Vehicle driving and parking switching method and system, storage medium and equipment

Abstract

The invention provides a vehicle running and parking switching method. The method comprises the steps that real-time vehicle running information and state machine information output by a resident function group of a vehicle are acquired; determining a corresponding driving and parking switching condition based on the current state group of the vehicle; and if the real-time vehicle operation information and the state machine information meet the driving and parking switching condition, switching the vehicle from the current state group to another state group, closing the auxiliary driving algorithm belonging to the current state group, and releasing the auxiliary driving algorithm corresponding to the other state group. According to the method and the device, the driving and parking switching is executed only when the conditions are met, mistaken switching is avoided, invalid driving and parking switching actions are completely eradicated, and stable and safe operation of the vehicle is ensured. The invention further provides a driving and parking switching system of the vehicle, a computer readable storage medium and electronic equipment, which have the above beneficial effects.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and particularly to a method, system, storage medium and device for switching between driving and parking of a vehicle. Background Art

[0002] Existing driving-parking switching methods only match the driving-parking state according to the map information of the current vehicle position, without considering the real scenario and actual driving-parking switching requirements, resulting in invalid driving-parking state switching situations. For example, only according to the map information, it has met the condition to switch to the driving state on the viaduct, but there is no elevation information in the current high-precision map, so it is easy to mis-switch to the driving state under the viaduct, and when the vehicle is in the driving state, the parking-related functions cannot be used, affecting the user experience. Summary of the Invention

[0003] The purpose of the present application is to provide a method, system, computer-readable storage medium and electronic device for switching between driving and parking of a vehicle, which isolates the assisted driving algorithms involved in the driving-parking switching process by function groups to ensure the stable operation of driving-parking switching.

[0004] To solve the above technical problems, the present application provides a method for switching between driving and parking of a vehicle, and the specific technical solution is as follows:

[0005] Obtain the real-time vehicle operation information and state machine information output by the resident function group of the vehicle;

[0006] Based on the current state group of the vehicle, determine the corresponding driving-parking switching condition; the state group includes a driving state group and a parking state group, each state group is used to run its corresponding assisted driving algorithm, and different state groups are used to run the basic assisted driving algorithm in the resident function group at different working frequencies;

[0007] If the real-time vehicle operation information and the state machine information meet the driving-parking switching condition, switch the vehicle from the current state group to another state group, turn off the assisted driving algorithm belonging to the current state group, and lift the ban on the assisted driving algorithm corresponding to the other state group.

[0008] Optionally, if the current state group of the vehicle is the parking state group, obtaining the real-time vehicle operation information and state machine information output by the resident function group of the vehicle includes:

[0009] Call the positioning algorithm in the resident function group to determine the first vehicle positioning information in the real-time vehicle operation information;

[0010] Call the scene recognition algorithm and map algorithm in the resident function group to determine the driving area type of the vehicle; the driving area type includes an area allowing basic assisted driving and an area allowing navigation-assisted function driving;

[0011] Obtain the parking state machine information output by the parking state machine in the resident function group.

[0012] Optionally, if the current state group of the vehicle is the parking state group, determining the corresponding driving-parking switching condition based on the current state group of the vehicle includes:

[0013] Obtain the first switching condition corresponding to the switch from the parking state group to the driving state group from the resident function group; the first switching condition includes that the parking state machine information is no parking task, the first vehicle positioning information indicates that the vehicle is within the high-precision map range, and the driving area type is an area where navigation assistance functions are allowed to drive.

[0014] Optionally, before determining the corresponding driving-parking switching condition based on the current state group of the vehicle, it further includes:

[0015] Obtain the driving speed of the vehicle;

[0016] Correspondingly, the first switching condition further includes that the average speed within a set time period of the driving speed is not less than the set speed.

[0017] Optionally, if the current state group of the vehicle is the driving state group, obtaining the real-time vehicle operation information and state machine information output by the resident function group of the vehicle includes:

[0018] Call the sensor driver application in the resident function group to obtain vehicle chassis information;

[0019] Call the map algorithm in the resident function group to determine the second vehicle positioning information of the vehicle;

[0020] Obtain the driving state machine information output by the driving state machine in the resident function group.

[0021] Optionally, if the current state group of the vehicle is the driving state group, determining the corresponding driving-parking switching condition based on the current state group of the vehicle includes:

[0022] Obtain the second switching condition corresponding to the switch from the driving state group to the parking state group from the resident function group; the second switching condition includes that the driving state machine information is no driving task, the second vehicle positioning information indicates that the vehicle is outside the high-precision map range, and the vehicle chassis information indicates that the vehicle is in or has been in a stationary state.

[0023] Optionally, when switching the vehicle from the current state group to another state group, closing the assisted driving algorithm belonging to the current state group and unlocking the assisted driving algorithm corresponding to the other state group includes:

[0024] Call the line-parking switching state machine in the resident function group to turn off the first assisted driving algorithm belonging to the current state group in the background, and call the background monitoring program to turn off the first assisted driving algorithm that has not exited the background operation in time;

[0025] Call the line-parking switching state machine to perform keyword matching in all programs in the background, identify the second assisted driving algorithm belonging to the other state group, and modify the enabling policy corresponding to the second assisted driving algorithm to lift the ban on the second assisted driving algorithm.

[0026] This application also provides a line-parking switching system for a vehicle, including:

[0027] An information acquisition module, configured to acquire real-time vehicle operation information and state machine information output by the resident function group of the vehicle;

[0028] A switching condition acquisition module, configured to determine corresponding line-parking switching conditions based on the current state group of the vehicle; the state group includes a driving state group and a parking state group, and each state group is used to run its corresponding assisted driving algorithm;

[0029] A line-parking switching module, configured to, if the real-time vehicle operation information and the state machine information meet the line-parking switching conditions, switch the vehicle from the current state group to another state group, turn off the assisted driving algorithm belonging to the current state group, and lift the ban on the assisted driving algorithm corresponding to the other state group.

[0030] This application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described above are implemented.

[0031] This application also provides an electronic device, including a memory and a processor, where a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps of the method described above are implemented.

[0032] This application provides a line-parking switching method for a vehicle, including: acquiring real-time vehicle operation information and state machine information output by the resident function group of the vehicle; determining corresponding line-parking switching conditions based on the current state group of the vehicle; the state group includes a driving state group and a parking state group, and each state group is used to run its corresponding assisted driving algorithm, and different state groups are used to run the basic assisted driving algorithm in the resident function group at different working frequencies; if the real-time vehicle operation information and the state machine information meet the line-parking switching conditions, switch the vehicle from the current state group to another state group, turn off the assisted driving algorithm belonging to the current state group, and lift the ban on the assisted driving algorithm corresponding to the other state group.

[0033] Before the execution of the driving-parking switching in this application, by obtaining the real-time vehicle operation information and status information, and then judging whether the driving-parking switching condition is met, the switching between the driving state group and the parking state group is only executed when the driving-parking switching condition is met. At the same time, the driving function group, the parking function group and the resident function group are effectively isolated, avoiding the incorrect driving-parking switching caused by not considering the real-time vehicle operation state, eliminating the ineffective driving-parking switching actions, ensuring the stable and safe operation of the vehicle, realizing the seamless switching between driving and parking, enriching the vehicle driving functions, and bringing a better assisted driving experience to users. In addition, the basic assisted driving algorithm runs at different working frequencies under different state groups, reducing the occupation of system resources, ensuring that the system resources are not occupied ineffectively, and reducing the hardware cost of the vehicle.

[0034] This application also provides a driving-parking switching system, a computer-readable storage medium and an electronic device for a vehicle, which have the above beneficial effects and will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0036] Figure 1 It is a flowchart of a driving-parking switching method for a vehicle provided by an embodiment of this application;

[0037] Figure 2 It is a schematic structural diagram of a driving-parking switching system for a vehicle provided by an embodiment of this application;

[0038] Figure 3 It is a structural diagram of an electronic device provided by an embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] To make the objectives, technical solutions and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some but not all of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0040] The object information involved in this application, including but not limited to object device information, object personal information, etc., and data, including but not limited to data for analysis, stored data, displayed data, etc., are all information and data authorized by the object or fully authorized by all parties. Moreover, the collection, use, and processing of relevant data need to comply with the laws, regulations, and standards of relevant countries and regions.

[0041] See Figure 1 , Figure 1 which is a flowchart of a driving and parking switching method for a vehicle provided by an embodiment of this application. The method includes:

[0042] S101: Obtain the real-time vehicle operation information and state machine information output by the resident function group of the vehicle;

[0043] S102: Determine the corresponding driving and parking switching conditions based on the current state group of the vehicle; the state group includes a driving state group and a parking state group, and each state group is used to run its corresponding assisted driving algorithm, and different state groups are used to run the basic assisted driving algorithm in the resident function group at different working frequencies;

[0044] S103: If the real-time vehicle operation information and the state machine information meet the driving and parking switching conditions, switch the vehicle from the current state group to another state group, turn off the assisted driving algorithm belonging to the current state group, and lift the ban on the assisted driving algorithm corresponding to the other state group.

[0045] In this application, the assisted driving-related algorithms or programs of the vehicle are classified into three groups, namely the driving state group, the parking state group, and the resident function group. The resident function group is used to run the parking state machine, the driving state machine, the driving and parking switching state machine, the sensor drive application program, and the basic assisted driving algorithm. The basic assisted driving algorithm mainly includes vehicle positioning algorithms and map algorithms, etc. The parking state group is used to run the algorithms related to the parking process, including parking mapping algorithms, parking map algorithms, parking navigation algorithms, parking planning and control algorithms, and parking sensor fusion algorithms, etc. The driving state group is used to run driving mapping algorithms, driving map algorithms, driving navigation algorithms, driving planning and control algorithms, and driving sensor fusion algorithms, etc. As shown in Table 1 below, Table 1 shows the algorithms or programs run by each group:

[0046] Table 1 Algorithms or Programs Run by Each Group

[0047]

[0048] Among them, the resident basic assisted driving algorithms can operate at different working frequencies in the driving state group and the parking state group. In a feasible implementation, in the parking state group, the basic assisted driving algorithms can include a sleep state and a low-power state, while in the driving state group, they can operate at a higher working frequency with a lower power consumption to meet the computing requirements during driving. It should be noted that various algorithms themselves also belong to programs, that is, programs for implementing specific functions.

[0049] For example, in the case where the parking function is not activated, the positioning algorithm and the map algorithm output algorithm results at a low frequency of 1 Hz in a low-power manner, occupying low system resources; in the case where the parking function is activated, the positioning algorithm and the map algorithm enter the sleep state, occupying even lower system resources; after switching to the driving state, the positioning algorithm and the map algorithm enter the normal working state and output algorithm results at 10 Hz. The working frequencies of each algorithm in different group states can be as shown in Table 2:

[0050] Table 2 Working frequencies of each algorithm in different group states

[0051]

[0052] Before performing the driving-parking switch, first obtain the real-time vehicle operation information and state machine information output by the resident function group of the vehicle. It should be noted that the content of the real-time vehicle operation information obtained from the resident function group may vary accordingly when the current state group of the vehicle is different, and the driving-parking switch conditions also differ.

[0053] If the current state group of the vehicle is the parking state group, obtaining the state machine information and the real-time vehicle operation information from the resident function group may include the following steps:

[0054] First step, call the positioning algorithm in the resident function group to determine the first vehicle positioning information in the real-time vehicle operation information;

[0055] Second step, call the scene recognition algorithm and the map algorithm in the resident function group to determine the type of driving area of the vehicle;

[0056] Third step, obtain the parking state machine information output by the parking state machine in the resident function group.

[0057] The type of driving area in the second step includes the area allowing basic assisted driving and the area allowing the navigation-assisted function to drive.

[0058] The area allowing basic assisted driving refers to the area where the vehicle can activate the basic assisted driving function under specific road conditions. The basic assisted driving function usually includes lane keeping, adaptive cruise control, etc., mainly helping the driver to keep the vehicle driving stably within a single lane.

[0059] The area allowing navigation assistance function driving refers to the area where the vehicle can activate the navigation assistance driving function under more complex road conditions. The navigation assistance driving function not only includes basic assistance driving functions, but also can automatically adjust the driving route of the vehicle according to the navigation path, including automatic lane change, entering and exiting ramps, adjusting vehicle speed, etc.

[0060] Since the current state group of the vehicle is the parking state group, the driving and parking switching direction is from the parking state group to the driving state group at this time. Thereafter, the first switching condition corresponding to the switching from the parking state group to the driving state group is obtained from the resident function group. The first switching condition refers to the switching condition required for switching from the parking state group to the driving state group. The specific content of the first switching condition is not limited herein and is a limiting condition based on the real-time operation information and state machine information of the vehicle.

[0061] In a feasible implementation manner, the first switching condition may include that the parking state machine information is no parking task, the first vehicle positioning information indicates that the vehicle is within the high-precision map range, and the driving area type is the area allowing navigation assistance function driving.

[0062] When the system is just powered on and running, it is initialized to the parking state group. Under the parking state group, both the cruise assistance driving function and the parking function can be used.

[0063] The driving and parking switching state machine runs in the background. It is considered to meet the first switching condition only when three conditions are simultaneously met: no parking task (output by the parking state machine), the vehicle is within the high-precision map range (output by the positioning algorithm), and the driving area type is the area allowing navigation assistance function driving area. At this time, it can be switched to the driving state group. Among them, "no parking task" is output by the parking state machine, "high-precision map range" is obtained by the positioning algorithm after matching the real-time longitude and latitude position of the current vehicle with the high-precision map database, and "area allowing navigation assistance function driving" can be determined by road scene recognition.

[0064] If the current state group of the vehicle is the driving state group, obtaining the state machine information and real-time vehicle operation information from the resident function group may include the following steps:

[0065] The first step: Call the sensor driver application in the resident function group to obtain the vehicle chassis information;

[0066] The second step: Call the map algorithm in the resident function group to determine the second vehicle positioning information of the vehicle;

[0067] The third step: Obtain the driving state machine information output by the driving state machine in the resident function group.

[0068] If the current state group of the vehicle is the driving state group, and the driving-parking switching direction is from the driving state group to the parking state group at this time, the second switching condition corresponding to the switching from the driving state group to the parking state group can be obtained from the resident function group. Similarly, the specific content of the second switching condition is not limited here, and it is also a limiting condition based on the real-time operation information and state machine information of the vehicle. However, as the obtained real-time operation information of the vehicle is different, the limiting conditions and the second switching condition set for the real-time operation information of the vehicle also differ from the first switching condition.

[0069] In a feasible implementation manner, the second switching condition includes no driving task, the vehicle being outside the high-precision map range, and the vehicle being in or having been in a stationary state.

[0070] It should be noted that both the cruise assisted driving function and the navigation assisted driving function can be used under the driving state group.

[0071] The driving-parking switching state machine runs in the background. It is considered to meet the second switching condition and switch to the parking state group only when the three conditions of no driving task, outside the high-precision map range, and the vehicle being stationary are simultaneously met. Among them, "no driving task" is output by the driving state machine in the resident function group, "outside the high-precision map range" can be determined by the positioning algorithm in the resident function group when it cannot match the current real-time longitude and latitude position of the vehicle with the high-precision map database, and "the vehicle being stationary" can be determined by the vehicle body chassis information.

[0072] When the driving-parking switching condition is met, the vehicle is switched from the current state group to another state group. During the process of switching the state group, it is necessary to turn off the assisted driving algorithm belonging to the current state group and lift the ban on the assisted driving algorithm corresponding to the other state group. By lifting the ban, it means that the assisted driving algorithm of the other state group is allowed to run at this time. However, since the wake-up duration required for algorithm activation is different, and it is not necessary to run all the assisted driving algorithms belonging to the other state group after switching to the other state group, only the assisted driving algorithm of the other state group needs to be in a state where it can run, and at the same time, the assisted driving algorithm of the current state group is in a disabled and closed state.

[0073] It can be seen that the assisted driving algorithms in the driving state group and the assisted driving algorithms in the parking state group are independent of each other and do not interfere with each other. At this time, since the present application sets the driving-parking switching condition and isolates the assisted driving algorithms of each state group, even when the vehicle is under the viaduct, it cannot switch to the driving state because it is determined through road scene recognition that the current area does not meet the requirements for allowing the navigation assisted function to drive, ensuring driving safety.

[0074] It is easy to understand that if the switching condition is not met, the current state group of the vehicle remains unchanged. If the switching condition is met, the row-parking switching state machine in the resident function group can be called to switch the vehicle from the current state group to another state group, so as to apply the assisted driving algorithm after row-parking switching in the other state group.

[0075] In a feasible implementation, when switching the state group, in order to ensure the stability and safety of the switching process, the following switching method can be adopted:

[0076] Call the row-parking switching state machine in the resident function group to close the first assisted driving algorithm belonging to the current state group in the background, and call the background monitoring program to close the first assisted driving algorithm that fails to exit the background operation in time;

[0077] Call the row-parking switching state machine to perform keyword matching in all background programs, identify the second assisted driving algorithm belonging to the other state group, and modify the enabling policy corresponding to the second assisted driving algorithm to lift the ban on the second assisted driving algorithm.

[0078] The first assisted driving algorithm and the second assisted driving algorithm are assisted driving algorithms belonging to different state groups. The former corresponds to the assisted driving algorithm in the current state group, and the latter is the assisted driving algorithm belonging to another state group.

[0079] Taking the switching from the parking state group to the driving state group as an example:

[0080] The row-parking switching state machine starts the switching work from the parking state group.

[0081] In the first switching process, that is, the Parking Quit state, first kill the first assisted driving algorithm of the parking state group in the background. During the process of killing the first assisted driving algorithm, the background monitoring program will send a kill signal at regular intervals for the programs that fail to exit the background operation in time to ensure that all programs in the parking state group are cleared from the background.

[0082] In the second switching process, that is, the Parking To Driving state, start to pull up the second assisted driving algorithm of the driving state group. During the process of pulling up the second assisted driving algorithm of the driving state group, the background monitoring program starts the second assisted driving algorithm that fails to be pulled up in time at regular intervals. After ensuring that all the second assisted driving algorithms in the driving state group are pulled up, enter the driving state group.

[0083] Taking the switching from the driving state group to the parking state group as an example:

[0084] In the first switching process, i.e., the Driving Quit state, first kill the program of the driving state group in the background. During the process of killing the program of the driving state group, the background monitoring program will send a kill signal at regular intervals for the programs that fail to exit the background operation in time, ensuring that all programs of the driving state group are cleared from the background;

[0085] In the second switching process, i.e., the Driving To Parking state, start pulling up the program of the parking state group. During the process of pulling up the program of the parking state group, the background monitoring program will start the program at regular intervals for the programs that fail to be pulled up and run in the background in time, ensuring that all programs of the parking state group are pulled up and then enter the parking state group, i.e., the parking state.

[0086] It should be noted that in order to ensure accurate identification of the state group to which each program belongs and avoid mis-killing of programs, the line-parking switching state machine in the resident function group can be called to perform keyword matching in all background programs to identify the first assisted driving algorithm belonging to the current state group, and then the program closing instruction can be called to close the first assisted driving algorithm. This keyword can be pre-stored in the background when the first target is pulled up.

[0087] Before performing the line-parking switching in this application, by obtaining the real-time vehicle operation information and status information, and judging whether the line-parking switching conditions are met accordingly, the switching between the driving state group and the parking state group is only performed when the line-parking switching conditions are met. At the same time, effective isolation is carried out for the driving function group, the parking function group and the resident function group, avoiding line-parking mis-switching caused by not considering the real-time vehicle operation state, eliminating invalid line-parking switching actions, ensuring the stable and safe operation of the vehicle, realizing seamless switching between line and parking, enriching the vehicle driving function, and bringing a better assisted driving experience to users. In addition, the basic assisted driving algorithm runs at different working frequencies under different state groups, reducing the occupation of system resources, ensuring that system resources are not invalidly occupied, and reducing the hardware cost of the vehicle.

[0088] On the basis of the above-described embodiments, for the line-parking switching conditions, a determination condition based on vehicle speed can be further added.

[0089] For example, before determining the corresponding line-parking switching conditions based on the current state group of the vehicle, the driving speed of the vehicle can also be obtained. At this time, the first switching condition also includes that the average speed within a set time period is not less than a set speed. Here, neither the set time period nor the set speed is limited and can be set by those skilled in the art themselves.

[0090] In the actual application process, for example, it can be set that the average speed within 2 seconds is not less than 60 km / h, so as to determine that the vehicle meets the speed limit condition in the line-parking switching conditions.

[0091] Taking the combination solution of an intelligent driving chip as an AI chip + high-performance processor + microcontroller as an example, a small computing power controller combination method is adopted.

[0092] Among them, the AI chip outputs forward-looking perception information, including lane lines, obstacles, traffic sign information, and the recognition results of the operating condition scenarios. Combining with the microcontroller can realize the cruise assist driving function. The cruise assist driving function is relatively simple, including adaptive cruise and lane centering, mainly longitudinal control and ordinary lateral adjustment. Because the cruise assist driving function is simple to implement and both the AI chip and the microcontroller have sufficient on-chip resources to support it, the cruise assist driving function is used as a resident function.

[0093] However, the navigation assist driving function and the parking function require complex lateral and longitudinal control, and have higher requirements for the input data sources, including map information and 360-degree vehicle body perception information. However, the navigation assist driving function and the parking function have different requirements for maps and perception, resulting in the inability to share a set of algorithms. The map information for the navigation assist driving function is the topological structure of the road, traffic road signs, speed limit signs, etc., and the map information for parking is the parking space wall, etc. The perception fusion algorithm for the navigation assist driving function depends on vision and lidar, while the perception fusion algorithm for the parking function depends on vision and ultrasonic waves; the navigation assist driving function operates under the conditions of high-speed roads, and the parking function operates under closed low-speed conditions, and there are also significant differences in the planning and control algorithms.

[0094] The programs relied on by the navigation assist driving function and the parking function are all deployed on the SOC (System on Chip) of the high-performance processor. If all programs run in the background of the SOC at the same time, the resources of the SOC cannot support it, and unpredictable events will occur during the system operation, such as CPU overload, memory overload, and system crash, resulting in function failure.

[0095] However, by applying the present application, during the execution of the driving-parking switching process, it can be applied on the SOC of the high-performance processor to perform processor resource scheduling for the different programs relied on by the navigation assist driving function and the parking function, and control to meet the algorithm demand resources in different function groups and state groups, ensuring that both the navigation assist driving function and the parking function can operate normally. Classify all the programs for realizing the navigation assist driving function and the parking function and classify them into the driving state group, the parking state group, and the resident function group. The resident function group is the group with the lowest resource consumption required for realizing the driving-parking switching. It mainly runs the driving-parking switching state machine, positioning and map algorithm programs. The driving-parking switching state machine will trigger the driving-parking switching when the conditions for driving-parking switching are met, manage the programs in the driving-parking state group, perform on-chip resource scheduling of the SOC, and release useless resources in a timely manner.

[0096] It can be seen that in the actual application scenario of this application embodiment, by grouping programs and timely closing the programs in the useless state group during the switching process, it helps to apply to vehicles with a combination of small computing power controllers. Adopting a time-sharing multiplexing mechanism, the system resources can be flexibly scheduled, and the performance of the low computing power processing system can be maximally exerted, ensuring the stable, safe and efficient operation of the system and realizing integrated driving and parking. That is, under the condition of the same hardware configuration, the assisted driving functions of the vehicle are enriched as much as possible to improve the user's assisted driving experience.

[0097] In addition, the bottom of some urban elevated road sections is also within the scope of the high-precision map, but the high-precision map does not have elevation information and cannot be accurately matched with RTK (Real Time Kinematics, a high-precision satellite positioning) to the driving and parking scenario. If the driving state switch is satisfied at this time, on the one hand, the parking function is lost at the bottom of the bridge, and on the other hand, once the navigation assistance function is activated, it will frequently interact with pedestrians, low-speed two-wheelers, and three-wheelers crossing the road, and the control of the longitudinal body feeling is not good. Therefore, under the viaduct, this application can identify scene information such as pedestrians and zebra crossings, confirm that the current area is not allowed for driving with the navigation assistance function, and inhibit the state switch of the driving and parking switching state machine.

[0098] See Figure 2 , Figure 2 which is a schematic structural diagram of a driving and parking switching system for a vehicle provided by an embodiment of this application. The system includes:

[0099] An information acquisition module, configured to acquire real-time vehicle operation information and state machine information output by the resident function group of the vehicle;

[0100] A switching condition acquisition module, configured to determine corresponding driving and parking switching conditions based on the current state group of the vehicle; the state group includes a driving state group and a parking state group, and each state group is used to run its corresponding assisted driving algorithm;

[0101] A driving and parking switching module, configured to switch the vehicle from the current state group to another state group if the real-time vehicle operation information and the state machine information meet the driving and parking switching conditions, close the assisted driving algorithm belonging to the current state group, and release the assisted driving algorithm corresponding to the other state group.

[0102] Based on the above embodiment, as a preferred embodiment, if the current state group of the vehicle is the parking state group, the information acquisition module is a module for performing the following steps:

[0103] Call the positioning algorithm in the resident function group to determine the first vehicle positioning information in the real-time vehicle operation information;

[0104] Call the scene recognition algorithm and map algorithm in the resident function group to determine the driving area type of the vehicle; the driving area type includes the allowed basic assisted driving area and the allowed navigation assisted function driving area;

[0105] Obtain the parking state machine information output by the parking state machine in the resident function group.

[0106] Based on the above embodiments, as a preferred embodiment, it further includes:

[0107] A vehicle speed acquisition module for acquiring the driving speed of the vehicle;

[0108] Correspondingly, the first switching condition obtained by the switching condition acquisition module further includes that the average speed of the driving speed within a set time duration is not less than the set speed.

[0109] Based on the above embodiments, as a preferred embodiment, if the current state group of the vehicle is the driving state group, the information acquisition module is a module for performing the following steps:

[0110] Call the sensor driver application in the resident function group to obtain vehicle chassis information;

[0111] Call the map algorithm in the resident function group to determine the second vehicle positioning information of the vehicle;

[0112] Obtain the driving state machine information output by the driving state machine in the resident function group.

[0113] Based on the above embodiments, as a preferred embodiment, if the current state group of the vehicle is the driving state group, the switching condition acquisition module is a module for obtaining the corresponding second switching condition for switching from the driving state group to the parking state group from the resident function group; the second switching condition includes that the driving state machine information is no driving task, the second vehicle positioning information indicates that the vehicle is in a non-high-precision map range, and the vehicle chassis information indicates that the vehicle is in or has been in a stationary state.

[0114] Based on the above embodiments, as a preferred embodiment, the driving and parking switching module includes:

[0115] A first state switching unit for calling the driving and parking switching state machine in the resident function group to turn off the first assisted driving algorithm belonging to the current state group in the background, and calling the background monitoring program to turn off the first assisted driving algorithm that fails to exit the background operation in time;

[0116] The second state switching unit is configured to call the line-parking switching state machine to perform keyword matching in all background programs, identify a second assisted driving algorithm belonging to the other state group, modify the enabling policy corresponding to the second assisted driving algorithm, so as to lift the ban on the second assisted driving algorithm.

[0117] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed, the steps provided in the above embodiments can be implemented. The storage medium may include: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store program codes.

[0118] The present application also provides an electronic device. Refer to Figure 3 , a structural diagram of an electronic device provided by an embodiment of the present application, as Figure 3 shown, may include a processor 1410 and a memory 1420.

[0119] Among them, the processor 1410 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 1410 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor 1410 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the wake state, also known as the CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 1410 may be integrated with a GPU (Graphics Processing Unit), and the GPU is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 1410 may further include an AI (Artificial Intelligence) processor, and the AI processor is used to process computational operations related to machine learning.

[0120] The memory 1420 may include one or more computer-readable storage media, which may be non-transitory. The memory 1420 may also include high-speed random access memory and non-volatile memory, such as one or more magnetic disk storage devices and flash storage devices. In this embodiment, the memory 1420 is at least used to store the following computer program 1421. After the computer program is loaded and executed by the processor 1410, it can implement the relevant steps in the method executed by the electronic device side disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 1420 may also include an operating system 1422, data 1423, etc., and the storage method may be transient storage or permanent storage. Among them, the operating system 1422 may include Windows, Linux, Android, etc.

[0121] In some embodiments, the electronic device may further include a display screen 1430, an input / output interface 1440, a communication interface 1450, a sensor 1460, a power supply 1470, and a communication bus 1480.

[0122] Of course, Figure 3 The structure of the shown electronic device does not constitute a limitation on the electronic device in the embodiments of the present application. In practical applications, the electronic device may include more or fewer components than Figure 3 those shown, or combine certain components.

[0123] The various embodiments in the specification are described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the system provided in the embodiment, since it corresponds to the method provided in the embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0124] Specific examples are used in this article to elaborate on the principles and implementation manners of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application. It should be noted that for those of ordinary skill in the art of the present technology, without departing from the principle of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the protection scope of the present application.

[0125] It should also be noted that in this specification, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

Claims

1. A method for switching between parking and driving of a vehicle, characterized in that: include: Acquiring real-time vehicle operation information and state machine information output by a resident function group of the vehicle; Determining a corresponding driving / parking switching condition based on the current state group of the vehicle; the state group includes a driving state group and a parking state group, each of the state groups is used to run a corresponding assisted driving algorithm, and different state groups are used to run a basic assisted driving algorithm in the resident function group at different operating frequencies; If the real-time vehicle operation information and the state machine information meet the driving and parking switching conditions, the vehicle is switched from the current state group to another state group, the assisted driving algorithm belonging to the current state group is turned off, and the assisted driving algorithm corresponding to the other state group is unlocked.

2. The method for switching between driving and berthing according to claim 1, characterized in that: If the current state group of the vehicle is a parking state group, obtaining the real-time vehicle operation information and state machine information output by the resident function group of the vehicle includes: Calling the positioning algorithm in the resident function group to determine the first vehicle positioning information in the real-time vehicle operation information; Calling the scene recognition algorithm and the map algorithm in the resident function group to determine the driving area type of the vehicle; the driving area type includes a basic assisted driving area and a navigation assisted function driving area; Acquire parking state machine information output by the parking state machine in the resident function group.

3. The method for switching between driving and berthing according to claim 2, characterized in that: If the current state group of the vehicle is the parking state group, determining the corresponding driving-parking switching condition based on the current state group of the vehicle includes: A first switching condition corresponding to switching from a parking state group to a driving state group is obtained from the resident function group; the first switching condition includes that the parking state machine information indicates that there is no parking task, the first vehicle positioning information indicates that the vehicle is within a high-precision map range, and the driving area type is an area that allows navigation assistance functions.

4. The method for switching between driving and berthing according to claim 3, characterized in that: Before determining the corresponding driving and parking switching condition based on the current state group of the vehicle, the method further includes: Obtaining the driving speed of the vehicle; Correspondingly, the first switching condition also includes that the average speed of the driving speed within a set time period is not less than a set speed.

5. The method for switching between driving and berthing according to claim 1, characterized in that: If the current state group of the vehicle is a driving state group, obtaining real-time vehicle operation information and state machine information output by the resident function group of the vehicle includes: Calling the sensor driving application in the resident function group to obtain vehicle chassis information; Calling a map algorithm in the resident function group to determine second vehicle positioning information of the vehicle; Acquire driving state machine information output by the driving state machine in the resident function group.

6. The method for switching between driving and berthing according to claim 5, characterized in that: If the current state group of the vehicle is a driving state group, determining the corresponding driving / parking switching condition based on the current state group of the vehicle includes: A second switching condition corresponding to switching from the driving state group to the parking state group is obtained from the resident function group; the second switching condition includes that the driving state machine information is no driving task, the second vehicle positioning information indicates that the vehicle is in a non-high-precision map range, and the vehicle chassis information indicates that the vehicle is or has been in a stationary state.

7. The method for switching between driving and berthing according to any one of claims 1 to 5, characterized in that: Switching the vehicle from the current state group to another state group, disabling the assisted driving algorithm belonging to the current state group, and unlocking the assisted driving algorithm corresponding to another state group includes: Calling the driving and parking switching state machine in the resident function group to close the first assisted driving algorithm belonging to the current state group in the background, and calling the background monitoring program to close the first assisted driving algorithm that has not exited the background operation in time; The driving and parking switching state machine is called to perform keyword matching in all background programs, identify the second assisted driving algorithm belonging to the other state group, and modify the activation policy corresponding to the second assisted driving algorithm to unlock the second assisted driving algorithm.

8. A vehicle parking switching system, characterized in that: include: An information acquisition module, used to acquire real-time vehicle operation information and state machine information output by the resident function group of the vehicle; A switching condition acquisition module, used to determine the corresponding driving / parking switching condition based on the current state group of the vehicle; the state group includes a driving state group and a parking state group, and each state group is used to run a corresponding auxiliary driving algorithm; The driving and parking switching module is used to switch the vehicle from the current state group to another state group if the real-time vehicle operation information and the state machine information meet the driving and parking switching conditions, shut down the assisted driving algorithm belonging to the current state group, and unlock the assisted driving algorithm corresponding to the other state group.

9. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which implements the steps of the method according to any one of claims 1 to 7 when executed.

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