Method, automatic parking control system, electronic device and computer program product

Abstract

A method for activating an automatic parking function of a vehicle, an automatic parking control system, an electronic device, and a computer program product are provided, where the method includes the steps of: receiving an activation request for the automatic parking function and issuing a handshake inquiry based on the activation request; obtaining a vehicle state parameter in response to the received handshake inquiry, and sending a handshake feedback when the vehicle state parameter meets a preset condition; activating an automatic parking function of the vehicle based on the handshake feedback; wherein the vehicle state parameters at least comprise the current vehicle speed, and the preset conditions at least comprise that the current vehicle speed is lower than a non-zero preset threshold value. According to the method, seamless function switching between normal driving and automatic parking can be achieved, and therefore the user experience is improved.

Description

Technical Field

[0001] This application relates to the field of automatic parking technology, and more particularly to a method for activating the automatic parking function of a vehicle, an automatic parking control system, electronic equipment, and computer program products. Background Technology

[0002] Auto Parking Assist (APA) is widely used in smart vehicles to help end users park their vehicles automatically. Typically, APA is activated by finding an available parking space and then taking control of the vehicle only after the vehicle has come to a complete stop and the driver presses the activation button. In other words, one of the prerequisites for activating APA is that the vehicle must be stationary or braked to a complete stop, which may also require the vehicle to be in park or the brake calipers of the Electronic Parking Brake (EPB) system to be engaged.

[0003] It should be noted that the content described herein is only to provide background information in relation to this disclosure and does not necessarily belong to the prior art. Summary of the Invention

[0004] To address or at least alleviate one or more of the above problems, the following technical solutions are provided.

[0005] According to a first aspect of this application, a method for activating an automatic parking function of a vehicle is proposed, comprising the following steps:

[0006] Receive activation requests for the automatic parking function and issue handshake queries based on them;

[0007] In response to receiving the handshake query to obtain vehicle status parameters, and when the vehicle status parameters meet preset conditions, a handshake feedback is issued.

[0008] Based on the handshake feedback, the vehicle's automatic parking function is activated;

[0009] The vehicle status parameters include at least the current vehicle speed, and the preset conditions include at least a preset threshold where the current vehicle speed is lower than zero.

[0010] According to an embodiment of the method of this application, the step of issuing handshake feedback when the vehicle state parameters meet preset conditions includes the following steps:

[0011] The current vehicle speed is compared with the non-zero preset threshold, and a control signal is issued when the current vehicle speed is less than the non-zero preset threshold.

[0012] The handshake feedback is issued based on the control signal;

[0013] The control signal includes a zeroing signal, which is used to set the vehicle speed value on the vehicle bus to zero within a preset time period.

[0014] According to one embodiment of the method of this application, the preset duration depends on the signal period of the vehicle bus and the preset maximum handshake response duration.

[0015] According to one embodiment of the method of this application, the control signal further includes a brake release signal for holding the vehicle brake caliper in a released state, wherein the vehicle brake caliper is not clamping the wheel in the released state.

[0016] According to one embodiment of the method of this application, the non-zero preset threshold is at most 30 km / h.

[0017] According to one embodiment of the method of this application, the activation request for the automatic parking function is triggered by an operation for selecting a parking space.

[0018] According to one embodiment of the method of this application, the vehicle state parameters further include vehicle acceleration parameters, vehicle environmental parameters, and parking space parameters.

[0019] According to a second aspect of this application, an automatic parking control system is also proposed, comprising:

[0020] The first module is configured to receive an activation request for the automatic parking function and issue a handshake query based on it.

[0021] The second module is configured to respond to receiving the handshake query to obtain vehicle status parameters and to send handshake feedback to the first module when the vehicle status parameters meet preset conditions, wherein the first module activates the automatic parking function based on the handshake feedback.

[0022] The vehicle status parameters include at least the current vehicle speed, and the preset conditions include at least a preset threshold where the current vehicle speed is lower than zero.

[0023] An automatic parking control system according to an embodiment of this application, wherein the second module includes a first submodule and a second submodule, wherein the first submodule is part of a vehicle longitudinal controller and the second submodule is part of a vehicle lateral controller, and when the vehicle state parameters meet preset conditions, the first submodule and the second submodule respectively send handshake feedback to the first module.

[0024] An automatic parking control system according to an embodiment of this application, wherein the first submodule is configured to compare the current vehicle speed with the non-zero preset threshold and issue a control signal when the current vehicle speed is less than the non-zero preset threshold.

[0025] The control signal includes a zero-setting signal, which is used to set the vehicle speed value on the vehicle bus to zero within a preset time period.

[0026] The second submodule communicates with the vehicle bus and issues the handshake feedback in response to obtaining the zero vehicle speed value therefrom.

[0027] According to an embodiment of the present application, an automatic parking control system wherein the first submodule and the second submodule respectively compare the current vehicle speed with the non-zero preset threshold and respectively send the handshake feedback to the first module when the current vehicle speed is less than the non-zero preset threshold.

[0028] According to a third aspect of this application, an electronic device is also proposed, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement a method for activating an automatic parking function of a vehicle according to at least one embodiment of the above embodiments.

[0029] An electronic device according to an embodiment of this application is a controller or domain controller for automatic parking.

[0030] Finally, according to a fourth aspect of this application, a computer program product is also proposed, comprising a computer program, wherein when the computer program is executed by a processor, it implements the method for activating an automatic parking function of a vehicle according to at least one embodiment of the above embodiments.

[0031] The method for activating the automatic parking function of a vehicle according to this disclosure enables seamless switching between normal driving and automatic parking, thereby improving the user experience. Attached Figure Description

[0032] Referring to the accompanying drawings, the above and other features of this application will become apparent, wherein,

[0033] Figure 1 A structural block diagram of an automatic parking control system according to this application is shown;

[0034] Figure 2 A schematic diagram is shown regarding the activation of the automatic parking function using an automatic parking control system according to this application;

[0035] Figure 3Another schematic diagram is shown regarding the activation of the automatic parking function using the automatic parking control system according to this application;

[0036] Figure 4 A schematic diagram is shown regarding the use of the automatic parking control system according to this application in an application scenario of automatic vehicle parking;

[0037] Figure 5 A flowchart of a method for activating the automatic parking function of a vehicle according to this application is shown;

[0038] Figure 6 A structural block diagram of an electronic device according to this application is shown. Detailed Implementation

[0039] The present application will now be described more fully with reference to the accompanying drawings, which illustrate exemplary embodiments thereof. However, the present application may be implemented in various forms and should not be construed as being limited to the embodiments given herein. The foregoing embodiments are intended to make the disclosure herein complete and thorough, so as to more fully convey the scope of protection of the present application to those skilled in the art.

[0040] In this specification, terms such as “comprising” and “including” indicate that, in addition to having the units and steps that are directly and explicitly stated in the specification and claims, the technical solution of this application does not exclude the presence of other units and steps that are not directly or explicitly stated.

[0041] Unless otherwise specified, terms such as “first” and “second” do not indicate the order of units in terms of time, space, size, etc., but are merely used to distinguish between units.

[0042] Figure 1 A structural block diagram of an automatic parking control system according to one embodiment of the present application is shown, which can be used to perform the method for activating the automatic parking function of a vehicle according to the present application.

[0043] Figure 1 The illustrated automatic parking control system 100 includes a first module 110 and a second module 120. The first module is configured to receive an activation request for the automatic parking function and, based on the activation request, issue a handshake query, which can be sent to the second module 120. The second module 120 is configured to, in response to receiving the handshake query, acquire the vehicle status parameters at the current moment and, when the vehicle status parameters meet preset conditions, issue a handshake feedback to the first module 110, thereby successfully establishing a connection between the first and second modules.

[0044] In an automatic parking control system according to one embodiment of this application, the vehicle state parameters acquired by the second module 120 include the current vehicle speed, and correspondingly, the preset condition is that the current vehicle speed is lower than a non-zero preset threshold. The current vehicle speed can be calculated based on the vehicle wheel speed, which is measured by corresponding sensing elements. Furthermore, for the current vehicle speed as a vehicle state parameter, the "non-zero preset threshold" refers to a preset threshold greater than zero, wherein when the current vehicle speed is a vector, the absolute value of the current vehicle speed should be considered.

[0045] Here, it is not mandatory that the second module 120 is only allowed to respond to the handshake query of the first module 110 when the vehicle is completely stopped. Rather, the second module 120 is also allowed to respond to the handshake query of the first module 110 in the driving mode when the vehicle speed meets the preset conditions. That is, dynamic handshake is allowed between the first module and the second module in the vehicle's driving mode.

[0046] The term "dynamic handshake" as used in this document refers to the handshake operation performed between the first module and the second module during vehicle operation. Without limitation, the dynamic handshake between the first module and the second module may be implemented using a TCP (Transmission Control Protocol) three-way handshake, a TLS (Transport Layer Security) handshake, or other feasible handshake methods.

[0047] Because the vehicle does not need to be stopped before activating the APA function, a seamless switch between normal driving and automatic parking is achieved. Normal driving can be initiated by the user or by the vehicle's intelligent driving system. This seamless switching significantly improves the user experience when the parking space is a user-dedicated space. However, it's worth noting that in scenarios where a user drives home using the vehicle's NOA (Navigate on Autopilot) function and parks in their residential parking space, requiring the vehicle to be stopped to activate the automatic parking function would result in intermittent mode switching, which would be detrimental to the user experience.

[0048] Furthermore, this seamless function switching can be manifested at the vehicle structure level as follows: the parking button and / or activation button can be omitted on the vehicle instrument panel or vehicle HMI (Human Machine Interface). For example, the activation request can be entered through the operation of "selecting a parking space." This operation can be triggered by the driver, for example, by pressing a physical button on the vehicle instrument panel, pressing a virtual button on the HMI, voice control, operating the vehicle remote key, or a mobile terminal linked to the vehicle. Alternatively, this operation can also be triggered by the vehicle's own intelligent driving controller or other related controllers or domain controllers.

[0049] Here, the first module 110 may be a vehicle APA controller, a component of an APA controller, or integrated into an APA controller. Exemplarily, the APA controller may be connected to onboard sensors to locate one or more available parking spaces using ambient environmental parameters sensed by the controller, wherein, after determining a target parking space and activating the automatic parking function, a parking path is planned and the vehicle is controlled to automatically park in the space.

[0050] The second module 120 is a cooperating controller for implementing the APA function, which is associated with a corresponding actuator for performing the automatic parking function, such as a braking actuator, an acceleration actuator, or a steering actuator.

[0051] Figure 2 A schematic diagram of a dynamic handshake between the first module 110 and the second module 120 is shown. Figure 2 Upon receiving an activation request, at least one question-and-answer session is performed between the first module 110 and the second module 120 to determine whether the second module supports the APA function. Specifically, the first module sends a handshake query to the second module. When the second module determines that the vehicle status parameters meet preset conditions, it sends handshake feedback to the first module and completes the handshake. Subsequently, the first module activates the APA function and takes over vehicle control. During automatic parking, the first module sends a parking operation request to the second module, and in response, the second module sends parking operation feedback to the first module.

[0052] In an optional implementation, the second module 120 includes a first submodule 121 and a second submodule 122. The first submodule 121 may be a vehicle longitudinal controller, a part of a vehicle longitudinal controller, or a part of a vehicle ESP (Electronic Stability Program) system, for controlling the vehicle's acceleration and braking in the longitudinal direction. The second submodule 122 may be a vehicle lateral controller, a part of a vehicle lateral controller, or a part of a vehicle EPS (Electric Power Steering) system, for controlling the vehicle's lateral position and attitude. Here, when the vehicle state parameters meet preset conditions, the first submodule and the second submodule respectively send handshake feedback to the first module.

[0053] In the case of a second module that includes both a first and a second submodule, the aforementioned two question-and-answer sessions can be performed. Specifically, when the vehicle status parameters meet preset conditions, the first and second submodules can respectively send handshake feedback to the first module.

[0054] In another optional implementation, the first submodule 121 and the second submodule 122 respectively compare the acquired current vehicle speed with the non-zero preset threshold, and send a handshake feedback to the first module 110 when the current vehicle speed is less than the non-zero preset threshold, so as to successfully establish a handshake and then activate the automatic parking function.

[0055] The non-zero preset threshold is associated with the maximum vehicle speed allowed when the APA system is operating normally. This maximum speed depends on the sensing requirements of sensors related to the APA function and the requirements of related algorithms based on sensor sensing. The non-zero preset threshold is less than the maximum vehicle speed. For example, the highest non-zero preset threshold is 30 km / h; that is, the non-zero preset threshold is greater than zero and less than or equal to 30 km / h.

[0056] Furthermore, the non-zero preset threshold can be from 5 km / h to 15 km / h. Correspondingly, when the current vehicle speed is lower than the non-zero preset threshold, the second module is allowed to perform a handshake feedback to the first module, which is implemented as an APA controller, to establish effective communication and thereby activate the automatic parking function. It should be understood that the automatic parking control system according to this application does not exclude the situation where the second module performs a handshake feedback to the first module when the current vehicle speed obtained in response to the handshake query of the first module is zero or substantially zero.

[0057] Alternatively, whether the second submodule 122, implemented as a vehicle lateral controller, issues handshake feedback depends on the first submodule 121, implemented as a vehicle longitudinal controller. Specifically, the first submodule 121 is configured to compare the current vehicle speed obtained in response to a handshake query from the first module 110 with the non-zero preset threshold, and issue a control signal when the speed is less than the preset threshold. This control signal is used by the second submodule 122. The second submodule 122 is configured to issue the handshake feedback to the first module 110 based on the control signal to complete the handshake and subsequently activate the automatic parking function.

[0058] Figure 3 The graph illustrates the trends of different signals over time, with the horizontal axis representing the time axis and plotted based on an automatic parking control system constructed according to this application. The first module is implemented as an APA controller, and the second module includes a first sub-module implemented as a vehicle longitudinal controller and a second sub-module implemented as a vehicle lateral controller. Upon receiving the activation request, the APA controller simultaneously sends handshake queries to both the vehicle longitudinal controller and the vehicle lateral controller. If the current vehicle speed is determined to be less than a preset threshold, the vehicle speed value on the vehicle bus is set to zero (i.e., v = 0) via a zeroing signal included in the control signal and maintained for a preset duration. The vehicle bus can be a CAN (Controller Area Network) bus. Here, the vehicle lateral controller responds to the zero vehicle speed value obtained from the vehicle bus by sending a handshake feedback to the first module. The zeroing signal is a signal used to simulate a stationary vehicle state, and due to the detection and determination of vehicle state parameters by the aforementioned first sub-module, Figure 3 The zeroing segment (i.e., v = 0) on the vehicle bus shown has a time delay.

[0059] Here, the preset duration is set so that the vehicle lateral controller can perform a handshake while minimizing the impact on other vehicle monitoring logic.

[0060] In one feasible implementation, the preset duration depends at least on the preset maximum handshake response duration and the vehicle bus signal cycle. The maximum handshake response duration refers to the longest time required from one party sending a handshake query to the other party confirming the handshake is complete; that is, the connection establishment between the two parties must be completed within the maximum handshake response duration. The vehicle bus signal cycle refers to the time required from sending a signal to receiving a signal; taking the vehicle speed signal as an example, it is updated or reacquired according to the signal cycle.

[0061] The preset duration is within the range defined by the signal period of the vehicle bus and the preset maximum handshake response duration. The preset duration can be in the range of 20ms to 500ms.

[0062] In another feasible implementation, the control signal issued by the vehicle longitudinal controller may further include a brake release signal, which is used to hold the vehicle brake caliper in a released state, wherein the vehicle brake caliper is not clamped onto the wheel. In other words, the brake release signal allows the vehicle to be forcibly stopped before the automatic parking function is activated.

[0063] In another feasible implementation, the vehicle state parameters may further include at least one of the following parameters: vehicle acceleration parameter, vehicle environment parameter, and parking space parameter. For the vehicle acceleration parameter, a preset condition may be that the absolute value of the vehicle acceleration at the current moment is lower than a preset acceleration threshold. For the vehicle environment parameter, a preset condition may be that there are no obstacles on the path from the current position to the target parking space. For the parking space parameter, a preset condition may be that the selected target parking space is available.

[0064] The second module responds to the handshake query by determining whether to issue a handshake feedback based on vehicle status parameters. Similarly, the handshake query is also sent to the second module when the vehicle status parameters meet preset conditions. For example, in response to receiving the activation request and the current vehicle speed being less than a non-zero preset threshold, the first module sends a handshake query to the second module. Here, the non-zero preset threshold used by the first module can be preset to be the same as or different from the non-zero preset threshold used by the second module.

[0065] Alternatively, the activation request can be triggered under restricted conditions. For example, the activation request may only be triggered when the vehicle speed drops to a preset range or when it is determined that there are no dangerous driving conditions (e.g., pressing the accelerator pedal).

[0066] Figure 4A schematic diagram illustrating the use of the automatic parking control system according to this application in an application scenario of automatic vehicle parking is shown, wherein the vehicle's travel path from receiving an activation request from the automatic parking control system to parking is depicted in dashed lines. In the first path segment (i.e., from point "1" to point "2"), the vehicle's automatic parking function is not yet activated; during this period, a dynamic handshake occurs between the APA controller and the vehicle's longitudinal and lateral controllers in response to receiving the activation request. In the second path segment (i.e., from point "2" to point "3"), the vehicle's automatic parking function is activated; during this period, the vehicle speed is greater than zero. In the third path segment (i.e., from point "3" to point "4"), the vehicle's automatic parking function is activated, and the APA controller controls the vehicle to automatically park according to the planned path, wherein this third path segment may be referred to as the parking planning path. Here, after activating the automatic parking function of the vehicle using the automatic parking control system according to this application, various path planning and parking control technologies currently available on the market for realizing automatic parking functions can be applied to achieve, for example, segmented parking or continuous parking.

[0067] Figure 5 A flowchart illustrating a method according to one embodiment of this application is shown, which can be executed by an automatic parking control system according to at least one of the above embodiments.

[0068] exist Figure 5 The method shown for activating the vehicle's automatic parking function includes the following steps:

[0069] S10: Receive an activation request for the automatic parking function and issue a handshake query based on it;

[0070] S20: In response to receiving the handshake query to obtain vehicle status parameters and issuing a handshake feedback when the vehicle status parameters meet preset conditions;

[0071] S30: Based on the handshake feedback, activate the vehicle's automatic parking function;

[0072] The vehicle status parameters include at least the current vehicle speed, and the preset conditions include at least a preset threshold where the current vehicle speed is lower than zero.

[0073] Here, since the vehicle does not need to be stopped before activating the APA function, the method for activating the automatic parking function of the vehicle according to this application enables a seamless function switch between normal driving and automatic parking, thereby improving the user experience.

[0074] Furthermore, regarding the activation request, vehicle state parameters, preset conditions, and non-zero preset threshold for the current vehicle speed mentioned in the method according to this application, please refer to the above description of the automatic parking control system according to this application.

[0075] In another optional implementation, for step S10 above, issuing handshake feedback when the vehicle state parameters meet the preset conditions includes the following steps:

[0076] The current vehicle speed is compared with the non-zero preset threshold, and a control signal is issued when the current vehicle speed is less than the non-zero preset threshold.

[0077] A handshake feedback is issued based on the control signal;

[0078] The control signal includes a zero-set signal, which is used to set the vehicle speed value on the vehicle bus to zero within a preset time period.

[0079] Here, regarding the control signal, zeroing signal, and preset duration mentioned in the method according to this application, please refer to the above description of the automatic parking control system according to this application.

[0080] Furthermore, the features and advantages described in connection with the automatic parking control system according to this application are particularly evident in the method for activating the automatic parking function according to this application, and reference can be made accordingly to the explanation made for the automatic parking control system according to this application.

[0081] then, Figure 6 An electronic device 10 according to another aspect of this application is shown. The electronic device includes a memory 11, a processor 12, and a computer program 13 stored in the memory 11 and executable on the processor 12, wherein the processor 12 executes the computer program 13 to implement a method for activating an automatic parking function of a vehicle according to at least one embodiment described above.

[0082] Here, the electronic device may be a controller for automatic parking in the vehicle, or the electronic device may be a domain controller for automatic parking. The vehicle may be a gasoline-powered vehicle or a new energy vehicle, such as an electric vehicle, a hybrid vehicle, or a fuel cell vehicle.

[0083] The features and advantages described in connection with the electronic device according to this application, which is combined with the automatic parking control system according to this application or the method for activating the automatic parking function of a vehicle, are particularly evident, and reference can be made accordingly to the explanations made for both.

[0084] Finally, this application also proposes a computer program product comprising a computer program that, when executed by a processor, implements the method for activating an automatic parking function of a vehicle according to at least one of the above embodiments. Here, the features and advantages described in conjunction with the automatic parking control system or the method for activating an automatic parking function of a vehicle according to this application are particularly evident with respect to the computer program product of this application, and reference can be made accordingly to the explanations made for both.

[0085] The embodiments and examples presented herein are provided to illustrate embodiments of this application and its specific applications, thereby enabling those skilled in the art to implement and use this application. However, those skilled in the art should understand that the above description and examples are provided for ease of illustration and example only. The descriptions presented are not intended to cover all aspects of this application or to limit this application to the precise forms disclosed.

Claims

1. A method for activating the automatic parking function of a vehicle, characterized in that, Includes the following steps: Receive activation requests for the automatic parking function and issue handshake queries based on them; In response to receiving the handshake query to obtain vehicle status parameters, and when the vehicle status parameters meet preset conditions, a handshake feedback is issued. Based on the handshake feedback, the vehicle's automatic parking function is activated; The vehicle status parameters include at least the current vehicle speed, and the preset conditions include at least a preset threshold where the current vehicle speed is lower than zero.

2. The method according to claim 1, characterized in that, The step of issuing handshake feedback when the vehicle status parameters meet the preset conditions includes the following steps: The current vehicle speed is compared with the non-zero preset threshold, and a control signal is issued when the current vehicle speed is less than the non-zero preset threshold. The handshake feedback is issued based on the control signal; The control signal includes a zeroing signal, which is used to set the vehicle speed value on the vehicle bus to zero within a preset time period.

3. The method according to claim 2, characterized in that, The preset duration depends on the signal cycle of the vehicle bus and the preset maximum handshake response duration.

4. The method according to claim 2, characterized in that, The control signal also includes a brake release signal, which is used to hold the vehicle brake caliper in a released state, wherein the vehicle brake caliper is not clamping the wheel in the released state.

5. The method according to claim 1, characterized in that, The maximum preset threshold for non-zero speeds is 30 km / h.

6. The method according to claim 1, characterized in that, The activation request for the automatic parking function is triggered by an operation used to select a parking space.

7. The method according to claim 1, characterized in that, The vehicle status parameters also include vehicle acceleration parameters, vehicle environmental parameters, and parking space parameters.

8. An automatic parking control system, characterized in that, include: The first module is configured to receive an activation request for the automatic parking function and issue a handshake query based on it. The second module is configured to respond to receiving the handshake query to obtain vehicle status parameters and to send handshake feedback to the first module when the vehicle status parameters meet preset conditions, wherein the first module activates the automatic parking function based on the handshake feedback. The vehicle status parameters include at least the current vehicle speed, and the preset conditions include at least a preset threshold where the current vehicle speed is lower than zero.

9. The automatic parking control system according to claim 8, characterized in that, The second module includes a first submodule and a second submodule, wherein the first submodule is part of the vehicle longitudinal controller and the second submodule is part of the vehicle lateral controller. When the vehicle state parameters meet the preset conditions, the first submodule and the second submodule respectively send handshake feedback to the first module.

10. The automatic parking control system according to claim 9, characterized in that, The first submodule is configured to compare the current vehicle speed with a non-zero preset threshold and issue a control signal when the current vehicle speed is less than the non-zero preset threshold. The control signal includes a zero-setting signal, which is used to set the vehicle speed value on the vehicle bus to zero within a preset time period. The second submodule communicates with the vehicle bus and issues the handshake feedback in response to obtaining the zero vehicle speed value therefrom.

11. The automatic parking control system according to claim 9, characterized in that, The first submodule and the second submodule respectively compare the current vehicle speed with the non-zero preset threshold, and send the handshake feedback to the first module when the current vehicle speed is less than the non-zero preset threshold.

12. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the method for activating the automatic parking function of a vehicle according to any one of claims 1 to 7.

13. The electronic device according to claim 12, characterized in that, The electronic device is a controller or domain controller for automatic parking.

14. A computer program product comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method for activating the automatic parking function of a vehicle according to any one of claims 1 to 7.

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