 A schematic diagram of a parking function safety scheme of an embodiment of a parking method is shown, and the non-functional safety area includes a multi-sensor perception unit, a fusion unit, a planning unit, a positioning unit, a control unit, a non-functional safety fault detection unit, a state machine and an output unit. The front-end multi-perception unit can output the original image information, and then combined with other information, such as map information, the collision target and the current position information can be confirmed by the fusion unit. The fusion unit can output the fused information to the planning unit to obtain the planned driving route of the vehicle. The positioning unit and the control unit can give lateral and longitudinal control instructions according to the current state of the vehicle and make real-time corrections. At the same time, the non-functional safety fault detection unit monitors the software and hardware faults of the entire system, and the state machine gives information on the operating status of the parking function in combination with the current fault state and the vehicle state. The output unit can generate and output braking instructions, EPB pull / P gear instructions, retreat function instructions and classical Chinese signals to the verification and output unit in the safety function area, and can also output other output signals other than safety-related, such as some signals representing the handshake state. Among them, the process of the control unit in judging whether it is necessary to output a brake stop instruction is relatively complicated, and it is necessary to combine planning, positioning and other information for judgment.

[0097] In an embodiment of the present application, the method further includes:

[0098] reading the braking instruction and the parking function exit instruction;

[0099] Sending the braking command to a chassis controller of the vehicle so that the chassis controller performs a corresponding braking task;

[0100] Among them, the vehicle's chassis controller is an electronic control unit responsible for managing and coordinating the various subsystems of the vehicle chassis. It can calculate and execute corresponding control instructions based on the received information, such as braking instructions, steering instructions, and command drives, to realize various control functions of the vehicle chassis.

[0101] The parking function exit instruction is sent to the vehicle controller of the vehicle, so that the vehicle controller generates a parking function exit prompt instruction; the chassis controller and the vehicle controller are respectively connected to the functional safety area for communication.

[0102] Among them, the vehicle's on-board controller is installed inside the vehicle and is used to control and coordinate various electronic equipment and systems of the vehicle. It can calculate and process the received model, and then output the corresponding control signal to achieve precise control of various parts of the vehicle.

[0103] In this embodiment, refer to Figure 3 , the verification and output unit can read the output signals of the brake stop and retreat function unit of the functional safety zone and the output unit of the non-functional safety zone, including braking instructions, EPB pull / P gear instructions, retreat function instructions and classical Chinese signals, etc. Then verify whether the output signal read is a valid signal. Since the brake stop and retreat function unit of the functional safety zone and the output unit of the non-functional safety zone may be abnormal when generating and outputting signals, the verification and output unit can judge that the corresponding received signal is a valid signal when it detects that the signals read in several consecutive cycles are the same, and send the valid signal to the downstream module, otherwise the corresponding received signal can be judged as an abnormal signal, the verification fails, and the corresponding sending operation is not specified. The corresponding cycle can be calculated and preset according to specific needs, and this is not limited in this application. Among them, the downstream module may include a chassis controller and a vehicle controller, etc. Exemplarily, if the verification and output unit reads a valid braking instruction, it can be sent to the downstream chassis controller so that the chassis controller performs the corresponding braking task according to the braking instruction. If the verification and output unit reads a valid parking function exit instruction, it can be sent to the downstream vehicle controller so that the vehicle controller generates a parking function exit prompt instruction and controls the central control screen to display a prompt message for exiting the parking function.

[0104] For example, a communication function with other vehicles or traffic facilities may be added to obtain more safety information and improve parking safety.

[0105] Reference Figure 4 , this application also provides a design step flow chart of parking function safety design. The specific design step flow chart is as follows:

[0106] Step 1: Selection of functional safety computing area equipment;

[0107] Step 1.1: The selection of sensors and their communication interfaces for detecting collision targets must comply with functional safety.

[0108] Step 1.2: The hardware (SOC or MCU) selected to run the functional safety application software needs to comply with functional safety;

[0109] Step 1.3: The selection of the underlying software (OS, etc.) used to run the functional safety application software needs to comply with functional safety;

[0110] Step 1.4: Functional safety application software is placed in the functional safety calculation area.

[0111] Step 2: Operation of functional safety application software logic;

[0112] Step 2.1, the radar or camera sensor senses the collision target and outputs a sensed signal to the SOC / MCU; the corresponding sensed signal is the original signal or signal;

[0113] Determine whether the input signal is the original point cloud signal, if so, proceed to step 2.2, if not, jump to step 2.3;

[0114] Step 2.2, the perception unit processes the original point cloud signal of the radar or camera through the perception algorithm, and outputs information such as the detected collision target, target distance, target direction, etc.;

[0115] Step 2.3, the safety distance judgment unit reads the collision target information and target distance of the sensing unit and the sensor, and outputs the obstacle stop information if the collision target distance is less than a certain threshold;

[0116] Step 2.4, the braking and retreating function unit reads the information of the safety distance judgment unit, and if braking is required, outputs a braking command, pulls the EPB / P gear after the vehicle stops, and retreats for a certain period of time, and then jumps to step 4.0;

[0117] Step 2.5, the functional safety fault detection unit continuously detects faults in the functional safety area, including sensors, software and hardware of the computing unit (SOC / MCU), and communication faults, and then outputs functional safety fault information;

[0118] Step 2.6, the brake stop and reverse function unit reads the parking state information;

[0119] Determine whether the parking state is parking or before parking starts. If the parking state is parking, continue with step 2.7. If the parking state is before parking starts, jump to step 2.8.

[0120] Step 2.7: If the brake stop and reverse function unit detects a functional safety fault during parking, the brake stop is performed and a braking command is output. After the vehicle is stationary, the EPB / P gear is pulled and the reverse function is reversed, and then the process jumps to step 4.0;

[0121] Step 2.8: When the brake stop and reverse function unit detects a functional safety fault, the parking function is not started, an instruction to deactivate the function is output, and then the process jumps to step 4.0;

[0122] Step 3: Logical operation of non-functional safety area;

[0123] Step 3.1: Run the logic related to the non-functional safety zone, perform the brake stop and retreat function when necessary, output the braking command, and after the vehicle stops, pull the EPB / P gear, retreat function, and then jump to step 4.0;

[0124] Step 4.0: The verification unit reads the output signals of the functional safety area and the non-functional safety area. If any input requires a braking or retreating function, the unit transmits the valid signals of the braking and retreating functions to the downstream modules.

[0125] It should be noted that, for the 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 embodiments of the present application are not limited by the described order of actions, because according to the embodiments of 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 involved are not necessarily required by the embodiments of the present application.

[0126] On the basis of the above embodiments, this embodiment further provides a parking device, which is applied to electronic devices such as terminal devices and servers.

[0127] Reference Figure 5 , shows a structural block diagram of an embodiment of a parking device of the present application, which is applied to a functional safety zone of a vehicle, wherein the functional safety zone is communicatively connected with a sensor and a state machine of the vehicle, and specifically may include the following modules:

[0128] A determination module 501, configured to determine a plurality of collision target information according to the sensor signal sent by the sensor;

[0129] A brake command generating module 502, used to generate a brake command according to the collision target information;

[0130] A fault information generating module 503 is used to detect whether there is a fault between the sensor and the functional safety zone, and to generate fault information accordingly;

[0131] A parking status information acquisition module 504, used to acquire the parking status information sent by the state machine;

[0132] The control module 505 is used to control the vehicle to automatically brake during parking according to the brake instruction, fault information and parking status information.

[0133] The determination module comprises:

[0134] A sensor signal receiving submodule, used to receive a sensor signal sent by the sensor, wherein the sensor signal includes environmental data collected by the sensor; the sensor includes a sensor with a sensing algorithm and a sensor without a sensing algorithm;

[0135] The collision target information acquisition submodule is used to obtain a plurality of collision target information according to the environmental data, wherein the collision target information includes distance information of the collision target.

[0136] The collision target information acquisition submodule is further used for:

[0137] If the sensor is a sensor with its own sensing algorithm, the corresponding sensor signal includes the collision target information, and the collision target information is extracted from the sensor signal;

[0138] If the sensor is a sensor without a perception algorithm, the corresponding environmental data is raw data, and the collision target information is generated based on the raw data.

[0139] The brake command generation module includes:

[0140] A distance information reading submodule, used for reading the distance information of the collision target from the plurality of collision target information;

[0141] A safety distance judgment submodule is used to judge whether the distance information of the collision target is less than a preset safety distance threshold;

[0142] The brake command generation submodule is used to generate the brake command if the distance of any collision target is less than the preset safety distance threshold.

[0143] The control module comprises:

[0144] The command information reading submodule is used to read the brake stop command, fault information and parking status information; the parking status information includes whether the parking function has been started and whether the parking function has not been started;

[0145] a braking instruction generating submodule, for generating a braking instruction according to the braking instruction and / or the fault information when the parking state information indicates that the parking function has been activated and the braking instruction and / or the fault information exist;

[0146] A stationary state detection submodule, used to detect whether the vehicle is in a stationary state;

[0147] The parking lock instruction and parking function exit instruction generating submodule is used to generate a parking lock instruction and a parking function exit instruction after the vehicle is in a stationary state.

[0148] The control module also includes:

[0149] The parking function not-starting instruction generating submodule is used for outputting a parking function not-starting instruction under the condition that the parking state information indicates that the parking function is not started and only the fault information exists.

[0150] The control module also includes:

[0151] A braking instruction and parking function exit instruction reading submodule, used for reading the braking instruction and the parking function exit instruction;

[0152] A braking command sending submodule, used for sending the braking command to the chassis controller of the vehicle, so that the chassis controller performs a corresponding braking task;

[0153] The parking function exit instruction sending submodule is used to send the parking function exit instruction to the vehicle controller of the vehicle so that the vehicle controller generates a parking function exit prompt instruction; the chassis controller and the vehicle controller are respectively connected to the functional safety area for communication.

[0154] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0155] The parking device provided in the embodiment of the present application is applied to the functional safety zone of the vehicle, and the functional safety zone is communicatively connected with the sensor and state machine of the vehicle. A number of collision target information can be determined by the sensor signal sent by the vehicle sensor, and a brake command can be generated accordingly according to the received collision target information. By detecting whether there is a fault in the sensor and the functional safety zone, fault information can be generated accordingly. The parking status information of the vehicle can be obtained through the state machine that is communicatively connected with the functional safety zone. According to the brake command, fault information and parking status information, the vehicle can be controlled to automatically brake during the parking process. Through the above steps, not only the obstacle stopping requirement after the parking function is turned on is met, but also the functional safety integrity requirements of failure safety and the ability to enter a safe state after failure can be fully met when the sensor and the functional safety zone fail, and there is no need to rely on expensive chips and underlying software, which can greatly save the development and design costs of the functional safety zone.

[0156] An embodiment of the present application also provides an electronic device, including: a processor; and a memory, on which executable code is stored. When the stored executable code is executed, the processor implements one or more parking methods in the above embodiments.

[0157] The embodiment of the present application also provides a non-volatile readable storage medium, which stores one or more modules (programs). When the one or more modules are applied to a device, the device can execute instructions (instructions) of each method step in the embodiment of the present application.

[0158] The present application embodiment provides one or more machine-readable media on which instructions are stored, and when executed by one or more processors, the electronic device executes one or more parking methods in the above embodiments. In the present application embodiment, the electronic device includes various types of devices such as terminal devices, servers (clusters), etc.

[0159] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0160] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable parking terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable parking terminal device generate instructions for implementing the processes in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0161] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable parking terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0162] These computer program instructions can also be loaded onto a computer or other programmable parking terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable terminal device provide for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0163] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0164] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0165] The above is a detailed introduction to a parking method and device, an electronic device and a storage medium provided by the present application. Specific examples are used in this article to illustrate the principle and implementation method of the present application. The description of the above embodiments is only used to help understand the method and its core idea of ​​the present application. At the same time, for a person skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as limiting the present application.

Claims

1. A parking method, characterized in that: A functional safety zone applied to a vehicle, the functional safety zone being communicatively connected to a sensor and a state machine of the vehicle, the method comprising: determining a plurality of collision target information according to the sensor signal sent by the sensor; generating a brake stop instruction according to the collision target information; Detecting whether there is a fault between the sensor and the functional safety zone, and generating fault information accordingly; Acquire parking status information sent by the state machine; The vehicle is controlled to automatically brake during parking according to the brake instruction, fault information and parking status information.

2. The method according to claim 1, characterized in that The determining of a plurality of collision target information according to the sensor signal sent by the sensor comprises: Receiving a sensor signal sent by the sensor, wherein the sensor signal includes environmental data collected by the sensor; the sensor includes a sensor with a sensing algorithm and a sensor without a sensing algorithm; A plurality of collision target information is obtained according to the environmental data, wherein the collision target information includes distance information of the collision target.

3. The method according to claim 2, characterized in that The determining of a plurality of collision target information according to the environmental data includes: If the sensor is a sensor with its own sensing algorithm, the corresponding sensor signal includes the collision target information, and the collision target information is extracted from the sensor signal; If the sensor is a sensor without a perception algorithm, the corresponding environmental data is raw data, and the collision target information is generated based on the raw data.

4. The method according to claim 2, characterized in that: The generating a brake instruction according to the collision target information comprises: Reading distance information of a collision target from the plurality of collision target information; Determine whether the distance information of the collision target is less than a preset safety distance threshold; If the distance to any of the collision targets is less than the preset safety distance threshold, the brake stop instruction is generated.

5. The method according to claim 1, characterized in that The method of controlling the vehicle to automatically brake during parking according to the brake instruction, fault information and parking status information includes: reading the braking instruction, fault information and parking status information; the parking status information includes whether the parking function has been activated and whether the parking function has not been activated; Under the condition that the parking state information indicates that the parking function has been activated and the brake stop instruction and / or the fault information exist, generating a braking instruction according to the brake stop instruction and / or the fault information; Detecting whether the vehicle is stationary; After the vehicle is in a stationary state, a parking lock command and a parking function exit command are generated.

6. The method according to claim 5, characterized in that The method further comprises: Under the condition that the parking state information indicates that the parking function is not started and only the fault information exists, an instruction to not start the parking function is output.

7. The method according to claim 5, characterized in that The method further comprises: reading the braking instruction and the parking function exit instruction; Sending the braking command to a chassis controller of the vehicle so that the chassis controller performs a corresponding braking task; The parking function exit instruction is sent to the vehicle controller of the vehicle, so that the vehicle controller generates a parking function exit prompt instruction; the chassis controller and the vehicle controller are respectively connected to the functional safety area for communication.

8. A parking device, characterized in that: A functional safety zone applied to a vehicle, the functional safety zone being communicatively connected to a sensor and a state machine of the vehicle, comprising: A determination module, used to determine a number of collision target information according to the sensor signal sent by the sensor; A brake command generation module, used to generate a brake command according to the collision target information; A fault information generating module, used to detect whether there is a fault between the sensor and the functional safety zone, and to generate fault information accordingly; A parking status information acquisition module, used to acquire the parking status information sent by the state machine; The control module is used to control the vehicle to automatically brake during parking according to the brake instruction, fault information and parking status information.

9. An electronic device, characterized in that: include: processor; and A memory having executable codes stored thereon, which, when executed, cause the processor to execute the parking method as claimed in one or more of claims 1-7.

10. A computer-readable storage medium having executable codes stored thereon, which, when executed, cause a processor to execute the parking method according to one or more of claims 1-7.

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