Whole-cycle safety control method for remote control parking of electric vehicle and related equipment

Abstract

The invention discloses a full-period safety control method and related equipment for remote control parking of an electric automobile, the full-period safety control method is executed by an intelligent driving controller, and the full-period safety control comprises a remote control parking function activation condition verification stage, a remote control parking function operation stage and a remote control parking function closing stage; monitoring a driver state signal in real time in each stage of full-period safety control, wherein the driver state signal comprises whether a driver is not in a main driving seat or the driver is in the main driving seat; and in the remote control parking function closing stage, when the driver state signal indicates that the driver is not in the main driving seat and the vehicle generates unexpected movement, a forced braking strategy is triggered, and the forced braking strategy comprises the steps of limiting torque zero output of a driving motor and controlling a gearbox to enter a P gear after the vehicle is static. The purpose of the invention is to ensure that the vehicle is absolutely static after the remote control parking function exits through a dynamic decision-making mechanism without depending on hardware upgrading, so that the parking safety is ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of electric vehicle remote control parking, and in particular relates to a full-cycle safety control method for electric vehicle remote control parking and related equipment. Background Art

[0002] With the rapid increase in the market penetration rate of new energy electric vehicles, intelligent driving technology has become one of the core directions of industry development. Among them, the Remote Parking Assist (RPA) function is widely installed in mid-to-high-end new energy vehicles due to its convenience in narrow spaces or complex scenarios. With the popularization of functions, its potential safety risks are gradually emerging: after the remote parking function is exited, due to occasional failures of electronic and electrical components (such as sensors and controllers) or signal transmission delays, the vehicle may produce unexpected longitudinal movement (such as slipping, sliding), seriously threatening the safety of passengers and surrounding pedestrians.

[0003] In response to the above problems, some OEMs have tried to reduce the failure rate by increasing hardware redundancy or improving sensor accuracy, but such solutions have increased manufacturing costs and cannot completely eliminate systemic risks. Therefore, there is an urgent need for a software strategy for full-cycle status monitoring and closed-loop control of remote parking, which can ensure that the vehicle is absolutely stationary after the remote parking function is exited through a dynamic decision-making mechanism without relying on hardware upgrades, thereby filling the security loopholes of the existing technical system. The present invention is proposed in this context. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a full-cycle safety control method and related equipment for remote control parking of an electric vehicle, the purpose of which is to ensure that the vehicle is absolutely stationary after the remote control parking function is exited through a dynamic decision-making mechanism without relying on hardware upgrades, thereby ensuring parking safety.

[0005] In order to solve the above technical problems, the present invention is implemented by the following technical solutions: According to a first aspect of the present invention, a full-cycle safety control method for remote parking of an electric vehicle is provided, wherein the full-cycle safety control method is executed by an intelligent driving controller, wherein the full-cycle safety control includes a remote parking function activation condition verification phase, a remote parking function operation phase, and a remote parking function shutdown phase; Real-time monitoring of driver status signals at each stage of the full cycle safety control, wherein the driver status signals include the driver not being in the main driving seat or the driver being in the main driving seat; In the remote parking function off stage, when the driver status signal indicates that the driver is not in the main driving seat and the vehicle produces unexpected movement, a forced braking strategy is triggered. The forced braking strategy includes limiting the drive motor torque to zero output and controlling the transmission to enter the P gear after the vehicle stops.

[0006] In a possible implementation manner of the first aspect, during the remote control parking function activation condition verification stage, when the driver status signal indicates that the driver is not in the main driver's seat, activation of the remote control parking function is allowed.

[0007] In a possible implementation of the first aspect, during the operation phase of the remote parking function, when the driver status signal changes to indicating that the driver is in the main driver's seat, the execution of the remote parking function is terminated, the vehicle is controlled to enter a stationary state, and the transmission is controlled to enter the P gear.

[0008] In a possible implementation manner of the first aspect, the forced braking strategy further includes: If the P gear fails to be engaged, the maximum braking torque will be continuously output and the drive motor torque output will be locked.

[0009] In a possible implementation of the first aspect, the driver status signal is generated by a multi-sensor signal fusion judgment logic, and the multi-sensor signal includes a driver's seat pressure sensor signal, a seat belt buckle sensor signal, and a steering wheel grip detection sensor signal.

[0010] In a possible implementation manner of the first aspect, the judgment logic that the driver is not in the main driving seat is to simultaneously meet the following conditions: The detection value of the driver's seat pressure sensor is not greater than the preset threshold; The seat belt buckle sensor returns an unfastened signal; The steering wheel hold detection sensor returns a no contact signal.

[0011] In a possible implementation manner of the first aspect, the judgment logic of the driver being in the main driving seat is to satisfy any of the following conditions: The detection value of the driver's seat pressure sensor is greater than the preset threshold; The seat belt buckle sensor returns a buckle signal; The steering wheel hold detection sensor returns a valid contact signal.

[0012] According to a second aspect of the present invention, there is provided a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method for full-cycle safety control of remote parking of an electric vehicle when executing the computer program.

[0013] According to a third aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for controlling the full cycle safety of remote parking of an electric vehicle is implemented.

[0014] According to a fourth aspect of the present invention, a computer program product is provided, which, when executed by a processor, implements the full-cycle safety control method for remote parking of an electric vehicle.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects: The present invention provides a full-cycle safety control method for remote parking of electric vehicles. The full-cycle safety control method executed by the intelligent driving controller can monitor the various stages of the remote parking process in real time, especially in the critical period after the remote parking function is turned off. When it is detected that the driver is not in the main driving seat and the vehicle has unexpected movement, the forced braking strategy is immediately triggered, which effectively avoids the potential safety risks caused by failure of electronic and electrical components or signal transmission delays, thereby ensuring the safety of passengers and surrounding pedestrians. Compared with the solution of some OEMs to reduce the failure rate by increasing hardware redundancy or improving sensor accuracy, the present invention does not need to rely on hardware upgrades, but only achieves the goal of absolute stillness of the vehicle after the remote parking function is exited through the optimization of software strategies and the introduction of dynamic decision-making mechanisms, avoiding high hardware cost investment. The full-cycle safety control method of the present invention covers the activation, operation and shutdown stages of the remote parking function, and realizes comprehensive monitoring of the remote parking process by real-time monitoring of the driver status signal and the vehicle motion status.

[0016] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the specific implementation modes of the present invention, the drawings required for use in the description of the specific implementation modes will be briefly introduced below. Obviously, the drawings described below are some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 The present invention is a flow chart of a full-cycle safety control method for remote-controlled parking of an electric vehicle. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] like Figure 1 As shown, the embodiment of the present invention provides a full-cycle safety control method for remote parking of an electric vehicle, which can continuously monitor the vehicle status and driver behavior during the entire remote parking process, and implement preset safety measures under specific conditions to prevent unexpected movement of the vehicle after the remote parking function is turned off. The full-cycle safety control method for remote parking of an electric vehicle is executed by an intelligent driving controller, and the full-cycle safety control includes a remote parking function activation condition verification stage, a remote parking function operation stage, and a remote parking function shutdown stage.

[0021] The driver status signal is monitored in real time at each stage of the full cycle safety control, wherein the driver status signal includes whether the driver is not in the main driving seat or the driver is in the main driving seat.

[0022] In the remote parking function off stage, when the driver status signal indicates that the driver is not in the main driving seat and the vehicle produces unexpected movement, a forced braking strategy is triggered. The forced braking strategy includes limiting the drive motor torque to zero output and controlling the transmission to enter the P gear after the vehicle stops.

[0023] Specifically, after the remote parking is completed, if it is detected that the driver is not in the main driving seat and the vehicle has unexpected movement (such as slipping, sliding), the forced braking strategy is immediately triggered. The specific execution steps include: sending instructions through the intelligent driving controller to quickly limit the torque output of the drive motor to zero to curb the movement trend of the vehicle. After the vehicle is completely stationary, the intelligent driving controller further controls the transmission to enter the P gear to ensure that the vehicle will not move again due to external factors (such as slope).

[0024] Preferably, after remote parking is completed, if it is detected that the driver is not in the main driver's seat and the vehicle has unexpected movement (such as slipping or sliding), an alarm is also issued through the in-vehicle speakers, vehicle lights and the driver's smart device to notify the driver of the abnormal vehicle status so that the driver can take safety measures in time.

[0025] Through the above implementation, the present invention realizes a method for full-cycle safety control of remote control parking of electric vehicles through a software control strategy without increasing additional hardware costs, effectively solves the problem of unexpected movement of the vehicle that may occur after the remote control parking function is turned off, and improves the safety during parking.

[0026] In an achievable manner, during the remote control parking function activation condition verification phase, when the driver status signal indicates that the driver is not in the main driver's seat, activation of the remote control parking function is allowed.

[0027] That is to say, before the remote parking function is activated, the intelligent driving controller first confirms the driver's status signal. Specifically, when it is detected that the driver has left the main driving seat and meets other preset safety conditions, the remote parking function is allowed to be activated.

[0028] It should be understood that other safety conditions include: the intelligent driving controller uses integrated high-precision sensors (such as radar, camera) to perceive and evaluate the surrounding environment in real time to ensure that there are sufficient parking spaces, no obstacles, and sufficient space for remote parking operations. And check the status of the vehicle, including whether the doors are closed, whether the windows are closed, whether the vehicle is in a stable stationary state, whether the battery is sufficient, and whether the brake system is working properly.

[0029] Preferably, before the remote parking function is about to be activated, the system will issue a safety reminder to the driver, asking the driver to confirm whether to start the remote parking function. Only when the driver confirms and authorizes, the remote parking function is officially activated.

[0030] In one achievable manner, during the operation phase of the remote parking function, when the driver status signal changes to the driver being in the main driver's seat, the execution of the remote parking function is terminated, the vehicle is controlled to enter a stationary state, and the transmission is controlled to enter the P gear.

[0031] That is, during the operation phase of the remote parking function, the driver's status signal is monitored in real time, and the remote parking function is terminated in time when necessary. Specifically, during the execution of the remote parking function, the intelligent driving controller will continuously monitor the driver's status signal, including the real-time status of whether the driver is in the main driver's seat. If the system detects that the driver's status signal has changed, that is, the driver has changed from not being in the main driver's seat to being in the main driver's seat, it means that the driver has returned to the car and is ready to take over the control of the vehicle. At this time, the system will immediately interrupt the current remote parking operation and stop any movement of the vehicle. To ensure safety, the system will control the drive motor and braking system to quickly and smoothly bring the vehicle to a standstill. After the vehicle is completely stationary, the system will further control the transmission to enter the P gear (parking gear) to lock the vehicle's transmission system to prevent the vehicle from accidentally moving due to external factors (such as slope).

[0032] In one achievable manner, the forced braking strategy further includes: if the P gear engagement fails, the maximum braking torque is continuously output and the torque output of the drive motor is locked.

[0033] That is to say, during the execution of the remote parking function, the intelligent driving controller will continuously monitor the status of the transmission, including the engagement of the P gear. If the system detects that the P gear engagement fails (for example, the transmission fails to lock in the P gear position), the system will immediately control the braking system to output the maximum braking torque to ensure that the vehicle can quickly decelerate and eventually stop. It should be noted that the output of the maximum braking torque is gradually increased to avoid wheel locking or vehicle loss of control due to excessive braking torque.

[0034] While outputting the maximum braking torque, the system will lock the torque output of the drive motor, that is, the drive motor will no longer generate any driving torque.

[0035] In one achievable manner, the driver status signal is generated by a multi-sensor signal fusion judgment logic, and the multi-sensor signal includes a driver's seat pressure sensor signal, a seat belt buckle sensor signal, and a steering wheel grip detection sensor signal.

[0036] Specifically, by installing a pressure sensor under the main driver's seat, the pressure distribution on the seat is monitored in real time. When the driver sits on the seat, the pressure sensor detects the corresponding pressure changes and generates a corresponding signal.

[0037] A sensor is installed at the seat belt buckle to detect whether the seat belt is correctly fastened. When the driver fastens the seat belt, the sensor generates a confirmation signal.

[0038] Capacitive or resistive sensors are installed on the steering wheel to detect whether the driver is holding the steering wheel. When the driver's hand touches the steering wheel, the sensor detects the corresponding capacitance or resistance change and generates a corresponding signal.

[0039] In one possible implementation, the judgment logic of the driver not being in the main driving seat is to simultaneously meet the following conditions: Condition 1: The detection value of the driver's seat pressure sensor is not greater than the preset threshold.

[0040] Exemplarily, the preset threshold is 40 kg, which is obtained based on the average human body weight. When the detection value of the pressure sensor is not greater than 40 kg, it can be preliminarily determined that there may be no driver on the seat or the driver is light. Condition 2: The seat belt buckle sensor returns a non-fastened signal.

[0041] The sensor installed at the seat belt buckle can detect whether the seat belt is properly fastened. When the sensor returns an unfastened signal, it indicates that the seat belt is not fastened, which means that the driver may have left the seat or is not ready to start the vehicle.

[0042] Condition 3: The steering wheel holding detection sensor returns a no-contact signal.

[0043] The steering wheel grip detection sensor can detect whether the driver is holding the steering wheel. When the driver's hand touches the steering wheel, the sensor detects the corresponding signal change. If the sensor returns a no-contact signal, it means that there is no force or contact on the steering wheel, which means that the driver has left the seat or is not ready to control the vehicle.

[0044] When judging whether the driver is in the main driver's seat, the above three conditions must be met at the same time. Only when the main driver's seat pressure sensor detection value is not greater than the preset threshold, the seat belt buckle sensor returns an unfastened signal, and the steering wheel grip detection sensor returns a no-contact signal, can it be determined that the driver is not in the main driver's seat, ensuring that the remote parking function can only be activated after the driver leaves the seat, thereby improving the safety of the parking process.

[0045] In one possible implementation, the judgment logic of the driver in the main driving seat is to meet any of the following conditions: Condition 1: The detection value of the driver's seat pressure sensor is greater than the preset threshold When the detection value of the pressure sensor is greater than the preset threshold, it can be preliminarily determined that there is a driver on the seat.

[0046] Condition 2: The seat belt buckle sensor returns a buckle signal When the seat belt buckle sensor returns a buckle signal, it indicates that the seat belt has been fastened, which means that the driver is already in the main driver's seat and is ready to start the vehicle.

[0047] Condition 3: The steering wheel grip detection sensor returns a valid contact signal For example, in order to more accurately determine whether the driver is in the main driving seat, the effective contact signal judgment standard of the steering wheel grip detection sensor is set, that is, the continuous contact time is ≥ 2 seconds. Only when the driver's hand is in continuous contact with the steering wheel for at least 2 seconds will the sensor return a valid contact signal, so as to exclude short-term contact or false touch and improve the judgment accuracy.

[0048] When determining whether the driver is in the main driver's seat, any one of the above three conditions can be met. As long as the detection value of the main driver's seat pressure sensor is greater than the preset threshold, the seat belt buckle sensor returns a buckle signal, or the steering wheel grip detection sensor returns a valid contact signal, it can be determined that the driver is in the main driver's seat.

[0049] In another embodiment of the present invention, a computer device is provided, the computer device comprising a processor and a memory, the memory being used to store a computer program, the computer program comprising program instructions, and the processor being used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc., which are the computing core and control core of the terminal, which are suitable for implementing one or more instructions, and are specifically suitable for loading and executing one or more instructions in a computer storage medium to implement a corresponding method flow or corresponding function; the processor described in the embodiment of the present invention can be used for the operation of a full-cycle safety control method for remote parking of an electric vehicle.

[0050] In another embodiment of the present invention, the present invention further provides a storage medium, specifically a computer-readable storage medium (Memory), which is a memory device in a computer device for storing programs and data. It is understandable that the computer-readable storage medium here can include both built-in storage media in a computer device and, of course, an extended storage medium supported by the computer device. The computer-readable storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by a processor are also stored in the storage space, and these instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the corresponding steps of the full-cycle safety control method for remote parking of an electric vehicle in the above embodiment.

[0051] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0052] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of 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 data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. 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.

[0053] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising 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.

[0054] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions 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.

[0055] The present invention also provides a computer program product, which is used to execute any of the above-mentioned electric vehicle remote control parking full-cycle safety control methods. Since the computer program product provided by the present invention and the above-mentioned electric vehicle remote control parking full-cycle safety control method belong to the same inventive concept, the computer program product provided by the present invention has all the advantages of the above-mentioned electric vehicle remote control parking full-cycle safety control method, so the beneficial effects of the computer program product provided by the present invention will not be described one by one here.

[0056] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0057] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A full-cycle safety control method for remote parking of an electric vehicle, characterized in that: The intelligent driving controller executes a full-cycle safety control method, wherein the full-cycle safety control includes a remote parking function activation condition verification stage, a remote parking function operation stage, and a remote parking function shutdown stage; Real-time monitoring of driver status signals at each stage of the full cycle safety control, wherein the driver status signals include the driver not being in the main driving seat or the driver being in the main driving seat; In the remote parking function off stage, when the driver status signal indicates that the driver is not in the main driving seat and the vehicle produces unexpected movement, a forced braking strategy is triggered. The forced braking strategy includes limiting the drive motor torque to zero output and controlling the transmission to enter the P gear after the vehicle stops.

2. The electric vehicle remote control parking full cycle safety control method according to claim 1, characterized in that: In the remote control parking function activation condition verification stage, when the driver status signal indicates that the driver is not in the main driving seat, activation of the remote control parking function is allowed.

3. The electric vehicle remote control parking full cycle safety control method according to claim 1, characterized in that: During the operation phase of the remote parking function, when the driver status signal changes to the driver being in the main driving seat, the execution of the remote parking function is terminated, the vehicle is controlled to enter a stationary state, and the transmission is controlled to enter the P gear.

4. The electric vehicle remote control parking full cycle safety control method according to claim 1, characterized in that: The forced braking strategy also includes: If the P gear fails to be engaged, the maximum braking torque will be continuously output and the drive motor torque output will be locked.

5. The electric vehicle remote parking full-cycle safety control method according to claim 1, characterized in that: The driver status signal is generated by a multi-sensor signal fusion judgment logic, and the multi-sensor signal includes a driver's seat pressure sensor signal, a seat belt buckle sensor signal, and a steering wheel grip detection sensor signal.

6. The electric vehicle remote control parking full cycle safety control method according to claim 5, characterized in that: The judgment logic of the driver not being in the main driving seat is to meet the following conditions at the same time: The detection value of the driver's seat pressure sensor is not greater than the preset threshold; The seat belt buckle sensor returns an unfastened signal; The steering wheel hold detection sensor returns a no contact signal.

7. The electric vehicle remote control parking full cycle safety control method according to claim 5, characterized in that: The judgment logic of the driver in the main driving seat is to meet any of the following conditions: The detection value of the driver's seat pressure sensor is greater than the preset threshold; The seat belt buckle sensor returns a buckle signal; The steering wheel hold detection sensor returns a valid contact signal.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the full-cycle safety control method for remote parking of an electric vehicle as described in any one of claims 1 to 7 is implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by the processor, the full-cycle safety control method for remote parking of an electric vehicle as described in any one of claims 1 to 7 is implemented.

10. A computer program product, characterized in that When the computer program product is executed by a processor, the full-cycle safety control method for remote parking of an electric vehicle as claimed in any one of claims 1 to 7 is implemented.

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