Method and device for automatically switching traveling and parking functions, electronic equipment and storage medium

Abstract

The invention provides a method and device for automatically switching a driving and parking function, electronic equipment and a storage medium, a vehicle is provided with a driving and parking sharing switch, the driving and parking sharing switch is used for activating an auxiliary driving function, and the auxiliary driving function comprises a driving function and a parking function. The method comprises the following steps: acquiring a real-time position of a vehicle in a driving and parking map under the condition that a driving and parking sharing switch is turned on, and determining a target auxiliary driving function needing to be activated according to a marking result of a driving area where the real-time position is located; wherein the parking map comprises a plurality of driving areas, and each driving area is marked as a driving area or a parking area. And executing a target auxiliary driving task corresponding to the target auxiliary driving function.

Description

Technical Field

[0001] The present specification relates to the field of intelligent driving technology, and in particular to methods, devices, electronic devices and storage media for automatically switching parking functions. Background Art

[0002] Advanced Driver Assistance Systems (ADAS) is a system that combines multiple sensor technologies, intelligent algorithms and in-vehicle computing platforms to improve the driver's driving safety, convenience and comfort. ADAS helps drivers avoid potential traffic accidents or driving errors by monitoring the vehicle's surroundings in real time and interacting with the driver, while reducing the driver's burden and enhancing the driving experience.

[0003] The driving assistance system can provide the driver with driving and parking functions. The driver activates the driving function or the parking function to allow the driving assistance system to control the vehicle accordingly based on the activated function. Currently, vehicles are usually equipped with independent driving switches and parking switches. When the driver needs to drive, he usually needs to operate a special driving switch button to activate the driving function provided by the driving assistance system; and when the driver needs to park, he usually needs to operate a special parking switch button to activate the parking function provided by the driving assistance system.

[0004] The independent switch design of driving and parking functions requires users to perform different operations in different situations, which can easily lead to cumbersome and inconvenient operations. If users activate the driving or parking function at an inappropriate time, it may cause unnecessary danger. Summary of the invention

[0005] In order to overcome the problems existing in the related art, this specification provides a method, device, electronic device and storage medium for automatically switching the parking function.

[0006] According to a first aspect of an embodiment of the present specification, a method for automatically switching a driving and parking function is provided, wherein a vehicle is equipped with a driving and parking common switch, wherein the driving and parking common switch is used to activate an auxiliary driving function, wherein the auxiliary driving function includes a driving function and a parking function, and the method comprises: When the driving and parking common switch is turned on, the real-time position of the vehicle in the driving and parking map is obtained, and the target assisted driving function to be activated is determined according to the marking result of the driving area where the real-time position is located; wherein the driving and parking map includes a plurality of driving areas, each of which is marked as a driving area or a parking area; Execute a target assisted driving task corresponding to the target assisted driving function.

[0007] According to a second aspect of an embodiment of the present specification, a device for automatically switching a driving and parking function is provided, wherein a vehicle is equipped with a driving and parking common switch, wherein the driving and parking common switch is used to activate an auxiliary driving function, wherein the auxiliary driving function includes a driving function and a parking function, and wherein the device includes: a target assisted driving function activation module, configured to obtain the real-time position of the vehicle in the driving and parking map when the driving and parking common switch is turned on, and determine the target assisted driving function to be activated according to the marking result of the driving area where the real-time position is located; wherein the driving and parking map includes a plurality of driving areas, each of which is marked as a driving area or a parking area; The target assisted driving task execution module is used to execute the target assisted driving task corresponding to the target assisted driving function.

[0008] According to a third aspect of the embodiments of this specification, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the method described in the first aspect are implemented.

[0009] According to a fourth aspect of the embodiments of this specification, there is provided a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the steps of the method described in the first aspect.

[0010] In the embodiment of this specification, by using the common switch for driving and parking, the driver does not need to manually switch the driving switch or the parking switch, thus avoiding unnecessary dangers caused by the driver activating the driving or parking function at an inappropriate time. By marking the driving area and the parking area in the driving and parking map, when the real-time position of the vehicle changes, the driving function or the parking function is adaptively switched in combination with the area marking, thereby ensuring that the auxiliary driving support can be adjusted in time when the real-time driving environment of the vehicle changes.

[0011] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the specification and, together with the description, serve to explain the principles of the specification.

[0013] Figure 1 The flowchart of a method for automatically switching the parking function is shown in the specification according to an exemplary embodiment.

[0014] Figure 2 It is a schematic diagram of determining a target assisted driving function according to an exemplary embodiment of the present specification.

[0015] Figure 3 This is a flowchart of determining a target driver assistance function that needs to be activated according to an exemplary embodiment of the present specification.

[0016] Figure 4 It is a schematic diagram of the operation of the driving and parking integrated instruction verification module shown in this specification according to an exemplary embodiment.

[0017] Figure 5 It is a working framework diagram for verifying the link safety of a driving assistance system shown in this specification according to an exemplary embodiment.

[0018] Figure 6 This is another working framework diagram for verifying the link safety of a driving assistance system shown in this specification according to an exemplary embodiment.

[0019] Figure 7 It is another working framework diagram for verifying the link safety of a driving assistance system shown in this specification according to an exemplary embodiment.

[0020] Figure 8 It is another working framework diagram for verifying the link safety of a driving assistance system shown in this specification according to an exemplary embodiment.

[0021] Fig. 9 It is a structural schematic diagram of an electronic device according to an exemplary embodiment of the present specification.

[0022] Fig.10 It is a block diagram of a device for automatically switching the parking function according to an exemplary embodiment of the present specification. DETAILED DESCRIPTION

[0023] Advanced Driver Assistance Systems (ADAS) is a system that combines multiple sensor technologies, intelligent algorithms and in-vehicle computing platforms to improve the driver's driving safety, convenience and comfort. ADAS helps drivers avoid potential traffic accidents or driving errors by monitoring the vehicle's surroundings in real time and interacting with the driver, while reducing the driver's burden and enhancing the driving experience.

[0024] The driving assistance system can provide the driver with driving and parking functions. The driver activates the driving function or the parking function to allow the driving assistance system to control the vehicle accordingly based on the activated function. Currently, vehicles are usually equipped with independent driving switches and parking switches. When the driver needs to drive, he usually needs to operate a special driving switch button to activate the driving function provided by the driving assistance system; and when the driver needs to park, he usually needs to operate a special parking switch button to activate the parking function provided by the driving assistance system.

[0025] The independent switch design of driving and parking functions requires users to perform different operations in different situations, which can easily lead to cumbersome and inconvenient operations. If users activate the driving or parking function at an inappropriate time, it may cause unnecessary danger.

[0026] In view of the above technical problems, this specification provides a method for automatically switching the driving and parking functions to achieve the purpose of automatically switching the driving and parking functions of the vehicle.

[0027] Next, the embodiments of this specification are described in detail.

[0028] Figure 1 FIG. 1 is a flow chart of a method for automatically switching the parking function according to an exemplary embodiment of the present specification. Figure 1 As shown, it includes steps 101-102: Step 101: When the driving and parking common switch is turned on, the real-time position of the vehicle in the driving and parking map is obtained, and the target assisted driving function to be activated is determined according to the marking result of the driving area where the real-time position is located. The driving and parking map includes a plurality of driving areas, each of which is marked as a driving area or a parking area.

[0029] Step 102: Execute the target assisted driving task corresponding to the target assisted driving function.

[0030] The vehicle's assisted driving functions may include parking functions and driving functions. The driving function can help the driver perform various driving operations in driving scenarios such as highways and urban roads without human intervention. For example, on urban roads, the driving function can realize path planning based on real-time traffic data and select the optimal route to avoid congested or traffic accident areas. The parking function can help the driver automatically identify parking spaces and control the vehicle to enter the parking space safely and accurately without human intervention. For example, in residential areas or private garages, the parking space is small and it may take multiple adjustments to the direction to park in the parking space. The vehicle can be parked in the garage through automatic parking or remote parking.

[0031] The vehicle may be equipped with a common switch for driving and parking, which is used to activate the assisted driving function, which includes the driving function and the parking function. Regardless of whether the driver has a driving demand or a parking demand, the driving and parking common switch is turned on. By using the driving and parking common switch, the driver does not need to manually switch the driving switch or the parking switch, avoiding unnecessary dangers caused by the driver activating the driving function or the parking function at an inappropriate time. For example, when the driver is in a driving scene such as a parking scene or a highway scene, after the driver turns on the driving and parking common switch, the vehicle can activate the assisted driving function adapted to the current scene of the vehicle. For example, in a parking scene, the vehicle can automatically activate the parking function; and in a highway scene, the vehicle can automatically activate the driving function.

[0032] The driving map may include several driving areas, each of which is marked as a driving area and a parking area. A driving area may be an area for vehicle traffic, such as a highway, an intersection, a parking lot, etc. These areas are marked as driving areas and parking areas according to the driving scene. For example, a certain area of ​​a parking lot in the driving map is marked as a driving area, while other areas are marked as parking areas.

[0033] There may be multiple ways to mark the driving areas of the driving and parking map. In one embodiment, several driving areas of the driving and parking map may be marked in advance, and each driving area may be marked as a driving area or a parking area. Since the marking results of the driving areas in the driving and parking map are generated in advance, after obtaining the real-time position of the vehicle in the driving and parking map, the target assisted driving function that needs to be activated may be determined directly based on the marking results of the driving area where the real-time position is located. For example, if the marking result of the driving area where the real-time position is located is a driving area, it is determined that the target assisted driving function that needs to be activated is the driving function. If the marking result of the driving area where the real-time position is located is a parking area, it is determined that the target assisted driving function that needs to be activated is the parking function.

[0034] In this embodiment, the pre-generated annotation data can be fully verified and corrected to provide a stable and consistent driving area division. In this way, the driver assistance system can rely on a set of verified and accurate area annotation data in actual operation, reducing the uncertainty caused by vehicle perception errors and improving the safety and reliability of the driver assistance system.

[0035] In another embodiment, when the parking and driving common switch is turned on, the vehicle can perceive the surrounding environmental features in real time, and dynamically divide the boundary of the vehicle's current driving area in the parking and driving map according to the surrounding environmental features perceived in real time, and generate the annotation results of the driving area. After obtaining the real-time position of the vehicle in the parking and driving map, the target assisted driving function to be activated can be determined according to the annotation results of the driving area where the real-time position is located. In this embodiment, the vehicle can dynamically adjust the driving area boundary and its annotation results through real-time environmental perception to flexibly adapt to environmental changes.

[0036] Figure 2 FIG. 1 is a schematic diagram of a target-determining assisted driving function according to an exemplary embodiment of the present specification. Figure 2 As shown, a scene feature recognition module 15 can be integrated into the driving assistance system. When the parking and driving common switch 14 is turned on, the scene feature recognition module 15 can obtain the real-time position of the vehicle in the parking and driving map, and determine the target assisted driving function 16 that needs to be activated based on the annotation result of the driving area where the real-time position is located.

[0037] In an exemplary application scenario, it is assumed that the vehicle needs to start from point A, pass through point B and finally drive to point C, wherein the driving area X1 where point A is located is marked as a parking area, the driving area X2 where point B is located is marked as a driving area, and the driving area X3 where point C is located is marked as a parking area. After the vehicle turns on the common switch for driving and parking at point A, the real-time position of the vehicle in the driving and parking map is obtained, and the target assisted driving function to be activated is determined to be the parking function according to the marking result of the driving area X1 where the real-time position is located, and the assisted driving task corresponding to the parking function is performed. When the vehicle drives into the driving area X2, the real-time position of the vehicle in the driving and parking map is obtained, and the target assisted driving function to be activated is determined to be the driving function according to the marking result of the driving area X2 where the real-time position is located, then the parking function currently in use is switched to the driving function, and the assisted driving task corresponding to the driving function is performed. When the vehicle travels into the driving area X3, the real-time position of the vehicle in the driving and parking map is obtained, and according to the annotation result of the driving area X3 where the real-time position is located, it is determined that the target assisted driving function to be activated is the parking function, and the currently used driving function is switched to the parking function, and the assisted driving task corresponding to the parking function is performed.

[0038] In this embodiment, when the real-time position of the vehicle changes, the target assisted driving function that needs to be activated can be determined based on the annotation results of the current driving area where the real-time position is located, ensuring that the driving assistance system can seamlessly switch the assisted driving function that is consistent with the driving scenario of the current real-time position.

[0039] In one embodiment, when determining the target assisted driving function that needs to be activated based on the labeling result of the driving area where the real-time position is located, if the labeling result of the driving area where the real-time position is located is the driving area, then the target assisted driving function that needs to be activated is determined to be the driving function; if the labeling result of the driving area where the real-time position is located is the parking area, then the target assisted driving function that needs to be activated is determined to be the parking function.

[0040] In one embodiment, when the vehicle is turned off, the shutdown position of the vehicle in the parking map is obtained, and the parking mark at the time of the shutdown is determined and stored according to the marking result of the driving area where the current shutdown position of the vehicle is located, or the parking mark at the time of the shutdown is determined and stored according to the auxiliary driving function used before the vehicle is turned off; wherein the parking mark includes a driving mark and a parking mark. For example, when the vehicle is turned off, if the marking result of the driving area where the current shutdown position of the vehicle is located is a parking area, the parking mark at the time of the shutdown is determined and stored as a parking mark; if the marking result of the driving area where the current shutdown position of the vehicle is located is a driving area, the parking mark at the time of the shutdown is determined and stored as a driving mark. For example, if the auxiliary driving function used before the vehicle is turned off is a parking function, the parking mark at the time of the shutdown is determined and stored as a parking mark; if the auxiliary driving function used before the vehicle is turned off is a driving function, the parking mark at the time of the shutdown is determined and stored as a driving mark.

[0041] If the parking common switch is turned on during the vehicle startup phase, the parking mark stored in the vehicle at the time of the previous shutdown can be read, and the target assisted driving function to be activated can be determined based on the parking mark.

[0042] Among them, the vehicle startup phase can be the phase of restarting the vehicle after the vehicle accidentally stalls on the road, or it can be the phase when the driver gets in the vehicle and starts the vehicle after the vehicle has been parked in a parking space for a long time.

[0043] In this embodiment, during the vehicle startup phase, the vehicle does not need to perceive the external environment in real time to determine the target assisted driving function, and can directly determine the target assisted driving function based on the stored parking identification, thereby improving the response speed of activating the target assisted driving function.

[0044] In one embodiment, if the vehicle has turned on the power saving mode and the timing of turning on the parking and driving common switch is the vehicle driving stage, the uncalibrated real-time position of the vehicle in the parking and driving map can be obtained, and the target assisted driving function to be activated can be determined according to the marking result of the driving area where the uncalibrated real-time position is located. After the vehicle turns on the power saving mode, its positioning function is generally inaccurate. In order to ensure the response speed of the assisted driving function, the uncalibrated real-time position of the vehicle in the parking and driving map can be obtained, and the target assisted driving function to be activated can be first determined according to the marking result of the driving area where the uncalibrated real-time position is located. Then, during the driving process of the vehicle, the real-time position of the vehicle in the parking and driving map is calibrated, and the target assisted driving function to be activated is re-determined according to the marking result of the driving area where the real-time position obtained by the calibration is located. Exemplarily, it can be detected within a preset time period whether there are environmental feature points in the driving environment where the vehicle is currently located. If there are environmental feature points, the real-time position of the vehicle in the parking and driving map can be calibrated according to the environmental feature points, and the target assisted driving function to be activated can be re-determined according to the marking result of the driving area where the real-time position obtained by the calibration is located. If there are no environmental feature points and the currently activated target assisted driving function is the parking function, the target assisted driving function that needs to be activated is re-determined to be the driving function. Among them, environmental feature points can be road signs, buildings, intersections, lamp posts, guardrails, traffic lights and road widths. The preset duration can be set to a maximum of 3.5 minutes. Since there are many environmental feature points in the parking scene, if no environmental feature points are detected within 3.5 minutes, it means that the current driving scene is very likely not a parking scene.

[0045] In an exemplary application scenario, assuming that the vehicle has turned on the power saving mode and the parking and driving common switch is turned on during the driving phase, the uncalibrated real-time position of the vehicle in the parking and driving map is obtained, and the target assisted driving function that needs to be activated is determined based on the annotation results of the driving area where the uncalibrated real-time position is located. Assuming that the target assisted driving function that needs to be activated is incorrectly determined based on the annotation results of the driving area where the uncalibrated real-time position is located due to inaccurate position coordinates, it is possible to detect whether there are environmental feature points in the driving environment where the vehicle is currently located within a preset driving time of the vehicle. If there are environmental feature points, the real-time position of the vehicle in the parking and driving map can be calibrated based on the environmental feature points, and the target assisted driving function that needs to be activated can be re-determined based on the annotation results of the driving area where the real-time position obtained by the calibration is located. If there are no environmental feature points and the currently activated target assisted driving function is the parking function, the target assisted driving function that needs to be activated can be re-determined as the driving function.

[0046] In this embodiment, firstly, the driving assistance system can quickly activate the assisted driving function based on the uncalibrated real-time position, reduce the response time of the parking function, and improve the user experience. Secondly, during the driving of the vehicle, the real-time position of the vehicle can be calibrated based on the detected environmental feature points, and the assisted driving function that needs to be activated can be re-determined based on the calibrated real-time position to avoid safety risks caused by erroneous activation of functions. Finally, if the environmental feature points in the driving environment where the vehicle is currently located are not detected within the preset time, it means that the vehicle is most likely not in a parking scene. Even if the driving position of the vehicle cannot be calibrated based on the environmental feature points, it can be judged that the current vehicle is in a driving scene, thereby increasing the robustness of the algorithm for determining the assisted driving function.

[0047] In one embodiment, Figure 3 This is a flowchart of determining a target assisted driving function to be activated according to an exemplary embodiment of the present specification, specifically including steps 301-310: Step 301: Turn on the parking and driving sharing switch.

[0048] Step 302 : Determine whether the start timing is the vehicle start-up phase, if so, go to step 303 , if not, go to step 305 .

[0049] Step 303: Read the parking mark recorded in the storage area. The parking mark includes a driving mark and a parking mark. The parking mark can be determined based on the historical position of the vehicle when it was last turned off, and based on the marking result of the driving area where the historical position is located. Or it can be determined based on the historical assisted driving function used when the vehicle was last turned off. For example, if the marking result of the driving area where the historical position is located is a parking area, the parking mark is determined to be a parking mark; if the marking result of the driving area where the historical position is located is a driving area, the parking mark is determined to be a driving mark. For another example, if the historical assisted driving function used when the vehicle was last turned off was a parking function, the parking mark is a parking mark; if the historical assisted driving function used when the vehicle was last turned off was a driving function, the parking mark is a driving mark.

[0050] Step 304: Determine the assisted driving function to be activated according to the parking mark. For example, if the parking mark is a driving mark, the assisted driving function to be activated is determined to be the driving function; if the parking mark is a parking mark, the assisted driving function to be activated is determined to be the parking function.

[0051] Step 305 : Determine whether the vehicle is in power saving mode, if so, go to step 306 , if not, go to step 307 .

[0052] Step 306: Determine the target assisted driving function to be activated according to the uncalibrated real-time position of the vehicle. Specifically, obtain the uncalibrated real-time position of the vehicle in the parking map, and determine the target assisted driving function to be activated according to the marking result of the driving area where the uncalibrated real-time position is located.

[0053] Step 307: Determine the target assisted driving function that needs to be activated according to the real-time position of the vehicle.

[0054] Step 308: Determine whether the environmental feature points in the vehicle's current driving environment are detected within a preset time period. If so, go to step 309; if not, go to step 310.

[0055] Step 309: Calibrate the real-time position of the vehicle according to the environmental feature points, and redetermine the target assisted driving function that needs to be activated according to the calibrated real-time position. Specifically, calibrate the real-time position of the vehicle in the parking map according to the environmental feature points, and redetermine the target assisted driving function that needs to be activated according to the marking result of the driving area where the real-time position obtained by the calibration is located.

[0056] Step 310: If the currently activated target assisted driving function is the parking function, then the target assisted driving function to be activated is re-determined to be the driving function.

[0057] In the prior art, each time the driving assistance system switches between the driving function and the parking function, the driving assistance system needs to re-handshake with the control system, and the control system will respond to the control instructions in the driving task or the parking task, and verify the control parameters in the control instructions based on the control constraints for the driving task and the parking task on the control system. However, each time the driving function and the parking function are switched, each handshake operation between the driving assistance system and the control system will generate a delay of about 500ms, which will affect the seamless switching experience of the driving function and the parking function in this method.

[0058] In view of the above technical problems, in one embodiment, when executing a target assisted driving task corresponding to a target assisted driving function, a control instruction for executing the target assisted driving task is obtained, and the control instruction includes a lateral control instruction and a longitudinal control instruction. The lateral control instruction is verified according to the lateral control constraint condition, and the lateral control instruction that passes the verification is sent to the lateral control system of the vehicle. The longitudinal control instruction is verified according to the longitudinal control constraint condition, and the longitudinal control instruction that passes the verification is sent to the longitudinal control system of the vehicle.

[0059] Figure 4 1 is a schematic diagram of the operation of the travel-parking integrated instruction verification module according to an exemplary embodiment of the present specification. Figure 4As shown, the driving assistance system can integrate the lateral driving and parking integrated command verification module 40A and the longitudinal driving and parking integrated command verification module 40B. The driving assistance system can output the driving lateral control command in the driving task to the lateral driving and parking integrated command verification module 40A, and the driving longitudinal control command in the driving task to the longitudinal driving and parking integrated command verification module 40B. The driving assistance system can also output the parking lateral control command in the parking task to the lateral driving and parking integrated command verification module 40A, and the longitudinal control command in the parking task to the driving and parking integrated command verification module 40B. The lateral driving and parking integrated command verification module 40A sends the lateral control command that has passed the verification to the lateral control system 41A. The lateral control system 41A does not need to distinguish between the driving mode or the parking mode, and can directly execute the lateral control operation indicated by the lateral control command. The longitudinal driving and parking integrated command verification module 40B sends the longitudinal control command that has passed the verification to the longitudinal control system 41B. The longitudinal control system 41B also does not need to distinguish between the driving mode or the parking mode, and can directly execute the longitudinal control operation indicated by the longitudinal control command.

[0060] In this embodiment, this solution integrates the verification logic of the control constraint conditions of different functional modes into the lateral driving and parking integrated instruction verification module 40A and the longitudinal driving and parking integrated instruction verification module 40B according to the lateral constraint conditions and the longitudinal constraint conditions. After obtaining the control instruction for executing the target assisted driving task, the control instruction is verified and sent to the control system, so that the control system does not need to distinguish the functional modes, and accordingly does not need to perform handshakes to determine the functional mode to be called, and can directly execute the control instruction. In this embodiment, the delay caused by the switching of functional modes is reduced, and the smoothness and instant response ability of the vehicle switching between different functional modes are improved, thereby improving the user experience.

[0061] After the driving assistance system automatically activates the driving function or parking function, it can control the vehicle accordingly according to the activated function. However, there are huge differences in the applicable driving scenarios and control logic of these two functions. If the driver automatically activates the assisted driving function that is not suitable for the current driving scenario while using the assisted driving function (driving function or parking function), or even if the correct assisted driving function is activated, the control logic of controlling the vehicle is not suitable for the current driving scenario, it is easy to cause traffic accidents. For example, the parking control logic usually includes low-speed movement and precise parking operations, while the vehicle needs to maintain a certain speed and smooth driving in the driving scenario. If the driving assistance system mistakenly executes the parking control logic in the driving scenario, the vehicle may suddenly slow down or stop, causing the risk of rear-end collision with the following vehicle. For another example, in the parking scenario, the vehicle speed requirement is low. If the driving assistance system mistakenly applies the driving control logic to the parking scenario, the vehicle may suddenly accelerate or move forward, causing the vehicle to collide with surrounding obstacles or pedestrians.

[0062] In one embodiment, in response to the above technical problem, when executing a target assisted driving task corresponding to a target assisted driving function, a first assisted driving mode corresponding to the target assisted driving function can be determined; driving environment data of the vehicle's current driving environment is obtained, and a second assisted driving mode matching the driving environment is determined based on the driving environment data; when the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode, the vehicle's driving is controlled according to the assisted driving task output by the driving decision layer; wherein the assisted driving mode includes a driving mode and a parking mode.

[0063] When the target assisted driving function is activated, it is determined whether the activated target assisted driving function is a driving function or a parking function. If the driving function is activated, the first assisted driving mode corresponding to the driving function is determined to be the driving mode; if the parking function is activated, the first assisted driving mode corresponding to the parking function is determined to be the parking mode.

[0064] Acquire driving environment data of the driving environment in which the vehicle is currently located, and determine a second assisted driving mode that matches the driving environment based on the driving environment data. Exemplarily, the driving environment can be classified into a driving environment and a parking environment, and based on the driving environment data, it can be determined whether the driving environment in which the vehicle is currently located is a driving environment or a parking environment. If it is determined that the driving environment in which the vehicle is currently located is a driving environment, then the second assisted driving mode that matches the driving environment is determined to be a driving mode; if it is determined that the driving environment in which the vehicle is currently located is a parking environment, then the second assisted driving mode that matches the driving environment is determined to be a parking mode.

[0065] In the case where the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode, the driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer. For example, the first assisted driving mode is the driving mode, and the second assisted driving mode is the driving mode, then the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode. For another example, the first assisted driving mode is the driving mode, and the second assisted driving mode is the parking mode, then the first assisted driving mode and the second assisted driving mode belong to different assisted driving modes. In the case where the first assisted driving mode and the second assisted driving mode belong to different assisted driving modes, an alarm prompt is output and / or the driving control of the vehicle according to the assisted driving task output by the driving decision layer is prohibited, and the alarm prompt is used to remind the driver to take over the vehicle.

[0066] Figure 5 This is a working framework diagram of verifying the link safety of a driving assistance system according to an exemplary embodiment of this specification. Figure 5 As shown, when the driving function 10A of the vehicle is activated, the vehicle sends a driving mode request to the driving decision layer 11, and the first auxiliary driving mode can be judged to be the driving mode according to the driving mode request; when the parking function 10B of the vehicle is activated, the vehicle sends a parking mode request to the driving decision layer 11, and the first auxiliary driving mode can be judged to be the parking mode according to the parking mode request. The driving decision layer 11 can be provided with a scene adaptation module 111, and the scene adaptation module 111 can be used to obtain the driving environment data of the current driving environment of the vehicle, and determine the second auxiliary driving mode matching the driving environment according to the driving environment data. In the case where the first auxiliary mode and the second auxiliary mode belong to the same auxiliary driving mode, it means that the currently activated auxiliary driving function is adapted to the current driving environment of the vehicle, and the driving control of the vehicle can be performed according to the auxiliary driving task output by the driving decision layer. When the first assistance mode and the second assistance mode belong to different assisted driving modes, it means that the currently activated assisted driving function is not suitable for the current driving environment of the vehicle, and the assisted driving task output by the driving decision layer may be wrong. The vehicle driving control according to the assisted driving task output by the driving decision layer can be prohibited.

[0067] By verifying whether the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode, it is possible to determine whether the currently activated assisted driving function is suitable for the vehicle's current driving environment. When the currently activated assisted driving function is suitable for the vehicle's current driving environment, the vehicle's driving control is performed according to the assisted driving tasks output by the driving decision layer, thereby solving the problem of the driving assistance system making incorrect vehicle control decisions when the driving assistance system activates an assisted driving function that is not suitable for the vehicle's scenario.

[0068] In one embodiment, the driving decision layer may include a driving state machine. When any assisted driving function of the vehicle is activated, a first assisted driving mode corresponding to any assisted driving function is determined. The functional state output by the driving state machine for the activated assisted driving function is obtained, and a third assisted driving mode corresponding to the functional state is determined. Driving environment data of the driving environment in which the vehicle is currently located is obtained, and a second assisted driving mode matching the driving environment is determined based on the driving environment data. When the first assisted driving mode, the second assisted driving mode, and the third assisted driving mode all belong to the same assisted driving mode, the driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer. When the first assisted driving mode, the second assisted driving mode, and the third assisted driving mode belong to different assisted driving modes, an alarm prompt is output and / or the driving control of the vehicle is prohibited according to the assisted driving task output by the driving decision layer, and the alarm prompt is used to remind the driver to take over the vehicle.

[0069] Figure 6 This is another working framework diagram for verifying the link safety of a driving assistance system according to an exemplary embodiment of this specification. Figure 6 As shown, after the driving function 10A is activated, a driving mode request is sent to the parking state machine 112, or after the parking function 10B is activated, a parking mode request is sent to the parking state machine 112. The first auxiliary driving mode can be determined by reading the driving mode request or the parking mode request. The parking state machine 112 can switch the functional state to the corresponding driving function state or parking function state in response to the driving function or the parking function being activated, and the third auxiliary driving mode corresponding to the functional state can be determined by reading the functional state switched by the parking state machine. For example, the parking state machine can switch the functional state to the driving function state in response to the driving function being activated, read the driving function state and determine that the third auxiliary driving mode corresponding to the driving function state is the driving mode. For another example, the parking state machine can switch the functional state to the parking function state in response to the parking function being activated, and determine that the third auxiliary driving mode corresponding to the parking function state is the parking function. The scene adaptation module 111 can obtain the driving environment data of the driving environment in which the vehicle is currently located, and determine the second assisted driving mode matching the driving environment according to the driving environment data. The driving decision layer 11 can generate a driving task or a parking task, and send the driving task or the parking task to the vehicle control system 12.

[0070] Due to the limitation of the algorithm, the functional state of the parking state machine may not accurately correspond to the activated auxiliary driving function. For example, the parking state machine may switch to a parking function state in response to the activation of the driving function. If the parking state machine switches to an incorrect functional state, it will affect the driving decision result of the driving decision layer. For example, in an application framework of a driving decision layer, the driving decision layer may also include a control large model, which is used to respond to the functional state output by the parking state machine, call the driving control logic corresponding to the functional state to generate an auxiliary driving task, and output the auxiliary driving task to control the driving of the vehicle. For example, the auxiliary driving function activated by the vehicle is the driving function, but the functional state switched by the parking state machine is the parking state. The control large model responds to the parking state output by the traveling state machine, executes the parking-related control logic and outputs the parking-related auxiliary driving task to control the driving of the vehicle. It can be seen that if the parking state machine switches to an incorrect functional state, it will affect the decision correctness of the functional nodes associated with it in the driving decision layer 11.

[0071] Therefore, this embodiment can not only verify whether the assisted driving function is activated incorrectly according to the external driving environment, but also verify whether the driving state machine in the driving decision layer correctly responds to the activated assisted driving function by verifying the consistency between the activated assisted driving function, the functional state output by the driving state machine and the external driving environment, thereby ensuring that in the functional chain of the driving assistance system, the assisted driving mode triggered by the assisted driving function activation node and the driving state machine node are the same assisted driving mode, and verifying that the assisted driving mode is adapted to the current driving scenario, thereby improving the operational safety of the driving assistance system.

[0072] In one embodiment, when the target assisted driving function of the vehicle is activated, a first assisted driving mode corresponding to the target assisted driving function is determined. The driving environment data of the current driving environment of the vehicle is obtained, and the second assisted driving mode matching the driving environment is determined according to the driving environment data. The fourth assisted driving mode corresponding to the assisted driving task output by the driving decision layer is determined. When the first assisted driving mode, the second assisted driving mode and the fourth assisted driving mode all belong to the same assisted driving mode, the driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer. When the first assisted driving mode, the second assisted driving mode and the fourth assisted driving mode belong to different assisted driving modes, an alarm prompt is output and / or the driving control of the vehicle according to the assisted driving task output by the driving decision layer is prohibited, and the alarm prompt is used to remind the driver to take over the vehicle. Among them, when determining the fourth assisted driving mode corresponding to the assisted driving task output by the driving decision layer, the type of the assisted driving task can be determined. If the assisted driving task is a driving task, the fourth assisted driving mode can be determined to be a driving mode; if the assisted driving task is a parking task, the fourth assisted driving mode can be determined to be a parking mode.

[0073] By verifying the consistency of the assisted driving tasks output by the driving decision layer, the activated assisted driving functions and the external environment, it can be ensured that the activated assisted driving functions are consistent with the driving scenarios, and the assisted decision layer also outputs the assisted driving tasks corresponding to the activated assisted driving functions. In real-world application scenarios, the problem that the driver correctly activates the assisted driving function, but the driving decision layer executes the wrong driving control logic without being discovered can be solved. For example, in a parking scenario, the driver activates the parking function, but the vehicle executes the driving control logic. Through the above verification method, the problem of the driving control logic and the parking control logic in the driving decision layer being interconnected can be discovered in a timely manner.

[0074] In one embodiment, when the target assisted driving function of the vehicle is activated, a first assisted driving mode corresponding to the target assisted driving function is determined. The functional state output by the parking state machine for the first assisted driving mode is obtained, and a third assisted driving mode corresponding to the functional state is determined. A fourth assisted driving mode corresponding to the assisted driving task output by the driving decision layer is determined. Driving environment data of the current driving environment of the vehicle is obtained, and a second assisted driving mode matching the driving environment is determined based on the driving environment data. When the first assisted driving mode, the second assisted driving mode, the third assisted driving mode and the fourth assisted driving mode belong to the same assisted driving mode, the driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer.

[0075] Figure 7This is another working framework diagram for verifying the link safety of a driving assistance system according to an exemplary embodiment of this specification. Figure 7 As shown, after the driving function 10A is activated, a driving mode request is sent to the parking state machine 112, or after the parking function 10B is activated, a parking mode request is sent to the parking state machine 112. The first assisted driving mode can be determined by reading the driving mode request or the parking mode request. The parking state machine 112 can switch the functional state to the corresponding driving function state or parking function state in response to the driving function or the parking function being activated, and can read the functional state switched by the parking state machine, and determine the third assisted driving mode corresponding to the functional state. The control large model 113 can generate an assisted driving task in response to the functional state output by the parking state machine. For example, when the control large model 113 receives the driving instruction sent by the parking state machine 112, it calls the driving control logic, generates the driving task, and outputs the driving task to the vehicle control system 12; for another example, when the control large model 113 receives the parking instruction sent by the parking state machine 112, it calls the parking control logic, generates the parking task, and outputs the parking task to the vehicle control system 12. The scene adaptation module 111 can obtain the driving environment data of the driving environment in which the vehicle is currently located, and determine the second assisted driving mode matching the driving environment according to the driving environment data. The scene adaptation module 111 can be integrated into the control large model 113, or it can be independent of the control large model 113, and this specification does not impose any restrictions on this.

[0076] In one embodiment, when the target assisted driving function of the vehicle is activated, a first assisted driving function corresponding to the target assisted driving function is determined. Driving environment data of the current driving environment of the vehicle is obtained, and a second assisted driving mode matching the driving environment is determined according to the driving environment data. When the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode, the type of assisted driving task output by the driving decision layer is determined. If the assisted driving task is a driving task and the driving control parameters of the driving task meet the driving safety conditions, the driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer. If not, an alarm is issued, and the alarm is used to remind the driver to take over the vehicle. If the assisted driving task is a parking task and the driving control parameters of the parking task meet the parking safety constraints, the driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer. If not, an alarm is issued, and the alarm is used to remind the driver to take over the vehicle.

[0077] Exemplarily, driving safety constraints and parking safety constraints may be set in accordance with automobile functional safety standards. For example, driving safety constraints may include that the deceleration of the smart cruise control shall not be greater than 0.5g, the starting acceleration shall not be greater than 0.3g, etc. Parking safety constraints may include that the acceleration of the memory parking function shall not be greater than 0.15g, the maximum speed shall not be greater than 30km / h, etc.

[0078] In this embodiment, on the basis of verifying that the assisted driving function activated by the vehicle is adapted to the actual driving scene in which the vehicle is located, it is further verified whether the driving control parameters of the driving task output by the driving decision layer or the parking control parameters of the parking task meet the corresponding safety specifications. In real application scenarios, the problem of correctly activating the assisted driving function and the driving control parameters of the assisted driving task output by the driving decision layer not meeting the safety specifications, causing traffic accidents, can be solved. For example, in a parking scenario, the vehicle is parked at the driving speed during the parking process. Through the above verification method, it can be ensured that the control operation of the vehicle meets the safety specifications on the basis of ensuring that the activated assisted driving function is adapted to the vehicle driving scene.

[0079] In one embodiment, when the target assisted driving function of the vehicle is activated, a first assisted driving mode corresponding to the target assisted driving function is determined. The functional state output by the parking state machine for the activated assisted driving function is obtained, and a third assisted driving mode corresponding to the functional state is determined. The driving environment data of the driving environment in which the vehicle is currently located is obtained, and the second assisted driving mode matching the driving environment is determined according to the driving environment data. The fourth assisted driving mode corresponding to the assisted driving task output by the driving decision layer is determined. When the first assisted driving mode, the second assisted driving mode, the third assisted driving mode and the fourth assisted driving mode belong to the same assisted driving mode, the type of the assisted driving task output by the driving decision layer is determined, and if the assisted driving task is a driving task and the driving control parameters of the driving task meet the driving safety constraint conditions, the driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer; if the assisted driving task is a parking task and the driving control parameters of the parking task meet the parking safety constraint conditions, the driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer.

[0080] In this embodiment, by verifying the consistency of the activated assisted driving function of the vehicle, the functional state output by the parking state machine, the assisted driving task output by the driving decision layer and the driving scene the vehicle is in, it can be determined whether the vehicle has activated the appropriate assisted driving function, and whether the auxiliary decision layer in the black box state correctly responds to the activated assisted driving function. Moreover, on this basis, by further verifying whether the driving control parameters of the assisted driving task output by the auxiliary decision layer meet the safety specifications, the operational safety of the assisted driving system can be further guaranteed.

[0081] Figure 8 This is another working framework diagram for verifying the link safety of a driving assistance system according to an exemplary embodiment of this specification. Figure 8 As shown, in Figure 7 Based on the control model 113, the parking task and the driving task outputted by the control model 113 can be respectively inputted into the driving safety verification module 60A and the parking safety verification module 60B. The driving safety verification module can be encapsulated with a driving safety verification logic, which is used to verify whether the driving control parameters of the driving task meet the driving safety constraint conditions. When the driving control parameters of the driving task meet the driving safety constraint conditions, the driving task is forwarded to the vehicle control system 12. The parking safety verification module can be encapsulated with a parking safety verification logic, which is used to verify whether the driving control parameters of the parking task meet the parking safety constraint conditions. When the driving control parameters of the parking task meet the parking safety constraint conditions, the parking task is sent to the vehicle control system 12.

[0082] In one embodiment, when determining a second assisted driving mode that matches the driving environment based on driving environment data, environmental features can be extracted from the driving environment data, the driving environment can be classified according to the environmental features, and the second assisted driving mode corresponding to the classification result can be determined, wherein the categories of the driving environment include driving environment and parking environment.

[0083] The driving environment data may include vehicle driving state data and vehicle surrounding environment data. The vehicle driving state data may include vehicle speed, vehicle position, etc. The vehicle surrounding environment data may include road signs, lane signs, road conditions, the positional relationship between the vehicle and other vehicles, and obstacle types, etc. The environmental features extracted from the driving environment data can characterize the driving scene category, for example, parking space features, traffic light features, street features, parking lot sign features, etc. The driving environment can be classified according to these environmental features. The classification of the driving environment can be achieved by machine learning or rule judgment, and this specification does not impose any restrictions on the specific classification algorithm.

[0084] Corresponding to the embodiments of the aforementioned method, this specification also provides embodiments of a device and a terminal to which it is applied.

[0085] Fig. 9 1 is a schematic diagram of a structure of an electronic device according to an exemplary embodiment of the present specification. Fig. 9As shown, at the hardware level, the electronic device 900 includes a processor 902, an internal bus 904, a network interface 906, a memory 908, and a non-volatile memory 910, and may also include hardware required for other services. One or more embodiments of this specification can be implemented based on software, such as the processor 902 reading the corresponding computer program from the non-volatile memory 910 into the memory 908 and then running it. Of course, in addition to the software implementation, one or more embodiments of this specification do not exclude other implementations, such as logic devices or a combination of software and hardware, etc., that is, the execution subject of the following processing flow is not limited to each logic module, but can also be hardware or logic devices.

[0086] Fig.10 1 is a block diagram of a device for automatically switching the parking function according to an exemplary embodiment of the present specification. Fig.10 As shown, the device can be applied to Fig. 9 In the electronic device 900 shown in the figure, the technical solution of this specification is implemented. The device includes: a target assisted driving function activation module 1002, configured to obtain the real-time position of the vehicle in the driving and parking map when the driving and parking common switch is turned on, and determine the target assisted driving function to be activated according to the marking result of the driving area where the real-time position is located; wherein the driving and parking map includes a plurality of driving areas, each of which is marked as a driving area or a parking area; The target assisted driving task execution module 1004 is used to execute the target assisted driving task corresponding to the target assisted driving function.

[0087] Optionally, the target assisted driving function activation module 1002 is specifically used to determine that the target assisted driving function to be activated is the driving function if the marking result of the driving area where the real-time position is located is the driving area; if the marking result of the driving area where the real-time position is located is the parking area, then determine that the target assisted driving function to be activated is the parking function.

[0088] Optionally, the device further includes a parking mark storage module, which is used to obtain the parking position of the vehicle in the parking map when the vehicle is turned off, and determine and store the parking mark at the time of the current shutdown according to the marking result of the driving area where the current parking position of the vehicle is located, or determine and store the parking mark at the time of the current shutdown according to the auxiliary driving function used before the vehicle is turned off; wherein the parking mark includes a driving mark and a parking mark. The target auxiliary driving function activation module 1002 is specifically used to read the parking mark stored in the vehicle at the time of the previous shutdown if the parking common switch is turned on at the vehicle startup stage, and determine the target auxiliary driving function to be activated according to the parking mark.

[0089] The target assisted driving function activation module 1002 is specifically used to obtain the uncalibrated real-time position of the vehicle in the parking map if the vehicle has turned on the power saving mode and the parking and driving common switch is turned on during the vehicle driving phase, and determine the target assisted driving function that needs to be activated based on the marking result of the driving area where the uncalibrated real-time position is located.

[0090] The target assisted driving function activation module 1002 is specifically used to calibrate the real-time position of the vehicle in the parking map during the driving of the vehicle, and re-determine the target assisted driving function that needs to be activated currently based on the marking result of the driving area where the real-time position obtained by the calibration is located.

[0091] The target assisted driving function activation module 1002 is specifically used to calibrate the real-time position of the vehicle in the parking map according to the environmental feature points if the environmental feature points in the driving environment in which the vehicle is currently located are detected within a preset time period, and re-determine the target assisted driving function that needs to be activated currently according to the marking result of the driving area where the real-time position obtained by the calibration is located.

[0092] The target assisted driving task execution module 1004 is specifically used to obtain control instructions for executing the target assisted driving task, and the control instructions include lateral control instructions and longitudinal control instructions; verify the lateral control instructions according to lateral control constraints, and send the verified lateral control instructions to the lateral control system of the vehicle; verify the longitudinal control instructions according to longitudinal control constraints, and send the verified longitudinal control instructions to the longitudinal control system of the vehicle.

[0093] The implementation process of the functions and effects of each module in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, which will not be repeated here.

[0094] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this specification. Ordinary technicians in this field can understand and implement it without paying creative work.

[0095] The present specification also provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the steps of any of the aforementioned methods for automatically switching the parking function provided in the present application are implemented.

[0096] Specifically, computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media and memory devices, including, for example, semiconductor memory devices (such as EPROM, EEPROM and flash memory devices), magnetic disks (such as internal hard disks or removable disks), magneto-optical disks, and CD ROM and DVD-ROM disks.

Claims

1. A method for automatically switching the mooring function, characterized in that: The vehicle is equipped with a driving and parking common switch, and the driving and parking common switch is used to activate an auxiliary driving function, and the auxiliary driving function includes a driving function and a parking function. The method includes: When the driving and parking common switch is turned on, the real-time position of the vehicle in the driving and parking map is obtained, and the target assisted driving function to be activated is determined according to the marking result of the driving area where the real-time position is located; wherein the driving and parking map includes a plurality of driving areas, each of which is marked as a driving area or a parking area; Execute a target assisted driving task corresponding to the target assisted driving function.

2. The method according to claim 1, characterized in that The step of determining the target assisted driving function to be activated according to the labeling result of the driving area where the real-time position is located includes: If the marking result of the driving area where the real-time position is located is a driving area, determining that the target assisted driving function to be activated is a driving function; If the marking result of the driving area where the real-time position is located is a parking area, it is determined that the target assisted driving function that needs to be activated is a parking function.

3. The method according to claim 1, characterized in that The method further comprises: When the vehicle is turned off, the turning-off position of the vehicle in the parking map is obtained, and the parking mark at the time of the current turning-off is determined and stored according to the marking result of the driving area where the current turning-off position of the vehicle is located, or the parking mark at the time of the current turning-off is determined and stored according to the auxiliary driving function used before the vehicle is turned off; wherein the parking mark includes a driving mark and a parking mark; When the parking and driving common switch is turned on, obtaining the real-time position of the vehicle in the parking and driving map, and determining the target assisted driving function to be activated according to the marking result of the driving area where the real-time position is located, includes: If the parking common switch is turned on during the vehicle startup phase, the parking flag stored in the vehicle at the last time the engine was turned off is read, and the target assisted driving function to be activated is determined based on the parking flag.

4. The method according to claim 1, characterized in that: When the parking and driving common switch is turned on, obtaining the real-time position of the vehicle in the parking and driving map, and determining the target assisted driving function to be activated according to the marking result of the driving area where the real-time position is located, includes: If the vehicle has turned on the power saving mode and the parking and driving common switch is turned on during the vehicle driving phase, the uncalibrated real-time position of the vehicle in the parking and driving map is obtained, and the target assisted driving function that needs to be activated is determined based on the marking result of the driving area where the uncalibrated real-time position is located.

5. The method according to claim 4, characterized in that After the step of determining the target assisted driving function to be activated according to the marking result of the driving area where the uncalibrated real-time position is located, the method further includes: During the driving of the vehicle, the real-time position of the vehicle in the parking map is calibrated, and the target assisted driving function that needs to be activated is re-determined according to the marking result of the driving area where the real-time position obtained by the calibration is located.

6. The method according to claim 5, characterized in that The calibrating the real-time position of the vehicle in the parking map and re-determining the target assisted driving function that needs to be activated currently according to the marking result of the driving area where the real-time position obtained by the calibration is located, includes: If environmental feature points in the vehicle's current driving environment are detected within a preset time period, the vehicle's real-time position in the parking map is calibrated based on the environmental feature points, and the target assisted driving function that needs to be activated is re-determined based on the marking result of the driving area where the real-time position obtained by the calibration is located.

7. The method according to claim 1, characterized in that The executing the target assisted driving task corresponding to the target assisted driving function includes: Acquire a control instruction for executing the target assisted driving task, wherein the control instruction includes a lateral control instruction and a longitudinal control instruction; Verifying the lateral control command according to the lateral control constraint condition, and sending the verified lateral control command to the lateral control system of the vehicle; The longitudinal control instruction is verified according to the longitudinal control constraint condition, and the longitudinal control instruction that passes the verification is sent to the longitudinal control system of the vehicle.

8. A device for automatically switching the mooring function, characterized in that: The vehicle is equipped with a driving and parking common switch, which is used to activate the auxiliary driving function, and the auxiliary driving function includes a driving function and a parking function. The device includes: a target assisted driving function activation module, configured to obtain the real-time position of the vehicle in the driving and parking map when the driving and parking common switch is turned on, and determine the target assisted driving function to be activated according to the marking result of the driving area where the real-time position is located; wherein the driving and parking map includes a plurality of driving areas, each of which is marked as a driving area or a parking area; The target assisted driving task execution module is used to execute the target assisted driving task corresponding to the target assisted driving function.

9. An electronic 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 program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

Images