Parking exception processing method, system on chip, micro control unit and domain controller

Abstract

The present disclosure relates to a parking abnormality processing method, a system on chip, a micro control unit and a domain controller, comprising: adding a first monitoring module on the system on chip (SOC) for monitoring the parking process; when the first monitoring module determines that the parking process is abnormal based on the obtained first monitoring signal corresponding to the parking process, sending a parking process abnormality signal to the control module of the micro control unit (MCU), so that the control module sends a deceleration and parking instruction to the vehicle bus to control the vehicle to stop in response to the received parking process abnormality signal. By using the above technical solution, when the first monitoring module detects that the parking process is abnormal, the parking process abnormality signal is sent to the control module of the MCU, and the control module sends the deceleration and parking instruction to the vehicle bus in response to the parking process abnormality signal, so that the vehicle gradually decelerates and stops, which realizes safe parking of the vehicle when the parking process is abnormal and reduces the probability of scratching.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent driving parking technology, and in particular to a parking anomaly handling method, a system-on-a-chip, a microcontroller unit, and a domain controller. Background Technology

[0002] Currently, mainstream intelligent driving controllers on the market are implemented using a combination of system-on-chip (SOC) and microcontroller unit (MCU). Many parking processes related to intelligent driving parking, such as perception, fusion, and planning, are deployed on the SOC. Due to various factors such as underlying firmware defects, peripheral driver and interrupt latency, memory subsystem, and power settings, the stability of processes on the SOC is relatively poor. If some parking processes get stuck during parking and vehicle control due to code interruption or unstable process operation, they cannot output data normally, resulting in the vehicle becoming uncontrollable and posing a risk of collision. Summary of the Invention

[0003] To solve the above-mentioned technical problems, or at least partially solve the above-mentioned technical problems, at least one embodiment of this disclosure provides a parking anomaly handling method, a system-on-a-chip, a microcontroller unit, and a domain controller.

[0004] Firstly, this disclosure provides a parking anomaly handling method applied to a system-on-a-chip (SoC), the method comprising: The first monitoring signal corresponding to the parking process is obtained through the first monitoring module deployed on the SOC. When the first monitoring module determines that there is an abnormality in the parking process based on the first monitoring signal, it sends a parking process abnormality signal to the control module of the microcontroller unit (MCU) through the first monitoring module. The control module is used to send a deceleration and parking command to the vehicle bus in response to receiving the parking process abnormality signal. The deceleration and parking command is used to control the vehicle to stop.

[0005] Secondly, this disclosure provides a parking anomaly handling method applied to a microcontroller unit (MCU), wherein the MCU includes a control module, and the method includes: In response to the control module receiving a parking process abnormal signal from the first monitoring module of the system-on-a-chip (SOC), the control module sends a deceleration and parking command to the vehicle bus, which is used to control the vehicle to stop. The first monitoring module acquires a first monitoring signal corresponding to the parking process, and when it determines that there is an abnormality in the parking process based on the first monitoring signal, it sends a parking process abnormality signal to the control module.

[0006] Thirdly, this disclosure provides a system-on-a-chip (SoC) on which a first monitoring module is deployed, the first monitoring module being configured to: Obtain the first monitoring signal corresponding to the parking process; When an abnormality is determined in the parking process based on the first monitoring signal, a parking process abnormality signal is sent to the control module of the microcontroller unit (MCU). The control module is used to send a deceleration and parking command to the vehicle bus in response to receiving the parking process abnormality signal. The deceleration and parking command is used to control the vehicle to stop.

[0007] Fourthly, this disclosure provides a microcontroller unit (MCU) including a control module, the control module being configured to: In response to receiving a parking process abnormal signal from the first monitoring module of the system-on-a-chip (SOC), a deceleration and parking command is sent to the vehicle bus, the deceleration and parking command being used to control the vehicle to stop. The first monitoring module acquires a first monitoring signal corresponding to the parking process, and when it determines that there is an abnormality in the parking process based on the first monitoring signal, it sends a parking process abnormality signal to the control module.

[0008] Fifthly, this disclosure provides a domain controller, including a system-on-a-chip (SOC) and a microcontroller unit (MCU), wherein the SOC includes a first monitoring module and the MCU includes a control module; wherein, The first monitoring module is used to acquire the first monitoring signal corresponding to the parking process, and when it is determined that there is an abnormality in the parking process based on the first monitoring signal, it sends a parking process abnormality signal to the control module. The control module is used to send a deceleration and parking command to the vehicle bus in response to receiving an abnormal parking process signal. The deceleration and parking command is used to control the vehicle to stop.

[0009] Sixthly, this disclosure provides an electronic device, including: a processor and a memory; The processor executes the parking anomaly handling method as described in the first aspect by calling the program or instructions stored in the memory, or executes the parking anomaly handling method as described in the second aspect.

[0010] In a seventh aspect, this disclosure provides a computer-readable storage medium storing a program or instructions that cause a computer to perform the parking anomaly handling method as described in the first aspect, or to perform the parking anomaly handling method as described in the second aspect.

[0011] Eighthly, this disclosure provides a computer program product for executing the parking anomaly handling method as described in the first aspect, or for executing the parking anomaly handling method as described in the second aspect.

[0012] The technical solution provided in this disclosure has at least the following advantages compared with the prior art: In this embodiment, a first monitoring module is added to the system-on-a-chip (SOC) to monitor the parking process. When the first monitoring module determines that there is an anomaly in the parking process based on the first monitoring signal corresponding to the acquired parking process, it sends a parking process anomaly signal to the control module of the microcontroller unit (MCU). The control module then responds to the received parking process anomaly signal by sending a deceleration and parking command to the vehicle bus to control the vehicle to stop. By adopting the above technical solution, when the first monitoring module detects an anomaly in the parking process, it sends a parking process anomaly signal to the MCU control module. The control module responds to the parking process anomaly signal by sending a deceleration and parking command to the vehicle bus, causing the vehicle to gradually decelerate and stop. This ensures safe parking of the vehicle even when the parking process is abnormal, reducing the probability of collisions. Attached Figure Description

[0013] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0014] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0015] Figure 1 A schematic flowchart of a parking anomaly handling method provided as an exemplary embodiment of this disclosure; Figure 2 A schematic flowchart of a parking anomaly handling method provided as another exemplary embodiment of this disclosure; Figure 3 A schematic diagram of the structure of a system-on-a-chip provided in an exemplary embodiment of this disclosure; Figure 4 This is a schematic diagram of the structure of a microcontroller unit provided as an exemplary embodiment of the present disclosure. Detailed Implementation

[0016] To better understand the above-described objectives, features, and advantages of this disclosure, the present disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the described embodiments are only some, not all, of the embodiments of this disclosure. The specific embodiments described herein are merely for explaining this disclosure and not for limiting it. Unless otherwise specified, the embodiments of this disclosure and the features within them can be combined with each other. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure are within the scope of protection of this disclosure.

[0017] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0018] With the rapid iteration of automotive intelligence and connectivity technologies, intelligent driving (hereinafter referred to as "intelligent driving") has gradually evolved from assisted driving to advanced autonomous driving. Among them, Automated Parking Assist (APA) and Remote Parking Assist (RPA), as high-frequency scenarios closely related to users' daily use, have become one of the core indicators for measuring the practicality of intelligent driving systems. Currently, intelligent driving parking systems have achieved core capabilities such as multi-sensor fusion perception, dynamic path planning, and closed-loop control by drive-by-wire. Relying on hardware such as surround-view cameras, millimeter-wave radar, lidar, and ultrasonic sensors, combined with deep learning algorithms, they can realize basic functions such as parking space recognition, obstacle avoidance parking, and automatic parking exit, significantly reducing the threshold for users to park and improving travel convenience. In particular, they alleviate high-frequency pain points for novice drivers such as parking scratches and difficulties in parking in narrow spaces, promoting the transformation of intelligent driving functions from "showy features" to "daily necessities".

[0019] However, the widespread adoption and implementation of intelligent parking functions still face numerous technical bottlenecks and safety hazards, becoming key factors restricting their large-scale application and the improvement of user trust. From the perspective of the entire system operation process, the complexity of parking scenarios, limitations in hardware performance, insufficient generalization of algorithm models, and interference from the external environment can all easily lead to functional abnormalities, thereby triggering safety risks. According to industry survey data, 62% of novice drivers have experienced minor collisions while parking. Even mature intelligent parking systems suffer from safety disputes caused by issues such as missed recognition and response delays, and some even consider them a useless feature.

[0020] Therefore, how to solve the problem of vehicles becoming uncontrollable or even posing a risk of collision due to process deadlock during parking control has become an urgent issue to be addressed.

[0021] To address the aforementioned issues, this disclosure provides a parking anomaly handling solution. A first monitoring module monitors all parking-related processes. When the first monitoring module detects an anomaly in the parking process, it sends a parking process anomaly signal to the MCU's control module. In response to the parking process anomaly signal, the control module sends a deceleration and parking command to the vehicle bus, causing the vehicle to gradually decelerate and stop. This ensures safe parking of the vehicle even when the parking process is abnormal, reducing the probability of collisions.

[0022] The parking anomaly handling method, system-on-a-chip, microcontroller unit, and domain controller disclosed herein are explained in detail below with reference to the accompanying drawings.

[0023] Figure 1 This is a schematic flowchart of a parking anomaly handling method provided in an exemplary embodiment of the present disclosure. The method can be executed by a system-on-a-chip (SOC) provided in an embodiment of the present disclosure. The SOC includes a first monitoring module for monitoring the parking process on the SOC. The SOC can be integrated into the domain controller of a vehicle.

[0024] like Figure 1 As shown, the parking anomaly handling method may include the following steps: Step 101: Obtain the first monitoring signal corresponding to the parking process through the first monitoring module deployed on the SOC.

[0025] The parking process refers to processes related to intelligent parking, including but not limited to the perception process, fusion process, and planning process. The perception process, as the "sensors" of the parking system, is responsible for collecting raw environmental data in real time; the fusion process is used to align, correlate, deduplicate, and complement multi-source heterogeneous perception data to generate a unified and reliable environmental model; the planning process generates a safe, comfortable, and compliant parking trajectory based on the fusion results.

[0026] In this embodiment, a monitoring module (referred to as the first monitoring module for ease of description and distinction) is added to the traditional SOC layout architecture to monitor the health of parking-related processes such as perception process, fusion process, and planning process.

[0027] As an example, the first monitoring signal can be a fixed signal sent according to a preset period. When the parking process is normal, the parking process sends a signal containing fixed data (i.e., the first monitoring signal) to the first monitoring module according to the preset period. When the first monitoring module does not receive the first monitoring signal for several consecutive periods, it is determined that there is an abnormality in the parking process.

[0028] As an example, the first monitoring signal can be a signal that accumulates over time, reaching a certain value (e.g., 65535) before being reset and continuing to accumulate. In this example, the parking process can be configured with a counter (referred to as the first counter for ease of description and distinction). The first counter counts according to a first counting period and stops counting when an anomaly occurs in the parking process. The first monitoring signal includes the current count value of the first counter. The first monitoring module obtains multiple count values ​​(referred to as first count values ​​for ease of description and distinction) from the first preset number of first monitoring signals closest to the current time. If multiple first count values ​​are consistent, it is determined that an anomaly has occurred in the parking process. The specific values ​​of the first counting period and the first preset number can be set according to actual needs, and this disclosure does not impose any restrictions on them. For example, the first preset number can be set to 5, and the value of the first counting period depends on the running cycle of the relevant parking process. The running cycle of the parking process is usually between 10ms and 100ms, and correspondingly, the value range of the first counting period can also be between 10ms and 100ms. For example, the first counting period can be 20ms, 50ms, etc. In other words, in this example, when the parking process is normal, the first counter counts according to the first counting cycle. For example, the initial value of the first counter is 0, and the count value is incremented by 1 after each first counting cycle. When the parking process is abnormal, the first counter stops counting. For the first monitoring module, the count value that the first monitoring module can obtain in subsequent first counting cycles is the count value after the last update of the first counter, which remains unchanged. If the first count value is the same for a first preset number of consecutive times, the first monitoring module can determine that there is an abnormality in the parking process.

[0029] It should be noted that in this embodiment, the parking process and the first counter can be set independently. After an anomaly in the parking process, although the first counter stops accumulating, it can still send a first monitoring signal to the first monitoring module; however, the count value contained in the first monitoring signal will no longer change. Alternatively, it can be set so that after an anomaly in the parking process, the first monitoring module can no longer send the first monitoring signal to the first monitoring module. However, since the first monitoring module updates and records the count value of each received first monitoring signal (i.e., only recording the latest received count value), when no more first monitoring signals are received, the count value recorded in the first monitoring module is still the count value after the last update of the first counter. Therefore, in subsequent first counting cycles, the first monitoring module considers that the value of the first monitoring signal it receives is always the count value of the last update of the first counter, meaning the count value in subsequent first counting cycles does not change. At this point, it is considered that the parking process is abnormal.

[0030] In this embodiment of the disclosure, a first counter is set for the parking process. The first counter counts according to a first counting period and stops counting when an abnormality occurs in the parking process. The first monitoring signal includes the current count value of the first counter. When the first monitoring module obtains multiple first count values ​​from the first preset number of first monitoring signals closest to the current time, and the multiple first count values ​​are consistent, it is determined that there is an abnormality in the parking process. Thus, simple and efficient process abnormality monitoring is achieved.

[0031] In one optional embodiment of this disclosure, there are multiple parking processes, each with a corresponding first counter. A first monitoring module acquires a first monitoring signal for each parking process. In this case, the first monitoring module determines whether a parking process is abnormal based on the first monitoring signal for each process, and sends a parking process abnormality signal to the MCU control module when it determines that at least one parking process is abnormal. For example, assuming there is a sensing process 1, a fusion process 2, and a planning process 3, each with a corresponding counter, the first monitoring module determines whether sensing process 1 is abnormal based on the first monitoring signal for sensing process 1, whether fusion process 2 is abnormal based on the first monitoring signal for fusion process 2, and whether planning process 3 is abnormal based on the first monitoring signal for planning process 3. If the first monitoring module determines that at least one of sensing process 1, fusion process 2, and planning process 3 is abnormal, it determines that the parking process is abnormal, and sends a parking process abnormality signal to the MCU control module. Therefore, by setting a first counter for each parking process segment for anomaly monitoring, independent monitoring of each parking process is achieved, which can accurately identify specific abnormal processes and facilitate subsequent tracing of the cause of the anomaly.

[0032] Step 102: When the first monitoring module determines that there is an abnormality in the parking process based on the first monitoring signal, it sends a parking process abnormality signal to the control module of the microcontroller unit (MCU) through the first monitoring module. The control module is used to send a deceleration parking command to the vehicle bus in response to receiving the parking process abnormality signal. The deceleration parking command is used to control the vehicle to stop.

[0033] In this embodiment, when the first monitoring module determines whether there is an abnormality in the parking process based on the first monitoring signal, and determines that there is an abnormality in the parking process based on the first monitoring signal, the first monitoring module sends a parking process abnormality signal to the control module of the MCU. Then, after receiving the parking process abnormality signal, the control module sends a deceleration and parking command to the vehicle bus to control the vehicle to stop.

[0034] For example, the parking process abnormal signal can be represented by "1". When the first monitoring module determines that there is an abnormality in the parking process based on the first monitoring signal, it sets the parking process abnormal signal to "1" and sends it to the control module of the MCU. The control module parses and determines that the parking process abnormal signal is "1", and then sends a deceleration parking command to the vehicle bus, so that the vehicle's actuator responds to the deceleration parking command to control the vehicle to gradually decelerate and stop, thereby reducing the risk of collision.

[0035] In one optional embodiment of this disclosure, the control module can sequentially send deceleration commands to the vehicle bus to reduce the vehicle speed, then send parking commands to control the vehicle to stop, and send text and / or voice reminder commands so that the vehicle can inform the user of an abnormality during the parking process through text display and / or voice broadcast, and stop the intelligent parking operation.

[0036] The parking anomaly handling method of this embodiment adds a first monitoring module to the system-on-a-chip (SOC) for monitoring the parking process. When the first monitoring module determines that there is an anomaly in the parking process based on the first monitoring signal corresponding to the acquired parking process, it sends a parking process anomaly signal to the control module of the microcontroller unit (MCU). The control module then responds to the received parking process anomaly signal by sending a deceleration and parking command to the vehicle bus to control the vehicle to stop. By adopting the above technical solution, when the first monitoring module detects an anomaly in the parking process, it sends a parking process anomaly signal to the control module of the MCU. The control module responds to the parking process anomaly signal by sending a deceleration and parking command to the vehicle bus, causing the vehicle to gradually decelerate and stop. This ensures safe parking of the vehicle when there is an anomaly in the parking process, reducing the probability of collisions.

[0037] When the parking process is abnormal, relevant data cannot be output, preventing developers from obtaining effective data for analysis and processing. To address this issue, in one optional embodiment of this disclosure, the SOC also includes a data logging module. When the control module receives a parking process abnormality signal, it triggers a data logging command and sends the command to the data logging module. Therefore, the method of this disclosure further includes: through the data logging module, in response to the data logging command sent by the control module, acquiring the vehicle's current vehicle data and storing it to a cloud server. The current vehicle data includes parking data corresponding to the parking process and vehicle network data. The vehicle network data includes not only vehicle data collected through the Controller Area Network (CAN) bus but also data collected through other networks.

[0038] In other words, in this embodiment, when the parking process is abnormal, the control module not only sends a deceleration and parking command to the vehicle bus to control the vehicle to slow down and stop, but also sends a data recording command to the data recording module to collect valid data before and after the abnormal time point and transmit it to the cloud server for storage. This adds the function of uploading abnormal data to the cloud server, realizing data storage before and after the abnormality, providing convenience for R&D personnel to analyze abnormal data, and enabling them to determine the cause of the abnormality based on the valid data stored in the cloud server, ensuring that the cause of the abnormality is traceable.

[0039] Corresponding to the parking anomaly handling method applied to the SOC described above, this disclosure also provides a parking anomaly handling method applied to an MCU, which includes a control module. As mentioned above, a first monitoring module deployed in the SOC acquires a first monitoring signal corresponding to the parking process, and when it determines that there is an anomaly in the parking process based on the first monitoring signal, it sends a parking process anomaly signal to the control module. Thus, in the parking anomaly handling method of this disclosure, in response to the MCU's control module receiving the parking process anomaly signal sent by the SOC's first monitoring module, the MCU sends a deceleration and parking command to the vehicle bus through the control module. The deceleration and parking command is used to control the vehicle to stop.

[0040] It should be noted that, in this embodiment, the explanation of the first monitoring module and the control module can be found in the relevant descriptions in the foregoing embodiments, and will not be repeated here.

[0041] The parking anomaly handling method of this disclosure adds a first monitoring module to the system-on-a-chip (SOC) to monitor the parking process. When the first monitoring module determines that there is an anomaly in the parking process based on the acquired first monitoring signal corresponding to the parking process, it sends a parking process anomaly signal to the control module of the microcontroller unit (MCU). In response to the control module receiving the parking process anomaly signal from the first monitoring module, the MCU sends a deceleration and parking command to the vehicle bus. This deceleration and parking command is used to control the vehicle to stop. By adopting the above technical solution, when the control module receives the parking process anomaly signal from the first monitoring module, it sends a deceleration and parking command to the vehicle bus, causing the vehicle to gradually decelerate and stop. This ensures safe parking of the vehicle when the parking process is abnormal, reducing the probability of collisions.

[0042] Since the first monitoring module is deployed on the SOC, its stability is affected by various factors, and therefore, abnormal situations can occur. Because the parking process is monitored by the first monitoring module, when the first monitoring module malfunctions, it's impossible to determine whether the parking process is abnormal. To avoid the problem of the first monitoring module failing to accurately identify abnormalities due to parking process malfunctions, leading to uncontrollable vehicle behavior, this disclosure sets up a second monitoring module on the MCU. The second monitoring module is used to monitor the health of the first monitoring module. Therefore, in one optional embodiment of this disclosure, as... Figure 2 As shown, based on the foregoing embodiments, the parking anomaly handling method of this disclosure may further include the following steps: Step 201: Obtain the second monitoring signal corresponding to the first monitoring module through the second monitoring module deployed on the MCU.

[0043] As an example, the second monitoring signal can be a fixed signal sent according to a preset period. When the first monitoring module is normal, the first monitoring module sends a signal containing fixed data (i.e., the second monitoring signal) to the second monitoring module according to the preset period. When the second monitoring module does not receive the second monitoring signal for several consecutive periods, it is determined that the first monitoring module is abnormal.

[0044] As an example, the second monitoring signal can be a signal that accumulates over time, reaching a certain value (e.g., 65535) before being reset and continuing to accumulate. In this example, the first monitoring module can be configured with a counter (referred to as the second counter for ease of description and distinction). The second counter counts according to a second counting cycle and stops counting when the first monitoring module experiences an anomaly. The second monitoring signal includes the current count value of the second counter. The second monitoring module obtains multiple count values ​​(referred to as second count values ​​for ease of description and distinction) from the second preset number of second monitoring signals closest to the current time. If multiple second count values ​​are consistent, it is determined that the first monitoring module has an anomaly. The specific values ​​of the second counting period and the second preset quantity can be set according to actual needs, and this disclosure does not impose any restrictions on them. For example, the second preset quantity can be set to 3, 5, or other values. The value of the second counting period is related to the running cycle of the process where the first monitoring module is located. For example, if the running cycle of the process where the first monitoring module is located is between 10ms and 100ms, the value of the second counting period can also be between 10ms and 100ms. In addition, in the embodiments of this disclosure, the first counting period and the second counting period can be the same or different, and the first preset quantity and the second preset quantity can also be the same or different. This disclosure does not impose any restrictions on their specific values. That is to say, in this example, when the first monitoring module is normal, the second counter counts according to the second counting period. For example, the initial value of the second counter is 0, and the count value is incremented by 1 after each second counting period. When the first monitoring module malfunctions, the second counter stops counting. For the second monitoring module, the count value that the second monitoring module can obtain in subsequent second counting periods is the count value after the last update of the second counter, which remains unchanged. If the second count value of the second preset quantity is the same for a consecutive number of times, the second monitoring module can determine that the first monitoring module is malfunctioning.

[0045] It should be noted that in this embodiment, the first monitoring module and the second counter can be set independently. After the first monitoring module malfunctions, although the second counter stops accumulating, it can still send a second monitoring signal to the second monitoring module; however, the count value contained in the second monitoring signal will no longer change. Alternatively, the first monitoring module can be set to stop sending second monitoring signals to the second monitoring module after malfunctioning. However, since the second monitoring module updates and records the count value of each received second monitoring signal (i.e., only recording the latest received count value), when no more second monitoring signals are received, the count value recorded in the second monitoring module will still be the count value after the last update of the second counter. Therefore, in subsequent second counting cycles, the second monitoring module considers the value of the second monitoring signal it receives to always be the count value of the last update of the second counter, meaning the count value in subsequent second counting cycles will not change. At this point, the first monitoring module is considered to be malfunctioning.

[0046] In this embodiment, a second counter is set for the first monitoring module. The second counter counts according to a second counting cycle and stops counting when the first monitoring module malfunctions. The second monitoring signal includes the current count value of the second counter. When the second monitoring module obtains multiple second count values ​​from the second preset number of second monitoring signals closest to the current time, and the multiple second count values ​​are consistent, it is determined that the first monitoring module is malfunctioning. Thus, simple and efficient malfunction monitoring of the first monitoring module is achieved, effectively preventing the problem of uncontrollable vehicles when the parking process is malfunctioning due to the inability to determine whether the parking process is malfunctioning, thus maximizing vehicle safety.

[0047] Step 202: When the second monitoring module determines that the first monitoring module has an abnormality based on the second monitoring signal, the second monitoring module sends a monitoring process abnormality signal to the control module. In response to receiving the monitoring process abnormality signal, the control module sends a deceleration and parking command to the vehicle bus. The deceleration and parking command is used to control the vehicle to stop.

[0048] In this embodiment, the second monitoring module acquires the second monitoring signal corresponding to the first monitoring module and determines whether the first monitoring module is abnormal based on the second monitoring signal. When it is determined that the first monitoring module is abnormal, the MCU sends a monitoring process abnormal signal to the control module through the second monitoring module. When the control module receives the monitoring process abnormal signal, it sends a deceleration and parking command to the vehicle bus to control the vehicle to stop and reduce the risk of collision.

[0049] For example, the abnormal monitoring process signal can be represented by "1". When the second monitoring module determines that the first monitoring module has an abnormality based on the second monitoring signal, it sets the abnormal monitoring process signal to "1" and sends it to the control module of the MCU. The control module parses and determines that the abnormal monitoring process signal is "1", and then sends a deceleration and parking command to the vehicle bus, so that the vehicle's actuator responds to the deceleration and parking command to control the vehicle to gradually decelerate and stop, thereby reducing the risk of collision.

[0050] In one optional embodiment of this disclosure, when the control module receives an abnormal signal from the monitoring process (i.e., an abnormality in the first monitoring module), the control module not only sends a deceleration and parking command to the vehicle bus to control the vehicle to decelerate and stop, but also sends a data recording command to the data recording module to notify the data recording module to collect valid data before and after the abnormal time point and transmit it to the cloud server for storage. This adds the function of uploading abnormal data to the cloud server, realizing data storage before and after the abnormality, providing convenience for R&D personnel to analyze abnormal data, and enabling R&D personnel to determine the cause of the abnormality based on the valid data stored in the cloud server, ensuring that the cause of the abnormality is traceable.

[0051] The parking anomaly handling method of this embodiment adds a second monitoring module to the MCU to monitor whether the first monitoring module has any anomalies. When the second monitoring module determines that the first monitoring module has an anomaly based on the second monitoring signal corresponding to the first monitoring module, it sends a monitoring process anomaly signal to the control module. After receiving the monitoring process anomaly signal, the control module sends a deceleration and parking command to the vehicle bus to control the vehicle to stop. Thus, it is possible to control the vehicle to stop even when an anomaly of the first monitoring module is detected, effectively preventing the vehicle from becoming uncontrollable due to the anomaly of the first monitoring module, and further effectively ensuring the safety of intelligent parking.

[0052] To implement the above embodiments, this disclosure also provides a system-on-a-chip.

[0053] Figure 3 A schematic diagram of the structure of a system-on-a-chip provided in an exemplary embodiment of this disclosure, as shown below. Figure 3 As shown, the system-on-a-chip (SOC) includes a parking process 301 and a first monitoring module 302 for monitoring the parking process 301 on the SOC. The first monitoring module 302 is configured as follows: Obtain the first monitoring signal corresponding to the parking process; When an abnormality is determined in the parking process based on the first monitoring signal, a parking process abnormality signal is sent to the control module of the microcontroller unit (MCU). The control module is used to send a deceleration and parking command to the vehicle bus in response to receiving the parking process abnormality signal. The deceleration and parking command is used to control the vehicle to stop.

[0054] In one optional embodiment of this disclosure, a first counter is set for the parking process. The first counter counts according to a first counting cycle and stops counting when an abnormality occurs in the parking process. The first monitoring signal includes the current count value of the first counter. The first monitoring module 302 is also configured to: obtain multiple first count values ​​from the first preset number of first monitoring signals closest to the current time, and determine that there is an abnormality in the parking process if the multiple first count values ​​are consistent.

[0055] In one optional embodiment of this disclosure, there are multiple parking processes, and each parking process is set with a corresponding first counter. Accordingly, the first monitoring module 302 acquires the first monitoring signal corresponding to each parking process. The first monitoring module 302 is also configured to: determine whether there is an abnormality in the corresponding parking process based on the first monitoring signal corresponding to each parking process, and send a parking process abnormality signal to the control module when it is determined that at least one parking process is abnormal.

[0056] In one optional embodiment of this disclosure, the system-on-chip further includes a data logging module; the data logging module is configured to: In response to receiving a data recording command from the control module, the system acquires the vehicle's current data and stores it in the cloud server. The current vehicle data includes parking data corresponding to the parking process and vehicle network data. The data logging instruction is triggered when the control module receives an abnormal signal during the parking process.

[0057] It should be noted that the system-on-a-chip (SoC) provided in this disclosure embodiment can execute the parking anomaly handling method applied to the SoC provided in this disclosure embodiment, and has the corresponding functional modules and beneficial effects of the method execution. Content not described in detail in this disclosure embodiment can be referred to the description in any method embodiment of this disclosure.

[0058] To implement the above embodiments, this disclosure also provides a microcontroller unit.

[0059] Figure 4 A schematic diagram of the structure of a microcontroller provided in an exemplary embodiment of this disclosure is shown below. Figure 4 As shown, the microcontroller unit (MCU) includes a control module 401, which is configured to: In response to receiving an abnormal parking process signal from the first monitoring module of the system-on-a-chip (SOC), a deceleration and parking command is sent to the vehicle bus. The deceleration and parking command is used to control the vehicle to stop. The first monitoring module acquires the first monitoring signal corresponding to the parking process, and when it determines that there is an abnormality in the parking process based on the first monitoring signal, it sends a parking process abnormality signal to the control module.

[0060] In one alternative embodiment of this disclosure, such as Figure 4 As shown, a second monitoring module 402 is deployed on the microcontroller unit. The second monitoring module 402 is used to monitor whether the first monitoring module is healthy. The second monitoring module 402 is configured as follows: Obtain the second monitoring signal corresponding to the first monitoring module; When it is determined that there is an abnormality in the first monitoring module based on the second monitoring signal, a monitoring process abnormality signal is sent to the control module 401. The control module 401 is also configured to send a deceleration and parking command to the vehicle bus in response to receiving an abnormal signal from the monitoring process, so as to control the vehicle to stop.

[0061] In one optional embodiment of this disclosure, a second counter is correspondingly set for the first monitoring module. The second counter counts according to a second counting cycle and stops counting when the first monitoring module malfunctions. The second monitoring signal includes the current count value of the second counter. The second monitoring module 402 is also configured to: obtain multiple second count values ​​from the second preset number of second monitoring signals closest to the current time, and determine that the first monitoring module is abnormal if the multiple second count values ​​are consistent.

[0062] It should be noted that the microcontroller unit provided in this disclosure embodiment can execute the parking anomaly handling method applied to the microcontroller unit provided in this disclosure embodiment, and has the corresponding functional modules and beneficial effects of the method execution. Content not described in detail in this disclosure embodiment can be referred to the description in any method embodiment of this disclosure.

[0063] To implement the above embodiments, this disclosure also provides a domain controller, including a system-on-a-chip (SOC) and a microcontroller unit (MCU). The SOC includes a first monitoring module, and the MCU includes a control module. The first monitoring module is used to acquire the first monitoring signal corresponding to the parking process, and when it is determined that there is an abnormality in the parking process based on the first monitoring signal, it sends a parking process abnormality signal to the control module. The control module is used to send a deceleration and parking command to the vehicle bus in response to receiving an abnormal parking process signal. The deceleration and parking command is used to control the vehicle to stop.

[0064] The domain controller provided in this disclosure includes a system-on-a-chip (SOC) and a microcontroller unit (MCU). The SOC can execute the parking anomaly handling method provided in this disclosure, and the MCU can execute the parking anomaly handling method provided in this disclosure, both possessing corresponding functional modules and beneficial effects. Content not described in detail in this disclosure can be referred to the description in any of the method embodiments of this disclosure.

[0065] This disclosure also provides an electronic device, including a processor and a memory; the processor executes the steps of the aforementioned parking anomaly handling methods by calling programs or instructions stored in the memory, and will not be repeated here to avoid repetition.

[0066] This disclosure also provides a computer-readable storage medium that is non-transitory and stores a program or instructions that cause a computer to perform the steps of the aforementioned parking exception handling methods in various embodiments. To avoid repetition, these steps will not be repeated here.

[0067] This disclosure also provides a computer program product for performing the steps of the aforementioned parking anomaly handling methods in various embodiments.

[0068] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0069] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A parking anomaly handling method, characterized in that, Applied to a system-on-a-chip (SoC), the method includes: The first monitoring signal corresponding to the parking process is obtained through the first monitoring module deployed on the SOC. When the first monitoring module determines that there is an abnormality in the parking process based on the first monitoring signal, it sends a parking process abnormality signal to the control module of the microcontroller unit (MCU) through the first monitoring module. The control module is used to send a deceleration and parking command to the vehicle bus in response to receiving the parking process abnormality signal. The deceleration and parking command is used to control the vehicle to stop.

2. The method according to claim 1, characterized in that, The parking process is configured with a first counter, which counts according to a first counting cycle and stops counting when an abnormality occurs in the parking process. The first monitoring signal includes the current count value of the first counter. The first monitoring module obtains multiple first count values ​​from the first preset number of first monitoring signals closest to the current time, and determines that there is an abnormality in the parking process if the multiple first count values ​​are consistent.

3. The method according to claim 2, characterized in that, The number of parking processes is multiple, and each parking process is set with a corresponding first counter. Accordingly, the first monitoring module acquires the first monitoring signal corresponding to each parking process. The first monitoring module determines whether there is an abnormality in the corresponding parking process based on the first monitoring signal corresponding to each parking process, and sends a parking process abnormality signal to the control module when it determines that at least one parking process is abnormal.

4. The method according to any one of claims 1-3, characterized in that, The SOC further includes a data recording module; the method further includes: The data recording module, in response to the data recording instruction sent by the control module, acquires the current vehicle data of the vehicle and stores it in the cloud server. The current vehicle data includes parking data and vehicle network data corresponding to the parking process. The data recording instruction is triggered when the control module receives an abnormal signal in the parking process.

5. A method for handling parking anomalies, characterized in that, Applied to a microcontroller unit (MCU), wherein the MCU includes a control module, the method includes: In response to the control module receiving a parking process abnormal signal from the first monitoring module of the system-on-a-chip (SOC), the control module sends a deceleration and parking command to the vehicle bus, which is used to control the vehicle to stop. The first monitoring module acquires a first monitoring signal corresponding to the parking process, and when it determines that there is an abnormality in the parking process based on the first monitoring signal, it sends a parking process abnormality signal to the control module.

6. The method according to claim 5, characterized in that, The method further includes: The second monitoring signal corresponding to the first monitoring module is obtained by the second monitoring module deployed on the MCU; When the second monitoring module determines that the first monitoring module is abnormal based on the second monitoring signal, the second monitoring module sends a monitoring process abnormal signal to the control module. In response to receiving an abnormal signal from the monitoring process, the control module sends a deceleration and parking command to the vehicle bus, which is used to control the vehicle to stop.

7. The method according to claim 6, characterized in that, The first monitoring module is equipped with a second counter, which counts according to a second counting cycle and stops counting when the first monitoring module malfunctions. The second monitoring signal includes the current count value of the second counter. The second monitoring module obtains multiple second count values ​​from the second preset number of second monitoring signals closest to the current time, and determines that the first monitoring module is abnormal if the multiple second count values ​​are consistent.

8. A system-on-a-chip, characterized in that, A first monitoring module is deployed on the system-on-a-chip (SOC), and the first monitoring module is configured to: Obtain the first monitoring signal corresponding to the parking process; When an abnormality is determined in the parking process based on the first monitoring signal, a parking process abnormality signal is sent to the control module of the microcontroller unit (MCU). The control module is used to send a deceleration and parking command to the vehicle bus in response to receiving the parking process abnormality signal. The deceleration and parking command is used to control the vehicle to stop.

9. The system-on-a-chip according to claim 8, characterized in that, The SOC further includes: a data recording module; the data recording module is configured to: In response to receiving a data recording instruction sent by the control module, the current vehicle data of the vehicle is acquired and stored in the cloud server. The current vehicle data includes parking data and vehicle network data corresponding to the parking process. The data recording instruction is triggered when the control module receives an abnormal signal in the parking process.

10. A microcontroller unit, characterized in that, The microcontroller unit (MCU) includes a control module, which is configured to: In response to receiving a parking process abnormal signal from the first monitoring module of the system-on-a-chip (SOC), a deceleration and parking command is sent to the vehicle bus, the deceleration and parking command being used to control the vehicle to stop. The first monitoring module acquires a first monitoring signal corresponding to the parking process, and when it determines that there is an abnormality in the parking process based on the first monitoring signal, it sends a parking process abnormality signal to the control module.

11. The microcontroller unit according to claim 10, characterized in that, A second monitoring module is deployed on the MCU; the second monitoring module is configured to: Obtain the second monitoring signal corresponding to the first monitoring module; When it is determined that the first monitoring module is abnormal based on the second monitoring signal, a monitoring process abnormality signal is sent to the control module. The control module is also configured to: in response to receiving an abnormal signal from the monitoring process, send a deceleration and parking command to the vehicle bus to control the vehicle to stop.

12. A domain controller, characterized in that, It includes a system-on-a-chip (SOC) and a microcontroller unit (MCU), wherein the SOC includes a first monitoring module and the MCU includes a control module; wherein, The first monitoring module is used to acquire the first monitoring signal corresponding to the parking process, and when it is determined that there is an abnormality in the parking process based on the first monitoring signal, it sends a parking process abnormality signal to the control module. The control module is used to send a deceleration and parking command to the vehicle bus in response to receiving an abnormal parking process signal. The deceleration and parking command is used to control the vehicle to stop.

13. An electronic device, characterized in that, include: Processor and memory; The processor executes the parking anomaly handling method as described in any one of claims 1 to 7 by calling the program or instructions stored in the memory.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program or instructions that cause a computer to perform the parking malfunction handling method as described in any one of claims 1 to 7.

Images