CN112455432A - Automatic parking safety control method, device, equipment and storage medium - Google Patents

Automatic parking safety control method, device, equipment and storage medium Download PDF

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Publication number
CN112455432A
CN112455432A CN202011425741.6A CN202011425741A CN112455432A CN 112455432 A CN112455432 A CN 112455432A CN 202011425741 A CN202011425741 A CN 202011425741A CN 112455432 A CN112455432 A CN 112455432A
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China
Prior art keywords
current
target vehicle
safety control
vehicle
automatic parking
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CN202011425741.6A
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Chinese (zh)
Inventor
叶圣伟
李东浩
胡燕娇
王卿海
原小雅
钱严
刘军帅
任鑫
汪玉
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Anhui Jianghuai Automobile Group Corp
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Anhui Jianghuai Automobile Group Corp
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Priority to CN202011425741.6A priority Critical patent/CN112455432A/en
Publication of CN112455432A publication Critical patent/CN112455432A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/30—Wheel torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/30—Wheel torque

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention discloses a method, a device, equipment and a storage medium for controlling automatic parking safety, and belongs to the technical field of vehicle safety. According to the method, when the automatic parking function of the target vehicle is started, the current speed of the target vehicle is obtained; inquiring a safety control strategy corresponding to the current vehicle speed from a vehicle information database; and then the current acceleration and the current steering torque of the target vehicle are adjusted according to a safety control strategy, when the target vehicle is detected to start the automatic parking function, the current acceleration and the current steering torque of the target vehicle are controlled according to the safety control strategy corresponding to the current vehicle speed of the target vehicle, and the driver does not need to actively start or mistakenly trigger the automatic parking function to start, so that the target vehicle can be always in a safe state even if the target vehicle is in a safe state after the automatic parking function is started due to misoperation under the control of the safety control strategy, the driver has enough time to close the mistakenly triggered automatic parking, and the safety of automatic parking is improved.

Description

Automatic parking safety control method, device, equipment and storage medium
Technical Field
The invention relates to the technical field of vehicle safety, in particular to an automatic parking safety control method, device, equipment and storage medium.
Background
The traditional automatic parking function is usually activated by an entity key switch, when a driver intends to execute the automatic parking function, the automatic parking entity key needs to be pressed for a long time, the automatic parking function can be activated by passing through double verification of a switch hard wire circuit, but with the development of an intelligent cabin technology, more and more vehicle-mounted switch schemes are subjected to virtual transfer, so that the effect of simple and convenient operation is provided for customers, but the scheme for realizing the automatic parking function by a soft switch cannot judge the activation of the automatic parking function by the hard wire circuit, the phenomenon that the automatic parking function is triggered by driving by mistake cannot be avoided, traffic safety accidents are easily caused, and the safety of automatic parking is greatly reduced.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide an automatic parking safety control method, device, equipment and storage medium, and aims to solve the technical problem that the prior art cannot avoid the phenomenon that the driving mistakenly triggers the automatic parking function, so that the automatic parking safety is greatly reduced.
In order to achieve the above object, the present invention provides an automatic parking safety control method, including the steps of:
when the automatic parking function of a target vehicle is started, acquiring the current speed of the target vehicle;
inquiring a safety control strategy corresponding to the current vehicle speed from a vehicle information database;
acquiring the current acceleration and the current steering torque of the target vehicle;
and adjusting the current acceleration and the current steering torque of the target vehicle according to the safety control strategy.
Optionally, when the automatic parking function of the target vehicle is turned on and before the current vehicle speed of the target vehicle is obtained, the method further includes:
acquiring driving state information of a target vehicle;
comparing a current state identifier corresponding to the driving state information with a preset identifier;
and when the current state identifier is consistent with the preset identifier, judging that the target vehicle starts an automatic parking function.
Optionally, before the querying the safety control strategy corresponding to the current vehicle speed from the vehicle information database, the method further includes:
obtaining historical vehicle running information of the target vehicle under different historical traffic environments from a vehicle information database;
and generating a safety control strategy according to the historical traffic participant information and the historical vehicle operation information corresponding to each historical traffic environment.
Optionally, the querying, from a vehicle information database, a safety control strategy corresponding to the current vehicle speed includes:
comparing the current vehicle speed with a preset vehicle speed;
when the current vehicle speed is less than the preset vehicle speed, determining that a safety control strategy corresponding to the target vehicle is a first safety control strategy;
when the current vehicle speed is greater than or equal to the preset vehicle speed, determining that the safety control strategy corresponding to the target vehicle is a second safety control strategy;
accordingly, the adjusting the current acceleration and the current steering torque of the target vehicle according to the safety control strategy comprises:
adjusting the current acceleration and the current steering torque of the target vehicle according to the first safety control strategy or the second safety control strategy; or
And adjusting the current acceleration and the current steering torque of the target vehicle according to the second safety control strategy, and simultaneously sending a take-over request to a driver so that the driver takes over control of the target vehicle.
Optionally, the adjusting the current acceleration and the current steering torque of the target vehicle according to the safety control strategy includes:
determining an acceleration threshold and a steering torque threshold corresponding to the target vehicle according to the safety strategy;
comparing the current acceleration to the acceleration threshold and the current steering torque to the torque threshold;
reducing the current acceleration to the acceleration threshold or reducing the current steering torque to the torque threshold when the current acceleration is greater than the acceleration threshold or the current steering torque is greater than the torque threshold.
Optionally, after obtaining the current acceleration and the current steering torque of the target vehicle, the method further includes:
when the current vehicle speed is greater than or equal to a preset vehicle speed, detecting the current vehicle body state of the target vehicle;
when the current vehicle body state is in an unstable state, acquiring current driving operation behavior information of a driver;
adjusting the current acceleration and the current steering torque of the target vehicle according to the current driving operation behavior information;
and when the current vehicle speed is smaller than the preset vehicle speed or the current vehicle body state is in a stable state, executing the step of adjusting the current acceleration and the current steering torque of the target vehicle according to the safety control strategy.
Optionally, after the adjusting the current acceleration and the current steering torque of the target vehicle according to the safety control strategy, the method further includes:
acquiring the current speed and the current surrounding environment information of the target vehicle based on the adjusted current acceleration and the adjusted current steering torque;
determining a vehicle safety level corresponding to the target vehicle according to the current vehicle speed and the current surrounding environment information;
and when the vehicle safety level does not reach a preset safety level, closing the automatic parking function of the target vehicle.
In addition, to achieve the above object, the present invention also provides an automatic parking safety control device including:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring the current speed of a target vehicle when the automatic parking function of the target vehicle is started;
the comparison module is used for inquiring a safety control strategy corresponding to the current vehicle speed from a vehicle information database;
the acquisition module is further used for acquiring the current acceleration and the current steering torque of the target vehicle;
and the control module is used for adjusting the current acceleration and the current steering torque of the target vehicle according to the safety control strategy.
In addition, to achieve the above object, the present invention also provides an automatic parking safety control apparatus including: the automatic parking safety control method comprises a memory, a processor and an automatic parking safety control program stored on the memory and capable of running on the processor, wherein the automatic parking safety control program is configured to realize the steps of the automatic parking safety control method.
In addition, to achieve the above object, the present invention further provides a storage medium having an automatic parking safety control program stored thereon, wherein the automatic parking safety control program, when executed by a processor, implements the steps of the automatic parking safety control method as described above.
According to the method, when the automatic parking function of a target vehicle is started, the current speed of the target vehicle is obtained; inquiring a safety control strategy corresponding to the current vehicle speed from a vehicle information database; acquiring the current acceleration and the current steering torque of the target vehicle; the current acceleration and the current steering torque of the target vehicle are adjusted according to the safety control strategy, when the target vehicle is detected to start the automatic parking function, the current acceleration and the current steering torque of the target vehicle are controlled according to the safety control strategy corresponding to the current vehicle speed of the target vehicle, and the automatic parking function is not required to be detected, so that the target vehicle can be always in a safe state even if the target vehicle is in a safe state due to misoperation and the automatic parking function is started after being controlled by the safety control strategy, the driver can have enough time to close the mistakenly triggered automatic parking, and the safety of automatic parking is improved.
Drawings
Fig. 1 is a schematic structural diagram of an automatic parking safety control device in a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a first embodiment of the automatic parking safety control method according to the present invention;
fig. 3 is a flowchart illustrating a safety control method for automatic parking according to a second embodiment of the present invention;
fig. 4 is a flowchart illustrating a safety control method for automatic parking according to a third embodiment of the present invention;
fig. 5 is a block diagram showing the configuration of the automatic parking safety control apparatus according to the first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an automatic parking safety control device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the automatic parking safety control apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the automatic parking safety control apparatus and may include more or less components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and an automatic parking security control program.
In the automatic parking safety control apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the automatic parking safety control apparatus according to the present invention may be provided in the automatic parking safety control apparatus, which calls the automatic parking safety control program stored in the memory 1005 through the processor 1001 and executes the automatic parking safety control method according to the embodiment of the present invention.
An embodiment of the present invention provides an automatic parking safety control method, and referring to fig. 2, fig. 2 is a flowchart illustrating a first embodiment of an automatic parking safety control method according to the present invention.
In this embodiment, the automatic parking safety control method includes the following steps:
step S10: when the automatic parking function of the target vehicle is started, the current vehicle speed of the target vehicle is obtained.
It should be noted that the execution subject of the embodiment is the in-vehicle terminal, and may also be other devices having the same or similar functions. The vehicle-mounted terminal CAN be used for acquiring the running state of the vehicle, analyzing the running state of the vehicle and controlling the driving function of the vehicle according to the state analysis result, wherein the driving function comprises an automatic driving function, an automatic parking function, a constant speed cruising function and the like, and the control comprises closing and opening.
It should be noted that, in this embodiment, it is not necessary to detect whether the automatic parking function of the target vehicle is activated by the driver or is activated by the driver by false triggering, but when the automatic parking function is activated, the target vehicle is controlled, so that even if the automatic parking function is activated by the driver by false triggering, the target vehicle can be in a safe state, and an accident is avoided. It is easy to understand that most of traffic accidents are caused by too fast vehicle speed, and therefore when the automatic parking function of the target vehicle is detected to be turned on, the vehicle speed of the target vehicle is detected, that is, the current vehicle speed of the target vehicle is obtained.
Further, in order to more accurately detect whether the target vehicle has the automatic parking function turned on, the present embodiment further includes, before the step S10: acquiring driving state information of a target vehicle; comparing a current state identifier corresponding to the driving state information with a preset identifier; and when the current state identifier is consistent with the preset identifier, judging that the target vehicle starts an automatic parking function.
It should be noted that the driving state information of the target vehicle includes, but is not limited to, driving speed information, driving function information, and vehicle body state information of the target vehicle, different state information has corresponding state identifiers, the preset identifier is a state identifier corresponding to when the target vehicle starts the automatic parking function, and the preset identifier may be set according to actual situations, which is not limited in this embodiment, after obtaining the current state identifier corresponding to the driving state information, the current state identifier is compared with the preset identifier, so as to determine whether the target vehicle starts the automatic parking function, if the current state identifier is consistent with the preset identifier, it is determined that the target vehicle starts the automatic parking function, for example, the preset identifier is a, and if the current state identifier of the target vehicle X is obtained as B, it is determined that the target vehicle X does not start the automatic parking function, and if the current state identifier of the Y of the target vehicle is A, the target vehicle Y starts the automatic parking function according to the comparison result.
Step S20: and inquiring a safety control strategy corresponding to the current vehicle speed from a vehicle information database.
It should be noted that, a vehicle information database is stored in the vehicle-mounted terminal, information such as a vehicle running state, a surrounding environment, and a dangerous emergency measure of the vehicle in the running process is recorded in the vehicle information database, when the vehicle is at different speeds, the vehicle information database records information such as a corresponding surrounding environment and a vehicle speed control measure, a mapping relation table is stored in the vehicle information database for different speeds and different safety control strategies, and a safety control strategy corresponding to the current speed can be queried from the vehicle information database based on the mapping relation table.
It can be understood that before querying the safety control strategy corresponding to the current vehicle speed from the vehicle information database, a plurality of safety control strategies need to be generated in the vehicle-mounted terminal in the vehicle information database, so in this embodiment, before the step S20, the method further includes: obtaining historical vehicle running information of the target vehicle under different historical traffic environments from a vehicle information database; and generating a safety control strategy according to the historical traffic participant information and the historical vehicle operation information corresponding to each historical traffic environment.
It should be noted that, the vehicle information database stores historical vehicle operation information of the target vehicle in different historical traffic environments, the historical vehicle operation information includes vehicle speeds of the target vehicle in different traffic environments, different historical traffic participants, such as vehicles or pedestrians, exist in different historical traffic environments, even if the target vehicle runs in the same historical traffic environment according to the same vehicle speed, different safety control strategies are provided for different vehicles and pedestrians, in this embodiment, a corresponding safety control strategy can be generated according to the historical traffic participant information and the historical vehicle operation information, for example, when the target vehicle a is in an open road environment, the target vehicle starts an automatic parking function due to a driving misoperation at the time, so that the target vehicle can start the automatic parking function according to the vehicle speed V1The vehicle is backed up, but because the road is spacious and other vehicles do not exist around, the acceleration and the steering torque of the target vehicle can be adjusted to a1And n1And if the target vehicle B is in the running environment of the urban congested road, the target vehicle starts the automatic parking function due to driving misoperation at the moment, so that the target vehicle can be driven according to the vehicle speed V2However, since there are many surrounding vehicles, the acceleration and the steering torque of the target vehicle may be adjusted to a in order to avoid a collision of the target vehicle2And n2So that the driver can react sufficiently to turn off the automatic parking function, the vehicle speed V1The corresponding safety control strategy is to adjust both the acceleration and the steering torque of the target vehicle to a1And n1Speed of vehicle V2The corresponding safety control strategy is to adjust both the acceleration and the steering torque of the target vehicle to a2And n2。
Step S30: and acquiring the current acceleration and the current steering torque of the target vehicle.
It can be understood that the essence of the control of the target vehicle is to control the current acceleration and the current steering torque of the target vehicle, and the target vehicle is ensured to be in a safe state for automatic parking by adjusting the current acceleration and the current steering torque of the target vehicle.
Step S40: and adjusting the current acceleration and the current steering torque of the target vehicle according to the safety control strategy.
In specific implementation, the safety control strategy comprises a safety acceleration value and a safety steering torque corresponding to the target vehicle at the current vehicle speed, and the adjustment of the current acceleration and the current steering torque of the target vehicle according to the safety control strategy is to adjust the current acceleration of the target vehicle to the safety acceleration and adjust the current steering torque of the target vehicle to the safety steering torque.
The method comprises the steps that when the automatic parking function of a target vehicle is started, the current speed of the target vehicle is obtained; inquiring a safety control strategy corresponding to the current vehicle speed from a vehicle information database; acquiring the current acceleration and the current steering torque of the target vehicle; the current acceleration and the current steering torque of the target vehicle are adjusted according to the safety control strategy, when the target vehicle is detected to start the automatic parking function, the current acceleration and the current steering torque of the target vehicle are controlled according to the safety control strategy corresponding to the current vehicle speed of the target vehicle, and the automatic parking function is not required to be detected, so that the target vehicle can be always in a safe state even if the target vehicle is in a safe state due to misoperation and the automatic parking function is started after being controlled by the safety control strategy, the driver can have enough time to close the mistakenly triggered automatic parking, and the safety of automatic parking is improved.
Referring to fig. 3, fig. 3 is a flowchart illustrating a method for controlling automatic parking safety according to a second embodiment of the present invention.
Based on the first embodiment, step S20 in this embodiment specifically includes:
step S201: and comparing the current vehicle speed with a preset vehicle speed.
It should be noted that, in this embodiment, a corresponding safety control strategy is determined according to the current vehicle speed, when the current vehicle speed is low, the acceleration and the steering torque of the target vehicle may be controlled according to the corresponding safety control strategy, and when the current vehicle speed is high, in order to avoid an accident, the driver is required to take over the target vehicle in addition to controlling the acceleration and the steering torque of the target vehicle. In this embodiment, whether the current vehicle speed is a larger vehicle speed or a smaller vehicle speed is determined according to a preset vehicle speed, if the current vehicle speed is smaller than the preset vehicle speed, the current vehicle speed is determined to be a smaller vehicle speed, if the current vehicle speed is greater than or equal to the preset vehicle speed, the current vehicle speed is determined to be a larger vehicle speed, and the preset vehicle speed is a critical value determined by the larger vehicle speed and the smaller vehicle speed, which can be set according to an actual situation, and this embodiment does not limit this.
Step S202: and when the current vehicle speed is less than the preset vehicle speed, determining that the safety control strategy corresponding to the target vehicle is a first safety control strategy.
It should be noted that when the current vehicle speed is less than the preset vehicle speed, it may be determined that the current vehicle speed is a smaller vehicle speed, and the driver does not need to take over the target vehicle, and the corresponding safety control strategy may be determined to be the first safety strategy, that is, the first safety strategy is a safety control strategy that the driver does not need to take over.
Step S203: and when the current vehicle speed is greater than or equal to the preset vehicle speed, determining that the safety control strategy corresponding to the target vehicle is a second safety control strategy.
It should be noted that when the current vehicle speed is greater than or equal to the preset vehicle speed, it may be determined that the current vehicle speed is greater than the preset vehicle speed, and the driver needs to take over the target vehicle, and it may be determined that the corresponding safety control strategy at this time is the second safety strategy, which is the safety control strategy that the driver needs to take over at the same time.
In the concrete implementation, after determining the safety control strategy, the current acceleration and steering torque of the target vehicle are controlled according to the corresponding safety control strategy, and it is emphasized that, if the safety control strategy is the first safety control strategy, it is stated that the current vehicle speed of the target vehicle is small, the target vehicle in automatic parking can be ensured to be in a safe state by adjusting the current acceleration and the current steering torque of the target vehicle, if the safety control strategy is the second safety control strategy, the current speed of the target vehicle is larger, therefore, in addition to adjusting the current acceleration and the current steering torque of the target vehicle, the driver is required to take over the control of the target vehicle, in this embodiment, the driver is prompted to take over by sending a take-over request to the driver, and the sending of the take-over request may be sent to the driver in the form of voice, text or an indicator light.
Further, in this embodiment, the step S40 specifically includes:
step S401: and determining an acceleration threshold and a steering torque threshold corresponding to the target vehicle according to the safety strategy.
In specific implementation, after the safety control strategy is determined, an acceleration threshold and a steering torque threshold corresponding to the target vehicle may be determined according to a safety acceleration value and a safety steering torque value in the safety control strategy, that is, the safety acceleration value in the safety control strategy is the acceleration threshold corresponding to the target vehicle, and the safety steering torque is the steering torque threshold corresponding to the target vehicle.
Step S402: comparing the current acceleration to the acceleration threshold and comparing the current steering torque to the torque threshold.
In a specific implementation, by comparing the current acceleration with the acceleration threshold and comparing the current steering torque with the torque threshold, it can be determined whether the current acceleration satisfies a safe acceleration value and whether the current steering torque satisfies a safe steering torque value.
Step S403: reducing the current acceleration to the acceleration threshold or reducing the current steering torque to the torque threshold when the current acceleration is greater than the acceleration threshold or the current steering torque is greater than the torque threshold.
It is easily understood that the acceleration threshold and the torque threshold represent the acceleration maximum and the steering torque maximum of the target vehicle in the safe state, and if the current acceleration and the current steering torque of the target vehicle are already smaller than the acceleration threshold and the torque threshold, it means that the target vehicle is still in the safe state even if the automatic parking function is turned on by the driver's misoperation, and at this time, there is no need to adjust the current acceleration and the current steering torque of the target vehicle any more, but if the current acceleration is larger than the acceleration threshold or the current steering torque is larger than the torque threshold, it is necessary to reduce the current acceleration exceeding the acceleration threshold or the current steering torque exceeding the torque threshold to the acceleration threshold or the torque threshold.
In the embodiment, the current vehicle speed is compared with a preset vehicle speed; when the current vehicle speed is less than the preset vehicle speed, determining that a safety control strategy corresponding to the target vehicle is a first safety control strategy; when the current vehicle speed is greater than or equal to the preset vehicle speed, the safety control strategy corresponding to the target vehicle is determined to be a second safety control strategy, a first safety control strategy and a second safety control strategy are set for the target vehicle according to the difference of the current vehicle speed of the target vehicle, and meanwhile, the current acceleration and the current steering torque of the target vehicle can be adjusted according to the acceleration threshold and the torque threshold corresponding to the first safety control strategy and the second safety control strategy, so that the safety of automatic parking is improved.
Referring to fig. 4, fig. 4 is a flowchart illustrating a method for controlling automatic parking safety according to a third embodiment of the present invention.
A third embodiment of an automatic parking safety control method of the invention is proposed based on the first embodiment or the second embodiment described above.
Taking the first embodiment as an example, in this embodiment, after step S30, the method further includes:
step S301: and when the current vehicle speed is greater than or equal to a preset vehicle speed, detecting the current vehicle body state of the target vehicle.
It should be noted that when the current vehicle speed is greater than or equal to the preset vehicle speed, it is indicated that the current vehicle speed of the target vehicle is large, and in an actual situation, since the vehicle speed is large, the vehicle body state may be unstable, and therefore, the current vehicle body state of the target vehicle needs to be acquired.
Step S302: and when the current vehicle body state is in an unstable state, acquiring the current driving operation behavior information of the driver.
It is easy to understand that, when the current vehicle body state is in an unstable state, if the current acceleration and the current steering torque of the target vehicle are adjusted only by the vehicle-mounted terminal, the target vehicle still is in a dangerous state, and therefore the target vehicle needs to be subjected to take-over control by the driver.
Step S303: and adjusting the current acceleration and the current steering torque of the target vehicle according to the current driving operation behavior information.
In a specific implementation, after the current driving operation behavior information is acquired, the current acceleration and the current steering torque of the target vehicle are adjusted according to the driver operation included in the current driving operation behavior, and the adjustment includes reducing the current acceleration and reducing the current steering torque.
Further, after the step S40, the method further includes:
step S50: and acquiring the current vehicle speed and the current surrounding environment information of the target vehicle based on the adjusted current acceleration and the adjusted current steering torque.
After the current acceleration and the current steering torque of the target vehicle are adjusted, in order to ensure the safety of automatic parking of the target vehicle, the vehicle-mounted terminal acquires the current vehicle speed and the current surrounding environment information of the target vehicle through the vehicle speed sensor and the environment sensor.
Step S60: and determining the vehicle safety level corresponding to the target vehicle according to the current vehicle speed and the current surrounding environment information.
It should be noted that the vehicle safety level of the target vehicle during automatic parking may be determined according to the current vehicle speed and the current surrounding environment information, for example, the current vehicle speed is V1Determining that the target vehicle X is in an open environment according to the current surrounding environment information, wherein the vehicle safety level corresponding to the target vehicle X is the first level at the moment, and the current vehicle speed is assumed to be V2Determining that the target vehicle Y is in a traffic congestion environment according to the current surrounding environment information, and V2Greater than V1At this time, the vehicle safety level corresponding to the target vehicle Y is three levels, where the safety of the first-level vehicle safety level is higher than that of the third-level vehicle safety level.
Step S70: and when the vehicle safety level does not reach a preset safety level, closing the automatic parking function of the target vehicle.
It can be understood that the preset safety level is a safety level of the target vehicle in a safe state, if the vehicle safety level does not reach the preset safety level, it indicates that the target vehicle is currently in a dangerous state, and at this time, the automatic parking function of the target vehicle needs to be turned off to avoid an unexpected traffic accident of the target vehicle, where the preset safety level may be set by itself according to an actual situation, and this implementation is not limited thereto.
In the embodiment, when the current vehicle speed is greater than or equal to a preset vehicle speed, the current vehicle body state of the target vehicle is detected; when the current vehicle body state is in an unstable state, acquiring current driving operation behavior information of a driver; adjusting the current acceleration and the current steering torque of the target vehicle according to the current driving operation behavior information, adjusting the current acceleration and the current torque of the target vehicle according to the current driving operation behavior information of a driver when the target vehicle is in an unstable state, and acquiring the current vehicle speed and the current surrounding environment information of the target vehicle based on the adjusted current acceleration and the adjusted current steering torque; determining a vehicle safety level corresponding to the target vehicle according to the current vehicle speed and the current surrounding environment information; and when the safety level of the vehicle does not reach the preset safety level, closing the automatic parking function of the target vehicle, avoiding accidents caused by the adjustment of the current acceleration and the current torque, and improving the safety of automatic parking.
Furthermore, an embodiment of the present invention further provides a storage medium, where an automatic parking safety control program is stored, and the automatic parking safety control program, when executed by a processor, implements the steps of the automatic parking safety control method described above.
Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
Referring to fig. 5, fig. 5 is a block diagram illustrating a first embodiment of an automatic parking safety control apparatus according to the present invention.
As shown in fig. 5, an automatic parking safety control apparatus according to an embodiment of the present invention includes:
the system comprises an obtaining module 10, a judging module and a judging module, wherein the obtaining module is used for obtaining the current speed of a target vehicle when the automatic parking function of the target vehicle is started;
the comparison module 20 is configured to query a safety control strategy corresponding to the current vehicle speed from a vehicle information database;
the obtaining module 10 is further configured to obtain a current acceleration and a current steering torque of the target vehicle;
and the control module 30 is used for adjusting the current acceleration and the current steering torque of the target vehicle according to the safety control strategy.
The method comprises the steps that when the automatic parking function of a target vehicle is started, the current speed of the target vehicle is obtained; inquiring a safety control strategy corresponding to the current vehicle speed from a vehicle information database; acquiring the current acceleration and the current steering torque of the target vehicle; the current acceleration and the current steering torque of the target vehicle are adjusted according to the safety control strategy, when the target vehicle is detected to start the automatic parking function, the current acceleration and the current steering torque of the target vehicle are controlled according to the safety control strategy corresponding to the current vehicle speed of the target vehicle, and the automatic parking function is not required to be detected, so that the target vehicle can be always in a safe state even if the target vehicle is in a safe state due to misoperation and the automatic parking function is started after being controlled by the safety control strategy, the driver can have enough time to close the mistakenly triggered automatic parking, and the safety of automatic parking is improved.
In one embodiment, the automatic parking safety control device further comprises a detection module;
the detection module is used for acquiring the driving state information of the target vehicle; comparing a current state identifier corresponding to the driving state information with a preset identifier; and when the current state identifier is consistent with the preset identifier, judging that the target vehicle starts an automatic parking function.
In one embodiment, the automatic parking safety control device further comprises a creating module;
the creating module is used for acquiring historical vehicle running information of the target vehicle under different historical traffic environments from a vehicle information database; and generating a safety control strategy according to the historical traffic participant information and the historical vehicle operation information corresponding to each historical traffic environment.
In an embodiment, the comparison module 20 is further configured to compare the current vehicle speed with a preset vehicle speed; when the current vehicle speed is less than the preset vehicle speed, determining that a safety control strategy corresponding to the target vehicle is a first safety control strategy; when the current vehicle speed is greater than or equal to the preset vehicle speed, determining that the safety control strategy corresponding to the target vehicle is a second safety control strategy; the control module 30 is further configured to adjust the current acceleration and the current steering torque of the target vehicle according to the first safety control strategy or the second safety control strategy; or adjusting the current acceleration and the current steering torque of the target vehicle according to the second safety control strategy, and simultaneously sending a take-over request to a driver so that the driver takes over control of the target vehicle.
In one embodiment, the control module 30 is further configured to determine an acceleration threshold and a steering torque threshold corresponding to the target vehicle according to the safety policy; comparing the current acceleration to the acceleration threshold and the current steering torque to the torque threshold; reducing the current acceleration to the acceleration threshold or reducing the current steering torque to the torque threshold when the current acceleration is greater than the acceleration threshold or the current steering torque is greater than the torque threshold.
In one implementation, the detection module is further configured to detect a current vehicle body state of the target vehicle when the current vehicle speed is greater than or equal to a preset vehicle speed; when the current vehicle body state is in an unstable state, acquiring current driving operation behavior information of a driver; and adjusting the current acceleration and the current steering torque of the target vehicle according to the current driving operation behavior information.
In one embodiment, the automatic parking safety control device further comprises a closing module;
the closing module is used for acquiring the current speed and the current surrounding environment information of the target vehicle based on the adjusted current acceleration and the adjusted current steering torque; determining a vehicle safety level corresponding to the target vehicle according to the current vehicle speed and the current surrounding environment information; and when the vehicle safety level does not reach a preset safety level, closing the automatic parking function of the target vehicle.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment may be referred to the automatic parking safety control method provided in any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. An automatic parking safety control method, characterized by comprising:
when the automatic parking function of a target vehicle is started, acquiring the current speed of the target vehicle;
inquiring a safety control strategy corresponding to the current vehicle speed from a vehicle information database;
acquiring the current acceleration and the current steering torque of the target vehicle;
and adjusting the current acceleration and the current steering torque of the target vehicle according to the safety control strategy.
2. The automatic parking safety control method according to claim 1, wherein before acquiring the current vehicle speed of the target vehicle when the automatic parking function of the target vehicle is turned on, further comprising:
acquiring driving state information of a target vehicle;
comparing a current state identifier corresponding to the driving state information with a preset identifier;
and when the current state identifier is consistent with the preset identifier, judging that the target vehicle starts an automatic parking function.
3. The automatic parking safety control method according to claim 1, wherein before the querying the safety control strategy corresponding to the current vehicle speed from the vehicle information database, the method further comprises:
obtaining historical vehicle running information of the target vehicle under different historical traffic environments from a vehicle information database;
and generating a safety control strategy according to the historical traffic participant information and the historical vehicle operation information corresponding to each historical traffic environment.
4. The automatic parking safety control method according to claim 1, wherein the querying of the safety control strategy corresponding to the current vehicle speed from the vehicle information database includes:
comparing the current vehicle speed with a preset vehicle speed;
when the current vehicle speed is less than the preset vehicle speed, determining that a safety control strategy corresponding to the target vehicle is a first safety control strategy;
when the current vehicle speed is greater than or equal to the preset vehicle speed, determining that the safety control strategy corresponding to the target vehicle is a second safety control strategy;
accordingly, the adjusting the current acceleration and the current steering torque of the target vehicle according to the safety control strategy comprises:
adjusting the current acceleration and the current steering torque of the target vehicle according to the first safety control strategy or the second safety control strategy; or
And adjusting the current acceleration and the current steering torque of the target vehicle according to the second safety control strategy, and simultaneously sending a take-over request to a driver so that the driver takes over control of the target vehicle.
5. The automatic parking safety control method according to claim 4, wherein the adjusting of the current acceleration and the current steering torque of the target vehicle according to the safety control strategy includes:
determining an acceleration threshold and a steering torque threshold corresponding to the target vehicle according to the safety strategy;
comparing the current acceleration to the acceleration threshold and the current steering torque to the torque threshold;
reducing the current acceleration to the acceleration threshold or reducing the current steering torque to the torque threshold when the current acceleration is greater than the acceleration threshold or the current steering torque is greater than the torque threshold.
6. The automatic parking safety control method according to claim 1, wherein after the obtaining of the current acceleration and the current steering torque of the target vehicle, further comprising:
when the current vehicle speed is greater than or equal to a preset vehicle speed, detecting the current vehicle body state of the target vehicle;
when the current vehicle body state is in an unstable state, acquiring current driving operation behavior information of a driver;
adjusting the current acceleration and the current steering torque of the target vehicle according to the current driving operation behavior information;
and when the current vehicle speed is smaller than the preset vehicle speed or the current vehicle body state is in a stable state, executing the step of adjusting the current acceleration and the current steering torque of the target vehicle according to the safety control strategy.
7. The automatic parking safety control method according to any one of claims 1 to 6, further comprising, after the adjusting of the current acceleration and the current steering torque of the target vehicle according to the safety control strategy:
acquiring the current speed and the current surrounding environment information of the target vehicle based on the adjusted current acceleration and the adjusted current steering torque;
determining a vehicle safety level corresponding to the target vehicle according to the current vehicle speed and the current surrounding environment information;
and when the vehicle safety level does not reach a preset safety level, closing the automatic parking function of the target vehicle.
8. An automatic parking safety control device, characterized by comprising:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring the current speed of a target vehicle when the automatic parking function of the target vehicle is started;
the comparison module is used for inquiring a safety control strategy corresponding to the current vehicle speed from a vehicle information database;
the acquisition module is further used for acquiring the current acceleration and the current steering torque of the target vehicle;
and the control module is used for adjusting the current acceleration and the current steering torque of the target vehicle according to the safety control strategy.
9. An automatic parking safety control apparatus, characterized by comprising: a memory, a processor, and an automatic parking safety control program stored on the memory and executable on the processor, the automatic parking safety control program being configured to implement the steps of the automatic parking safety control method according to any one of claims 1 to 7.
10. A storage medium having an automatic parking safety control program stored thereon, wherein the automatic parking safety control program, when executed by a processor, implements the steps of the automatic parking safety control method according to any one of claims 1 to 7.
CN202011425741.6A 2020-12-07 2020-12-07 Automatic parking safety control method, device, equipment and storage medium Pending CN112455432A (en)

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Application Number Priority Date Filing Date Title
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Application publication date: 20210309