Method, apparatus, electronic device, and storage medium for automatically switching between line parking and ordinary parking functions

Abstract

This specification provides a method, apparatus, electronic device, and storage medium for automatically switching between driving and parking functions. The vehicle is equipped with a shared driving and parking switch, and the shared driving and parking switch is used to activate the assisted driving function. The assisted driving function includes a driving function and a parking function. The method includes: when the shared driving and parking switch is turned on, obtaining the real-time position of the vehicle in the driving and parking map, and determining the target assisted driving function to be activated according to the annotation result of the driving area where the real-time position is located; wherein, the driving and parking map includes several driving areas, and each driving area is marked as a driving area or a parking area. Performing a target assisted driving task corresponding to the target assisted driving function.

Description

Technical Field

[0001] This specification relates to the field of intelligent driving technology, and particularly to a method, apparatus, electronic device, and storage medium for automatically switching between driving and parking functions. Background Art

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

[0003] The driving assistance system can provide driving functions and parking functions to the driver. The driver activates the driving function or parking function to enable the driving assistance system to perform corresponding driving control on the vehicle for the activated function. Currently, vehicles usually have independent driving switches and parking switches. When the driver has a driving need, they usually need to operate a dedicated driving switch button to activate the driving function provided by the driving assistance system; when the driver has a parking need, they usually need to operate a dedicated parking switch button to activate the parking function provided by the driving assistance system.

[0004] The independent switch design for driving and parking functions requires users to perform different operations in different situations, which is prone to cumbersome and inconvenient operations. If the user activates the driving or parking function at an inappropriate time, it may cause unnecessary risks. Summary of the Invention

[0005] To overcome the problems in the related art, this specification provides a method, apparatus, electronic device, and storage medium for automatically switching between driving and parking functions.

[0006] According to the first aspect of the embodiments of this specification, a method for automatically switching between driving and parking functions is provided. The vehicle is equipped with a common driving and parking switch, and the common driving and parking switch is used to activate the assisted driving function. The assisted driving function includes a driving function and a parking function. The method includes:

[0007] When the common driving and parking switch is turned on, obtain the real-time position of the vehicle in the driving and parking map, and determine the target assisted driving function to be activated according to the annotation result of the driving area where the real-time position is located; wherein, the driving and parking map includes several driving areas, and each driving area is annotated as a driving area or a parking area;

[0008] Execute the target assisted driving task corresponding to the target assisted driving function.

[0009] According to a second aspect of the embodiments of the present specification, a device for automatically switching between driving and parking functions is provided. A vehicle is equipped with a common driving and parking switch, and the common driving and parking switch is used to activate the assisted driving function. The assisted driving function includes a driving function and a parking function. The device includes:

[0010] A target assisted driving function activation module, configured to, when the common driving and parking switch is turned on, obtain the real-time position of the vehicle in the driving and parking map, and determine the target assisted driving function to be activated according to the annotation result of the driving area where the real-time position is located; wherein, the driving and parking map includes a plurality of driving areas, and each driving area is annotated as a driving area or a parking area;

[0011] A target assisted driving task execution module, configured to execute a target assisted driving task corresponding to the target assisted driving function.

[0012] According to a third aspect of the embodiments of the present specification, an electronic device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps of the method described in the first aspect are implemented.

[0013] According to a fourth aspect of the embodiments of the present specification, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the steps of the method described in the first aspect are implemented.

[0014] In the embodiments of the present specification, by using the common driving and parking switch, the driver does not need to manually switch the driving switch or the parking switch, avoiding unnecessary risks caused by the driver starting the driving or parking function at an inappropriate time. By annotating 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 annotation, so as to ensure that when the real-time driving environment of the vehicle changes, the assisted driving support can be adjusted in time.

[0015] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present specification. Description of the Drawings

[0016] The drawings here are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present specification, and are used together with the specification to explain the principles of the present specification.

[0017] Figure 1 is a flowchart of a method for automatically switching between driving and parking functions according to an exemplary embodiment of the present specification.

[0018] Figure 2It is a schematic diagram for determining a target assisted driving function shown in this specification according to an exemplary embodiment.

[0019] Figure 3 It is a flowchart for determining a target assisted driving function that needs to be activated shown in this specification according to an exemplary embodiment.

[0020] Figure 4 It is a schematic diagram of the operation of a combined driving and parking instruction verification module shown in this specification according to an exemplary embodiment.

[0021] Figure 5 It is a working framework diagram for verifying the safety of a driving assistance system link shown in this specification according to an exemplary embodiment.

[0022] Figure 6 It is another working framework diagram for verifying the safety of a driving assistance system link shown in this specification according to an exemplary embodiment.

[0023] Figure 7 It is another working framework diagram for verifying the safety of a driving assistance system link shown in this specification according to an exemplary embodiment.

[0024] Figure 8 It is another working framework diagram for verifying the safety of a driving assistance system link shown in this specification according to an exemplary embodiment.

[0025] Figure 9 It is a schematic diagram of the structure of an electronic device shown in this specification according to an exemplary embodiment.

[0026] Figure 10 It is a block diagram of a device for automatically switching between driving and parking functions shown in this specification according to an exemplary embodiment. Detailed implementation manners

[0027] A driving assistance system (ADAS, Advanced Driver Assistance Systems) is a system that combines various sensor technologies, intelligent algorithms, and in-vehicle computing platforms, aiming to improve the driving safety, convenience, and comfort of drivers. ADAS helps drivers avoid potential traffic accidents or driving errors by continuously monitoring the vehicle's surrounding environment and interacting with the driver, while reducing the driver's burden and enhancing the driving experience.

[0028] The driving assistance system can provide driving functions and parking functions to the driver. The driver activates the driving function or the parking function to enable the driving assistance system to perform corresponding driving control on the vehicle for the activated function. Currently, vehicles are usually equipped with independent driving switches and parking switches. When the driver has a driving need, they usually need to operate a dedicated driving switch button to activate the driving function provided by the driving assistance system; when the driver has a parking need, they usually need to operate a dedicated parking switch button to activate the parking function provided by the driving assistance system.

[0029] The independent switch design for driving and parking functions requires users to perform different operations in different situations, which can easily lead to cumbersome and inconvenient operations. If the user activates the driving or parking function at an inappropriate time, it may cause unnecessary risks.

[0030] To address the above technical problems, this specification provides a method for automatically switching between driving and parking functions to achieve the purpose of automatically switching between driving and parking functions for the vehicle.

[0031] Next, the embodiments of this specification will be described in detail.

[0032] Figure 1 It is a flowchart of a method for automatically switching between driving and parking functions shown in this specification according to an exemplary embodiment. As Figure 1 shown, it includes steps 101 - 102:

[0033] Step 101: When the driving and parking shared switch is turned on, obtain the real-time position of the vehicle in the driving and parking map, and determine the target assisted driving function to be activated according to the annotation result of the driving area where the real-time position is located. Among them, the driving and parking map includes several driving areas, and each driving area is annotated as a driving area or a parking area.

[0034] Step 102: Execute the target assisted driving task corresponding to the target assisted driving function.

[0035] The assisted driving functions of the vehicle can include a parking function and a driving function. The driving function can, without manual intervention, help the driver achieve various driving operations in driving scenarios such as highways and urban roads. For example, in urban roads, the driving function can achieve path planning based on real-time traffic data and select the optimal route to avoid congested or accident areas. The parking function can, without manual intervention, help the driver automatically identify parking spaces and control the vehicle to enter the parking space safely and accurately. For example, in a residential community or a private garage, the parking space is narrow and may require multiple adjustments of the direction to park the vehicle. The vehicle can enter the garage through automatic parking or remote parking.

[0036] The vehicle may be equipped with a combined driving and parking switch, which is used to activate the assisted driving function. The assisted driving function includes a driving function and a parking function. Whether the driver has a driving need or a parking need, the combined driving and parking switch is turned on. By using the combined driving and parking switch, the driver does not need to manually switch the driving switch or the parking switch, avoiding unnecessary risks caused by the driver activating the driving function or the parking function at inappropriate times. For example, in driving scenarios such as parking scenarios and road scenarios, after the driver turns on the combined driving and parking switch, the vehicle can activate the assisted driving function adapted to the current scenario of the vehicle. For example, in a parking scenario, the vehicle can automatically activate the parking function; while in a road scenario, the vehicle can automatically activate the driving function.

[0037] The driving and parking map may include several driving areas, and each driving area is marked as a driving area and a parking area. The driving area may be an area for vehicle passage, such as areas like roads, intersections, and parking lots. These areas are marked as driving areas and parking areas according to the driving scenario. For example, a certain area in the parking lot in the driving and parking map is marked as a driving area, while other areas are marked as parking areas.

[0038] There can 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 can be marked in advance, and each driving area is 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 to be activated can be directly determined according to 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 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 to be activated is the parking function.

[0039] In this embodiment, the pre-generated marking data can be fully verified and corrected to provide a stable and consistent driving area division. In this way, during the actual operation of the driving assistance system, it can rely on a set of verified and accurate area marking data, reducing the uncertainty caused by vehicle perception errors and improving the safety and reliability of the driving assistance system.

[0040] In another embodiment, when the driving and parking shared switch is turned on, the vehicle can perceive the surrounding environmental features in real time, dynamically divide the boundary of the driving area where the vehicle is currently located in the driving and parking map according to the real-time perceived surrounding environmental features, and generate an annotation result for the driving area. After obtaining the real-time position of the vehicle in the driving and parking map, the target assisted driving function to be activated can be determined according to the annotation result 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 result through real-time environmental perception to flexibly adapt to environmental changes.

[0041] Figure 2 FIG. is a schematic diagram showing the determination of the target assisted driving function according to an exemplary embodiment of the present specification. As Figure 2 shown, a scene feature recognition module 15 can be integrated in the driving assistance system. When the driving and parking shared switch 14 is turned on, the scene feature recognition module 15 can obtain the real-time position of the vehicle in the driving and parking map, and determine the target assisted driving function 16 to be activated according to the annotation result of the driving area where the real-time position is located.

[0042] In an exemplary application scenario, assume that the vehicle needs to start from point A, pass through point B and finally drive to point C. Among them, 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 driving and parking shared switch at point A, it obtains the real-time position of the vehicle in the driving and parking map, and determines that the target assisted driving function to be activated according to the annotation result of the driving area X1 where the real-time position is located is the parking function, and executes the assisted driving task corresponding to the parking function. When the vehicle drives into the driving area X2, it obtains the real-time position of the vehicle in the driving and parking map, and determines that the target assisted driving function to be activated according to the annotation result of the driving area X2 where the real-time position is located is the driving function, then switches the currently used parking function to the driving function and executes the assisted driving task corresponding to the driving function. When the vehicle drives into the driving area X3, it obtains the real-time position of the vehicle in the driving and parking map, and determines that the target assisted driving function to be activated according to the annotation result of the driving area X3 where the real-time position is located is the parking function, then switches the currently used driving function to the parking function and executes the assisted driving task corresponding to the parking function.

[0043] In this embodiment, when the real-time position of the vehicle changes, the target assisted driving function that needs to be activated currently can be determined according to the annotation result 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 conforms to the driving scenario of the current real-time position.

[0044] In one embodiment, when determining the target assisted driving function to be activated based on the annotation result of the driving area where the real-time position is located, if the annotation result of the driving area where the real-time position is located is a driving area, the target assisted driving function to be activated is determined as the driving function; if the annotation result of the driving area where the real-time position is located is a parking area, the target assisted driving function to be activated is determined as the parking function.

[0045] In one embodiment, when the vehicle is turned off, obtain the turning-off position of the vehicle in the driving and parking map, and determine and store the driving and parking identifier at the time of this turning-off according to the annotation result of the driving area where the current turning-off position of the vehicle is located, or determine and store the driving and parking identifier at the time of this turning-off according to the assisted driving function used before the vehicle is turned off; wherein, the driving and parking identifier includes a driving identifier and a parking identifier. For example, when the vehicle is turned off, if the annotation result of the driving area where the current turning-off position of the vehicle is located is a parking area, determine and store the driving and parking identifier at the time of this turning-off as the parking identifier; if the annotation result of the driving area where the current turning-off position of the vehicle is located is a driving area, determine and store the driving and parking identifier at the time of this turning-off as the driving identifier. For example, if the assisted driving function used before the vehicle is turned off is the parking function, determine and store the driving and parking identifier at the time of this turning-off as the parking identifier; if the assisted driving function used before the vehicle is turned off is the driving function, determine and store the driving and parking identifier at the time of this turning-off as the driving identifier.

[0046] If the opening timing of the driving and parking common switch is the vehicle startup stage, the driving and parking identifier at the time of the previous turning-off stored in the vehicle can be read, and the target assisted driving function to be activated can be determined according to the driving and parking identifier.

[0047] Among them, the vehicle startup stage can be the stage when the vehicle is restarted after an accidental turning-off on the road, or the stage 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.

[0048] In this embodiment, in the vehicle startup stage, the vehicle does not need to continuously sense the external environment to determine the target assisted driving function, and can directly determine the target assisted driving function according to the stored driving and parking identifier, thereby improving the response speed of activating the target assisted driving function.

[0049] In one embodiment, if the vehicle has enabled the power-saving mode and the activation timing of the driving and parking shared switch is during the vehicle driving stage, the uncalibrated real-time position of the vehicle in the driving and parking map can be obtained, and the target assisted driving function to be activated can be determined according to the annotation result of the driving area where the uncalibrated real-time position is located. After the vehicle enables the power-saving mode, its positioning function is generally inaccurate. To ensure the response speed of the assisted driving function, the uncalibrated real-time position of the vehicle in the driving and parking map can be obtained, and the target assisted driving function to be activated can be determined first according to the annotation result of the driving area where the uncalibrated real-time position is located. Then, during the vehicle driving process, the real-time position of the vehicle in the driving and parking map is calibrated, and the target assisted driving function to be activated currently is re-determined according to the annotation result of the driving area where the calibrated real-time position is located. Exemplarily, it can be detected whether there are environmental feature points in the driving environment where the vehicle is currently located within a preset duration. If there are environmental feature points, the real-time position of the vehicle in the driving and parking map can be calibrated according to the environmental feature points, and the target assisted driving function to be activated currently is re-determined according to the annotation result of the driving area where the calibrated real-time position is located. If there are no environmental feature points and the currently activated target assisted driving function is the parking function, then the target assisted driving function to be activated currently is re-determined as the driving function. Among them, the environmental feature points can be road signs, buildings, intersections, lamp posts, guardrails, traffic lights, and road widths, etc. The preset duration can be set up to 3.5 minutes at most. Since there are many environmental feature points in the parking scenario, if no environmental feature points are detected within 3.5 minutes, it means that the current driving scenario is very likely not a parking scenario.

[0050] In an exemplary application scenario, assume that the vehicle has enabled the power-saving mode and the activation timing of the driving and parking shared switch is during the driving stage. Then, the uncalibrated 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 annotation result of the driving area where the uncalibrated real-time position is located. Assume that due to inaccurate position coordinates, the determination of the target assisted driving function to be activated according to the annotation result of the driving area where the uncalibrated real-time position is located is incorrect. Then, it can be detected whether there are environmental feature points in the driving environment where the vehicle is currently located within the preset duration of vehicle driving. If there are environmental feature points, the real-time position of the vehicle in the driving and parking map can be calibrated according to the environmental feature points, and the target assisted driving function to be activated currently is re-determined according to the annotation result of the driving area where the calibrated real-time position is located. If there are no environmental feature points and the currently activated target assisted driving function is the parking function, then the target assisted driving function to be activated currently can be re-determined as the driving function.

[0051] In this embodiment, first, the driving assistance system can quickly activate the assisted driving function based on the uncalibrated real-time position, reduce the response time of the driving and parking functions, and improve the user experience. Secondly, during the driving process 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 to be activated can be re-determined based on the calibrated real-time position, avoiding safety risks caused by incorrect activation of the function. Finally, if no environmental feature points in the driving environment where the vehicle is currently located are detected within the preset duration, it indicates that the vehicle is very likely not in a parking scenario. Even if the driving position of the vehicle cannot be calibrated based on the environmental feature points, it can be determined that the current vehicle is in a driving scenario, thereby increasing the algorithm robustness for determining the assisted driving function.

[0052] In one embodiment, Figure 3 is a flowchart showing the determination of the target assisted driving function to be activated according to an exemplary embodiment of this specification, specifically including steps 301-310:

[0053] Step 301: Turn on the driving and parking common switch.

[0054] Step 302: Determine whether the turning-on time is the vehicle startup stage. If so, go to step 303; if not, go to step 305.

[0055] Step 303: Read the driving and parking identifier recorded in the storage area. The driving and parking identifier includes a driving identifier and a parking identifier, and the driving and parking identifier can be determined according to the historical position of the vehicle when it last turned off and the annotation result of the driving area where the historical position is located. Or determined according to the historical assisted driving function used when the vehicle last turned off. For example, if the annotation result of the driving area where the historical position is located is a parking area, the driving and parking identifier is determined as the parking identifier; if the annotation result of the driving area where the historical position is located is a driving area, the driving and parking identifier is determined as the driving identifier. Another example is that if the historical assisted driving function used when the vehicle last turned off is the parking function, the driving and parking identifier is the parking identifier; if the historical assisted driving function used when the vehicle last turned off is the driving function, the driving and parking identifier is the driving identifier.

[0056] Step 304: Determine the assisted driving function to be activated according to the driving and parking identifier. For example, if the driving and parking identifier is the driving identifier, the assisted driving function to be activated is determined as the driving function; if the driving and parking identifier is the parking identifier, the assisted driving function to be activated is determined as the parking function.

[0057] Step 305: Determine whether the vehicle has turned on the power-saving mode. If so, go to step 306; if not, go to step 307.

[0058] Step 306: Determine the target assisted driving function to be activated based on the uncalibrated real-time position of the vehicle. Specifically, obtain the uncalibrated real-time position of the vehicle in the driving and parking map, and determine the target assisted driving function to be activated according to the annotation result of the driving area where the uncalibrated real-time position is located.

[0059] Step 307: Determine the target assisted driving function to be activated based on the real-time position of the vehicle.

[0060] Step 308: Determine whether environmental feature points in the driving environment where the vehicle is currently located are detected within a preset duration. If so, proceed to Step 309; if not, proceed to Step 310.

[0061] Step 309: Calibrate the real-time position of the vehicle according to the environmental feature points, and re-determine the target assisted driving function to be activated based on the calibrated real-time position. Specifically, calibrate the real-time position of the vehicle in the driving and parking map according to the environmental feature points, and re-determine the target assisted driving function to be currently activated according to the annotation result of the driving area where the calibrated real-time position is located.

[0062] Step 310: If the currently activated target assisted driving function is the parking function, re-determine the target assisted driving function to be activated as the driving function.

[0063] 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 only 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 constraint conditions for the driving task and the parking task respectively on the control system. However, each handshake operation between the driving assistance system and the control system will cause a delay of about 500 ms each time the driving function and the parking function are switched, so it will affect the seamless switching experience of the driving function and the parking function in this method.

[0064] In view of the above technical problems, in one embodiment, when executing the target assisted driving task corresponding to the target assisted driving function, obtain the control instructions for executing the target assisted driving task, and the control instructions include a lateral control instruction and a longitudinal control instruction. Verify the lateral control instruction according to the lateral control constraint conditions, and send the verified lateral control instruction to the lateral control system of the vehicle. Verify the longitudinal control instruction according to the longitudinal control constraint conditions, and send the verified longitudinal control instruction to the longitudinal control system of the vehicle.

[0065] Figure 4 This is a schematic diagram of the operation of the integrated driving and parking instruction verification module shown according to an exemplary embodiment of the present specification. Specifically, as Figure 4As shown, the driving assistance system may integrate a lateral parking and driving integrated instruction verification module 40A and a longitudinal parking and driving integrated instruction verification module 40B. The driving assistance system may output a lateral driving control instruction in a driving task to the lateral parking and driving integrated instruction verification module 40A, and a longitudinal driving control instruction in the driving task to the longitudinal parking and driving integrated instruction verification module 40B. The driving assistance system may also output a lateral parking control instruction in a parking task to the lateral parking and driving integrated instruction verification module 40A, and a longitudinal control instruction in the parking task to the parking and driving integrated instruction verification module 40B. The lateral parking and driving integrated instruction verification module 40A sends the verified lateral control instruction to the lateral control system 41A. The lateral control system 41A can directly execute the lateral control operation indicated by the lateral control instruction without distinguishing between the driving mode or the parking mode. The longitudinal parking and driving integrated instruction verification module 40B sends the verified longitudinal control instruction to the longitudinal control system 41B. Similarly, the longitudinal control system 41B 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 instruction.

[0066] In this embodiment, the verification logic of the control constraint conditions in different functional modes is integrated into the lateral parking and driving integrated instruction verification module 40A and the longitudinal parking and driving integrated instruction verification module 40B according to the lateral constraint conditions and the longitudinal constraint conditions respectively. After obtaining the control instruction for executing the target assisted driving task, the control instruction is verified and then sent to the control system, so that the control system does not need to distinguish the functional mode, and correspondingly does not need to perform a handshake to determine the functional mode to be called, and can directly execute the control instruction. In this embodiment, the delay caused by the functional mode switching is reduced, and the fluency and instant response ability of the vehicle switching between different functional modes are improved, thereby improving the user experience.

[0067] After the driving assistance system automatically activates the driving function or the parking function, it can perform corresponding driving control on the vehicle for the activated function. However, there are huge differences in the applicable driving scenarios and control logics of these two functions. If the driver is using the assisted driving function (driving function or parking function), and the driving assistance system automatically activates an assisted driving function that does not match the current driving scenario, or even if the correct assisted driving function is activated, but the control logic for controlling the vehicle does not match the current driving scenario, it is likely to cause traffic accidents. For example, the parking control logic usually includes operations such as low-speed movement and precise parking, while in the driving scenario, the vehicle needs to maintain a certain speed and smooth driving. If the driving assistance system incorrectly executes the parking control logic in the driving scenario, the vehicle may suddenly decelerate or stop, causing a rear-end collision risk for the following vehicle. Another example is that in the parking scenario, the speed requirement of the vehicle is relatively low. If the driving assistance system mistakenly applies the driving control logic to the parking scenario, the vehicle may suddenly accelerate or move forward, resulting in the vehicle crashing into surrounding obstacles or pedestrians.

[0068] In one embodiment, to address the above technical problem, when performing 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 current driving environment where the vehicle is 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 and the second assisted driving mode belong to the same assisted driving mode, vehicle driving control is performed 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.

[0069] 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 as the driving mode; if the parking function is activated, the first assisted driving mode corresponding to the parking function is determined as the parking mode.

[0070] Driving environment data of the current driving environment where the vehicle is located is obtained, and a second assisted driving mode matching the driving environment is determined 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 current driving environment where the vehicle is located is a driving environment or a parking environment. If it is determined that the current driving environment where the vehicle is located is a driving environment, the second assisted driving mode matching this driving environment is determined as the driving mode; if it is determined that the current driving environment where the vehicle is located is a parking environment, the second assisted driving mode matching this driving environment is determined as the parking mode.

[0071] When the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode, vehicle driving control is performed according to the assisted driving tasks output by the driving decision-making layer. For example, if 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. Another example is that if 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. When the first assisted driving mode and the second assisted driving mode belong to different assisted driving modes, an alarm prompt is output and / or vehicle driving control according to the assisted driving tasks output by the driving decision-making layer is prohibited, and the alarm prompt is used to remind the driver to take over the vehicle.

[0072] Figure 5 This is a working framework diagram for verifying the safety of the driving assistance system link shown in an exemplary embodiment of this specification. As Figure 5 shown, when the driving function 10A of the vehicle is activated, the vehicle sends a driving mode request to the driving decision-making layer 11, and then it can be determined that the first assisted driving mode is 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-making layer 11, and then it can be determined that the first assisted driving mode is the parking mode according to the parking mode request. The driving decision-making layer 11 may be provided with a scenario adaptation module 111, and this scenario adaptation module 111 can be used to obtain the driving environment data of the current driving environment of the vehicle and determine the second assisted driving mode that matches the driving environment according to the driving environment data. When the first assisted mode and the second assisted mode belong to the same assisted driving mode, it indicates that the currently activated assisted driving function is adapted to the current driving environment of the vehicle, and vehicle driving control can be performed according to the assisted driving tasks output by the driving decision-making layer. When the first assisted mode and the second assisted mode belong to different assisted driving modes, it indicates that the currently activated assisted driving function is not adapted to the current driving environment of the vehicle, and the assisted driving tasks output by the driving decision-making layer may be incorrect, and vehicle driving control according to the assisted driving tasks output by the driving decision-making layer can be prohibited.

[0073] By verifying whether the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode, it can be determined whether the currently activated assisted driving function is adapted to the current driving environment of the vehicle, and when the currently activated assisted driving function is adapted to the current driving environment of the vehicle, vehicle driving control is performed according to the assisted driving tasks output by the driving decision-making layer, thereby solving the problem that the driving assistance system makes incorrect vehicle control decisions when the driving assistance system activates an assisted driving function that does not match the vehicle's current scenario.

[0074] In one embodiment, the driving decision-making layer may include a driving and parking state machine. When any assisted driving function of the vehicle is activated, a first assisted driving mode corresponding to the activated assisted driving function is determined. The function state output by the driving and parking state machine for the activated assisted driving function is obtained, and a third assisted driving mode corresponding to the function state is determined. The 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, 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-making 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 it is prohibited to perform the driving control of the vehicle according to the assisted driving task output by the driving decision-making layer, and the alarm prompt is used to remind the driver to take over the vehicle.

[0075] Figure 6 This is another working framework diagram for verifying the safety of the assisted driving system link shown in this specification according to an exemplary embodiment. As Figure 6 shown, after the driving function 10A is activated, a driving mode request is sent to the driving and parking state machine 112, or after the parking function 10B is activated, a parking mode request is sent to the driving and parking state machine 112. The first assisted driving mode can be determined by reading the driving mode request or the parking mode request. The driving and parking state machine 112 can respond to the activation of the driving function or the parking function, and switch the function state to the corresponding driving function state or parking function state. The third assisted driving mode corresponding to the function state can be determined by reading the function state switched by the driving and parking state machine. For example, the driving and parking state machine can respond to the activation of the driving function, switch the function state to the driving function state, read the driving function state, and determine that the third assisted driving mode corresponding to the driving function state is the driving mode. Another example is that the driving and parking state machine can respond to the activation of the parking function, switch the function state to the parking function state, and determine that the third assisted driving mode corresponding to the parking function state is the parking function. The scenario adaptation module 111 can obtain the driving environment data of the current driving environment of the vehicle, and determine a second assisted driving mode matching the driving environment according to the driving environment data. The driving decision-making 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.

[0076] Due to the limitations of the algorithm, the functional states switched by the driving and parking state machine may not accurately correspond to the activated assisted driving functions. For example, when the driving and parking state machine responds to the activation of the driving function, the switched functional state may be the parking functional state. If the driving and parking state machine switches to an incorrect functional state, it will affect the driving decision results of the driving decision layer. For example, in an application framework of a driving decision layer, the driving decision layer may further include a control large model, which is used to respond to the functional state output by the driving and parking state machine, call the driving control logic corresponding to the functional state to generate an assisted driving task, and output the assisted driving task for vehicle driving control. For example, if the activated assisted driving function of the vehicle is the driving function, but the functional state switched by the driving and parking state machine is the parking state, the control large model responds to the parking state output by the driving and parking state machine, executes the parking-related control logic and outputs the parking-related assisted driving task for vehicle driving control. It can be seen that if the driving and parking state machine switches to an incorrect functional state, it will affect the decision-making correctness of the functional nodes associated with it in the driving decision layer 11.

[0077] Therefore, in this embodiment, by verifying the consistency of the activated assisted driving function, the functional state output by the driving and parking state machine, and the external driving environment, it is possible not only to verify whether the assisted driving function is incorrectly activated according to the external driving environment, but also to verify whether the driving and parking state machine in the driving decision layer correctly responds to the activated assisted driving function, so as to ensure that in the function chain of the driving assistance system, the assisted driving function activation node and the assisted driving mode triggered by the driving and parking state machine node are the same assisted driving mode, and to verify that this assisted driving mode is adapted to the current driving scenario, thereby improving the operation safety of the driving assistance system.

[0078] 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. Driving environment data of the current driving environment of the vehicle is acquired, and a second assisted driving mode matching the driving environment is determined according to the driving environment data. A 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, vehicle driving control 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 vehicle driving control 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 as the driving mode; if the assisted driving task is a parking task, the fourth assisted driving mode can be determined as the parking mode.

[0079] By verifying the consistency of the assisted driving task output by the driving decision layer, the activated assisted driving function, and the external environment, it can be ensured that the activated assisted driving function is consistent with the driving scenario, and the assisted decision layer also outputs an assisted driving task corresponding to the activated assisted driving function. In practical application scenarios, the problem that the driver correctly activates the assisted driving function but the incorrect driving control logic executed by the driving decision layer is not 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 that the driving control logic and the parking control logic in the driving decision layer are interchanged can be discovered in time.

[0080] 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 function state output by the driving and parking state machine for the first assisted driving mode is acquired, and a third assisted driving mode corresponding to the function 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 acquired, and a second assisted driving mode matching the driving environment is determined according to 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, vehicle driving control is performed according to the assisted driving task output by the driving decision layer.

[0081] Figure 7This is another working framework diagram for verifying the link safety of a driving assistance system shown in this specification according to an exemplary embodiment. As Figure 7 shown, after the driving function 10A is activated, a driving mode request is sent to the driving and parking state machine 112, or after the parking function 10B is activated, a parking mode request is sent to the driving and parking state machine 112. The first assisted driving mode can be determined by reading the driving mode request or the parking mode request. The driving and parking state machine 112 can switch the function state to the corresponding driving function state or parking function state in response to the activation of the driving function or parking function, can read the function state switched by the driving and parking state machine, and determine the third assisted driving mode corresponding to the function state. The control large model 113 can generate an assisted driving task in response to the function state output by the driving and parking state machine. For example, when the control large model 113 receives a driving instruction sent by the driving and parking state machine 112, it calls the driving control logic, generates a driving task, and outputs the driving task to the vehicle control system 12; for another example, when the control large model 113 receives a parking instruction sent by the parking state machine 112, it calls the parking control logic, generates a parking task, and outputs the parking task to the vehicle control system 12. The scenario adaptation module 111 can obtain the driving environment data of the current driving environment of the vehicle and determine the second assisted driving mode matching the driving environment according to the driving environment data. The scenario adaptation module 111 can be integrated into the control large model 113 or independent of the control large model 113, and this specification does not impose any restrictions on this.

[0082] In one embodiment, when the target assisted driving function of the vehicle is activated, the first assisted driving function 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. When the first assisted driving mode and the second 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. If the assisted driving task is a driving task and the driving control parameters of the driving task meet the driving safety conditions, the vehicle is controlled to drive according to the assisted driving task output by the driving decision layer. Otherwise, an alarm prompt is given, and the alarm prompt 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 vehicle is controlled to drive according to the assisted driving task output by the driving decision layer. Otherwise, an alarm prompt is given, and the alarm prompt is used to remind the driver to take over the vehicle.

[0083] Exemplarily, the driving safety constraint conditions and parking safety constraint conditions can be set in accordance with automotive functional safety standards. For example, the driving safety constraint conditions can include that the deceleration of intelligent cruise control shall not be greater than 0.5g, and the starting acceleration shall not be greater than 0.3g, etc. The parking safety constraint conditions can include that the acceleration of the memory parking function shall not be greater than 0.15g, and the maximum vehicle speed shall not be greater than 30 km / h, etc.

[0084] In this embodiment, on the basis of verifying the adaptation between the activated assisted driving function of the vehicle and the actual driving scenario where the vehicle is located, it is further verified whether the driving control parameters of the driving task output by the driving decision-making layer or the parking control parameters of the parking task comply with the corresponding safety specifications. In the actual application scenario, it can solve the problem that the assisted driving function is correctly activated, but the driving control parameters of the assisted driving task output by the driving decision-making layer do not comply with the safety specifications, resulting in traffic accidents. For example, in a parking scenario, the vehicle parks at the driving speed during the parking process. Through the above verification method, on the basis of ensuring the adaptation between the activated assisted driving function and the vehicle driving scenario, it can be ensured that the control operation of the vehicle complies with the safety specifications.

[0085] In one embodiment, when the target assisted driving function of the vehicle is activated, the first assisted driving mode corresponding to the target assisted driving function is determined. The function state output by the driving and parking state machine for the activated assisted driving function is obtained, and the third assisted driving mode corresponding to this function state is determined. The driving environment data of the current driving environment where the vehicle is 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-making 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-making layer is determined. If the assisted driving task is a driving task and the driving control parameters of the driving task comply with the driving safety constraint conditions, the vehicle is controlled to drive according to the assisted driving task output by the driving decision-making layer; if the assisted driving task is a parking task and the parking control parameters of the parking task comply with the parking safety constraint conditions, the vehicle is controlled to drive according to the assisted driving task output by the driving decision-making layer.

[0086] In this embodiment, by verifying the consistency of the activated assisted driving function of the vehicle, the function state output by the driving and parking state machine, the assisted driving task output by the driving decision-making layer, and the driving scenario where the vehicle is located, it can be judged whether the vehicle has activated the appropriate assisted driving function, and whether the black-box state assisted decision-making layer correctly responds to the activated assisted driving function. And on this basis, by further checking whether the driving control parameters of the assisted driving task output by the assisted decision-making layer comply with the safety specifications, the operation safety of the assisted driving system can be further ensured.

[0087] Figure 8 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. As Figure 8 shown, based on Figure 7 , the parking task and driving task output by the control large model 113 can be respectively input into the driving safety verification module 60A and the parking safety verification module 60B. Among them, the driving safety verification module can encapsulate driving safety verification logic for verifying 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 encapsulate parking safety verification logic for verifying 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.

[0088] In one embodiment, when determining a second assisted driving mode matching the driving environment according to the 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 a second assisted driving mode corresponding to the classification result can be determined. Among them, the categories of the driving environment include driving environment and parking environment.

[0089] The driving environment data can include vehicle driving state data and vehicle surrounding environment data. The vehicle driving state data can include vehicle speed, vehicle position, etc. The vehicle surrounding environment data can include road signs, lane signs, road conditions, the position 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 means of machine learning or rule judgment. This specification does not impose any restrictions on the specific classification algorithm.

[0090] Corresponding to the embodiments of the foregoing method, this specification also provides embodiments of a device and a terminal to which the device is applied.

[0091] Figure 9 This is a schematic structural diagram of an electronic device shown in this specification according to an exemplary embodiment. As Figure 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. Of course, it may also include other hardware required for other services. One or more embodiments of this specification can be implemented in software. For example, the processor 902 reads the corresponding computer program from the non-volatile memory 910 into the memory 908 and then runs it. Of course, in addition to the software implementation, one or more embodiments of this specification do not exclude other implementation methods, such as logical devices or a combination of software and hardware. That is to say, the execution subject of the following processing flow is not limited to each logical module, and can also be hardware or logical devices.

[0092] Figure 10 is a block diagram of a device for automatically switching between driving and parking functions according to an exemplary embodiment of this specification. As Figure 10 shown, the device can be applied to the electronic device 900 as Figure 9 shown to implement the technical solution of this specification. The device includes:

[0093] 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 annotation result of the driving area where the real-time position is located; wherein, the driving and parking map includes several driving areas, and each driving area is annotated as a driving area or a parking area;

[0094] A target assisted driving task execution module 1004, configured to execute the target assisted driving task corresponding to the target assisted driving function.

[0095] Optionally, the target assisted driving function activation module 1002 is specifically configured to, if the annotation result of the driving area where the real-time position is located is a driving area, determine that the target assisted driving function to be activated is a driving function; if the annotation result of the driving area where the real-time position is located is a parking area, determine that the target assisted driving function to be activated is a parking function.

[0096] Optionally, the device further includes a driving and parking identification storage module, which is configured to obtain the vehicle's extinguishing position in the driving and parking map when the vehicle is turned off, and determine and store the driving and parking identification at the time of this extinguishing according to the annotation result of the driving area where the vehicle's current extinguishing position is located, or determine and store the driving and parking identification at the time of this extinguishing according to the assisted driving function used by the vehicle before extinguishing; wherein, the driving and parking identification includes a driving identification and a parking identification. The target assisted driving function activation module 1002 is specifically configured to, if the opening time of the driving and parking common switch is the vehicle startup stage, read the driving and parking identification at the previous extinguishing stored in the vehicle, and determine the target assisted driving function to be activated according to the driving and parking identification.

[0097] The target assisted driving function activation module 1002 is specifically configured to, if the vehicle has enabled the power saving mode and the opening time of the driving and parking common switch is the vehicle driving stage, obtain the uncalibrated real-time position of the vehicle in the driving and parking map, and determine the target assisted driving function to be activated according to the annotation result of the driving area where the uncalibrated real-time position is located.

[0098] The target assisted driving function activation module 1002 is specifically configured to, during the driving process of the vehicle, calibrate the real-time position of the vehicle in the driving and parking map, and re-determine the currently required target assisted driving function according to the annotation result of the driving area where the calibrated real-time position is located.

[0099] The target assisted driving function activation module 1002 is specifically configured to, if environmental feature points are detected in the driving environment where the vehicle is currently located within a preset time period, calibrate the real-time position of the vehicle in the driving and parking map according to the environmental feature points, and re-determine the currently required target assisted driving function according to the annotation result of the driving area where the calibrated real-time position is located.

[0100] The target assisted driving task execution module 1004 is specifically configured to obtain control instructions for executing the target assisted driving task, where the control instructions include a lateral control instruction and a longitudinal control instruction; verify the lateral control instruction according to the lateral control constraint conditions, and send the verified lateral control instruction to the lateral control system of the vehicle; verify the longitudinal control instruction according to the longitudinal control constraint conditions, and send the verified longitudinal control instruction to the longitudinal control system of the vehicle.

[0101] For the specific implementation process of the functions and roles of each module in the above device, please refer to the implementation process of the corresponding steps in the above method for details, which will not be elaborated here.

[0102] 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.

[0103] 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.

[0104] 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 between driving and parking functions, characterized in that, The vehicle is equipped with a combined driving and parking switch, and the combined driving and parking switch is used to activate the assisted driving function. The assisted driving function includes a driving function and a parking function. The method includes: When the combined driving and parking switch is turned on, obtain the real-time position of the vehicle in the driving and parking map, and determine the target assisted driving function to be activated according to the annotation result of the driving area where the real-time position is located, including: If the vehicle has turned on the power-saving mode and the turning-on time of the combined driving and parking switch is the vehicle driving stage, obtain the uncalibrated real-time position of the vehicle in the driving and parking map, and determine the target assisted driving function to be activated according to the annotation result of the driving area where the uncalibrated real-time position is located; wherein, the driving and parking map includes several driving areas, and each driving area is annotated as a driving area or a parking area; Execute the target assisted driving task corresponding to the target assisted driving function.

2. The method according to claim 1, wherein The determining the target assisted driving function to be activated according to the annotation result of the driving area where the real-time position is located includes: If the annotation result of the driving area where the real-time position is located is a driving area, determine that the target assisted driving function to be activated is the driving function; If the annotation result of the driving area where the real-time position is located is a parking area, determine that the target assisted driving function to be activated is the parking function.

3. The method according to claim 1, wherein The method further includes: When the vehicle is turned off, obtain the turning-off position of the vehicle in the driving and parking map, and determine and store the driving and parking identifier at the time of this turning-off according to the annotation result of the driving area where the current turning-off position of the vehicle is located, or determine and store the driving and parking identifier at the time of this turning-off according to the assisted driving function used before the vehicle is turned off; wherein, the driving and parking identifier includes a driving identifier and a parking identifier; The obtaining the real-time position of the vehicle in the driving and parking map and determining the target assisted driving function to be activated according to the annotation result of the driving area where the real-time position is located when the combined driving and parking switch is turned on includes: If the turning-on time of the combined driving and parking switch is the vehicle starting stage, read the driving and parking identifier at the time of the previous turning-off stored by the vehicle, and determine the target assisted driving function to be activated according to the driving and parking identifier.

4. The method according to claim 1, characterized in that, After the step of determining the target assisted driving function to be activated according to the annotation result of the driving area where the uncalibrated real-time position is located, it further includes: During the driving of the vehicle, calibrate the real-time position of the vehicle in the driving and parking map, and re-determine the current target assisted driving function to be activated according to the annotation result of the driving area where the calibrated real-time position is located.

5. The method according to claim 4, wherein The calibrating the real-time position of the vehicle in the driving and parking map and re-determining the current target assisted driving function to be activated according to the annotation result of the driving area where the calibrated real-time position is located includes: If environmental feature points in the driving environment where the vehicle is currently located are detected within a preset duration, calibrate the real-time position of the vehicle in the driving and parking map according to the environmental feature points, and re-determine the target assisted driving function that needs to be activated currently according to the annotation result of the driving area where the calibrated real-time position is located.

6. The method according to claim 1, wherein Performing the target assisted driving task corresponding to the target assisted driving function includes: Obtaining a control instruction for performing the target assisted driving task, where the control instruction includes a lateral control instruction and a longitudinal control instruction; Verifying the lateral control instruction according to the lateral control constraint conditions, and sending the verified lateral control instruction to the lateral control system of the vehicle; Verifying the longitudinal control instruction according to the longitudinal control constraint conditions, and sending the verified longitudinal control instruction to the longitudinal control system of the vehicle.

7. An apparatus for automatically switching between lane keeping and parking functions, characterized in that, The vehicle is equipped with a driving and parking common switch for activating the assisted driving function, and the assisted driving function includes a driving function and a parking function. The device includes: A target assisted driving function activation module, configured to, when the driving and parking common switch is turned on, obtain the real-time position of the vehicle in the driving and parking map, and determine the target assisted driving function that needs to be activated according to the annotation result of the driving area where the real-time position is located, including: if the vehicle has turned on the power saving mode and the turning-on time of the driving and parking common switch is the vehicle driving stage, obtain the uncalibrated real-time position of the vehicle in the driving and parking map, and determine the target assisted driving function that needs to be activated according to the annotation result of the driving area where the uncalibrated real-time position is located; wherein, the driving and parking map includes a plurality of driving areas, and each driving area is annotated as a driving area or a parking area; A target assisted driving task execution module, configured to perform the target assisted driving task corresponding to the target assisted driving function.

8. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method according to any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the method according to any one of claims 1-6.

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