CN110435643A - Automatic parking method for handover control, electronic equipment and automobile - Google Patents
Automatic parking method for handover control, electronic equipment and automobile Download PDFInfo
- Publication number
- CN110435643A CN110435643A CN201910750234.0A CN201910750234A CN110435643A CN 110435643 A CN110435643 A CN 110435643A CN 201910750234 A CN201910750234 A CN 201910750234A CN 110435643 A CN110435643 A CN 110435643A
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- Prior art keywords
- automatic parking
- driver
- remote control
- park
- parking
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Classifications
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0881—Seat occupation; Driver or passenger presence
Abstract
The present invention discloses a kind of automatic parking method for handover control, electronic equipment and automobile, and method includes: to request in response to automatic parking, into automatic parking state, execute automatic parking, or park request in response to remote control, it parks state into remote control, executes to be remotely controlled and park；During executing automatic parking, suspend in response to automatic parking and request, suspend automatic parking, when detecting that driver leaves driver seat, and meet remote control and park entry condition, then switches to remote control and park state, execute remote control and park；It during executing remote control and parking, parks pause request in response to remote control, pause parks, and when detecting that driver on driver seat, and meets automatic parking entry condition, then switches to automatic parking state, executes automatic parking.The present invention makes it possible to carry out bumpless transfer between automatic parking and remote control are parked by whether on driver's seat and whether meeting automatic parking or the entry condition parked of remote control detects to driver.
Description
Technical field
The present invention relates to automobile correlative technology field, especially a kind of automatic parking method for handover control, electronic equipment and
Automobile.
Background technique
Automated parking system is substantially done based on ultrasonic wave or image in current existing full-automatic automatic parking technology, by
System control throttle, brake, steering, driver only need long-pressing in the car park key or without key complete automatic parking.
With social development, private car quantity is increasing, and private savings parking stall is more and more nervous, leads to the space on parking stall increasingly
Small, for current existing automatic parking technology, the parallel space limiting length being able to achieve is vehicle commander+1m, minimum vertical parking stall
Limit Width is vehicle width+0.8m, after smaller parking stall automated parking system possibly can not find parking stall, or VEHICLES MUST PARK WITHIN THE MARKED BAY due to
Parking stall is too narrow, and car door can not be opened at all, and driver can not get off, and has seriously affected driver's experience.Therefore it is remotely controlled skill of parking
Art gradually develops, current remote control parking system, and driver is needed to pass through into requiring driver when finding parking stall mooring automatically
It clicks button and goes selection " automatic parking " or " remote control moor into ".Since existing remote control parking system is entering automatic parking and distant
Control when parking precondition it is inconsistent, for example, automatic parking because of driver in the car, needs when because performance deficiency occurs in system
When driver's adapter tube vehicle, driver can directly by various movements (such as: touching on the brake, step on the gas, steering wheel rotation etc.) eventually
Only automatic parking guarantees vehicle safety, and is remotely controlled when parking that driver is generally outside vehicle, so the functional safety of system requires meeting
Higher (such as braking redundancy, driving redundancy etc.), the precondition parked into remote control can be more complicated, for example requires driver
Park position etc. is hung before getting off manually.Therefore due to the two entry condition it is inconsistent, so when driver selected automatic parking or
Remote control is parked, then driver must terminate until parking in the car, if driver selects remote control to park, driver must use hand
Machine draws the operations such as circle or key long-pressing and monitors vehicle, and the two can not be converted in midway, brings the poor experience of driver.For example it drives
The person of sailing is after selecting automatic parking, and parking stall space is small or other reasons are wanted to reuse remote control and park in parking process discovery,
Current remote control parking system does not support that driver can only stop parking at this time, drives to look for parking stall, then selecting again
Remote control is selected to park.
Summary of the invention
Based on this, it is necessary to the technical issues of cannot switching between automatic parking and remote control are parked for the prior art,
A kind of automatic parking method for handover control, electronic equipment and automobile are provided.
The present invention provides a kind of automatic parking method for handover control, comprising:
It is requested in response to automatic parking, into automatic parking state, executes automatic parking, or park and ask in response to remote control
It asks, parks state into remote control, execute remote control and park；
During executing automatic parking, suspend in response to automatic parking and request, suspend automatic parking, is driven when detecting
Member leaves driver seat, and meets remote control and park entry condition, then switches to remote control and park state, execute remote control and park；
It during executing remote control and parking, parks pause request in response to remote control, pause parks, when detecting that driver exists
On driver seat, and meet automatic parking entry condition, then switch to automatic parking state, executes automatic parking.
Whether whether the present invention by driver's seat and meeting automatic parking or the entrance parked of remote control to driver
Condition is detected, and is made it possible to carry out bumpless transfer between automatic parking and remote control are parked, is increased substantially driver's body
Test sense.
Further, described to detect that driver leaves driver seat, and meet and be remotely controlled entry condition of parking, then switch
It parks state to remote control, executes remote control and park, specifically include:
When detecting that driver leaves driver seat, and the control instruction of mobile terminal is received, then switches to remote control pool
Car state executes remote control and parks.
The present embodiment detects that driver leaves driver seat, and when receiving the control instruction of mobile terminal, just switches
It parks state to remote control, receives this condition of the control instruction of mobile terminal by increasing, further increase what remote control was parked
Safety.
Further, described when detect that driver on driver seat, and meets automatic parking entry condition, then switch
To automatic parking state, automatic parking is executed, is specifically included:
When detecting that driver on driver seat, and detects that automatic parking key is clicked, then automatic pool is switched to
Car state executes automatic parking.
The present embodiment detects that driver on driver seat, and when detecting that automatic parking key is clicked, just switches
To automatic parking state, detects that automatic parking key is clicked this condition by increasing, further increase automatic parking
Safety.
Further, it when detecting that brake is operated or car door is opened, then triggers the generation automatic parking pause and asks
It asks.
The present embodiment suspends automatic parking when detecting that brake is operated or car door is opened, so that driver can be with
It gets off on this basis, and switches to remote control and park.
Further, it when the terminal ongoing operation behavior for being not received by mobile terminal transmission within a preset time, then touches
Occur into it is described remote control park pause request.
The present embodiment is not received by the terminal ongoing operation behavior of mobile terminal transmission, pause remote control within a preset time
It parks, allows driver by stopping the ongoing operation to mobile terminal, then get on the bus, and switch to automatic parking.
Yet further:
It is described to detect that driver leaves driver seat, it specifically includes: detecting that the gravity being arranged on driver seat passes
The gravitational cue of sensor is less than default gravity threshold value, and detects safety belt solution ON signal, then is judged as that driver leaves driving
Seat；
It is described to detect that driver on driver seat, specifically includes: to detect that the gravity being arranged on driver seat passes
The gravitational cue of sensor is greater than default gravity threshold value, and detects that safety belt buckles signal, then is judged as driver in driver's seat
On chair.
The present embodiment is based on gravity sensor and belt signal, accurate judgement driver whether on driver seat and be
No wear safety belt.
The present invention provides a kind of automatic parking switching control electronic equipment, comprising:
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by one processor, and described instruction is by described at least one
Manage device execute so that at least one described processor can:
It is requested in response to automatic parking, into automatic parking state, executes automatic parking, or park and ask in response to remote control
It asks, parks state into remote control, execute remote control and park；
During executing automatic parking, suspend in response to automatic parking and request, suspend automatic parking, is driven when detecting
Member leaves driver seat, and meets remote control and park entry condition, then switches to remote control and park state, execute remote control and park；
It during executing remote control and parking, parks pause request in response to remote control, pause parks, when detecting that driver exists
On driver seat, and meet automatic parking entry condition, then switch to automatic parking state, executes automatic parking.
Whether whether the present invention by driver's seat and meeting automatic parking or the entrance parked of remote control to driver
Condition is detected, and is made it possible to carry out bumpless transfer between automatic parking and remote control are parked, is increased substantially driver's body
Test sense.
Further, described to detect that driver leaves driver seat, and meet and be remotely controlled entry condition of parking, then switch
It parks state to remote control, executes remote control and park, specifically include:
When detecting that driver leaves driver seat, and the control instruction of mobile terminal is received, then switches to remote control pool
Car state executes remote control and parks.
The present embodiment detects that driver leaves driver seat, and when receiving the control instruction of mobile terminal, just switches
It parks state to remote control, receives this condition of the control instruction of mobile terminal by increasing, further increase what remote control was parked
Safety.
Further, described when detect that driver on driver seat, and meets automatic parking entry condition, then switch
To automatic parking state, automatic parking is executed, is specifically included:
When detecting that driver on driver seat, and detects that automatic parking key is clicked, then automatic pool is switched to
Car state executes automatic parking.
The present embodiment detects that driver on driver seat, and when detecting that automatic parking key is clicked, just switches
To automatic parking state, detects that automatic parking key is clicked this condition by increasing, further increase automatic parking
Safety.
Further, it when detecting that brake is operated or car door is opened, then triggers the generation automatic parking pause and asks
It asks.
The present embodiment suspends automatic parking when detecting that brake is operated or car door is opened, so that driver can be with
It gets off on this basis, and switches to remote control and park.
Further, it when the terminal ongoing operation behavior for being not received by mobile terminal transmission within a preset time, then touches
Occur into it is described remote control park pause request.
The present embodiment is not received by the terminal ongoing operation behavior of mobile terminal transmission, pause remote control within a preset time
It parks, allows driver by stopping the ongoing operation to mobile terminal, then get on the bus, and switch to automatic parking.
Yet further:
It is described to detect that driver leaves driver seat, it specifically includes: detecting that the gravity being arranged on driver seat passes
The gravitational cue of sensor is less than default gravity threshold value, and detects safety belt solution ON signal, then is judged as that driver leaves driving
Seat；
It is described to detect that driver on driver seat, specifically includes: to detect that the gravity being arranged on driver seat passes
The gravitational cue of sensor is greater than default gravity threshold value, and detects that safety belt buckles signal, then is judged as driver in driver's seat
On chair.
The present embodiment is based on gravity sensor and belt signal, accurate judgement driver whether on driver seat and be
No wear safety belt.
The present invention provides a kind of automobile, including car body and foregoing electronic equipment, and the electronic equipment controls institute
Car body is stated to park.
The present invention makes it possible to park in automatic parking and remote control by whether detecting on driver's seat driver
Between carry out bumpless transfer, increase substantially driver's experience sense.
Detailed description of the invention
Fig. 1 is a kind of work flow diagram of automatic parking method for handover control of one embodiment of the invention；
Fig. 2 is a kind of work flow diagram of automatic parking method for handover control of preferred embodiment；
Fig. 3 is the system schematic of preferred embodiment；
Fig. 4 is a kind of hardware structural diagram of automatic parking switching control electronic equipment of the present invention.
Specific embodiment
The present invention will be further described in detail in the following with reference to the drawings and specific embodiments.
It is as shown in Figure 1 a kind of work flow diagram of automatic parking method for handover control of one embodiment of the invention, comprising:
Step S101 is requested in response to automatic parking, into automatic parking state, executes automatic parking, or in response to distant
Control is parked request, is parked state into remote control, is executed to be remotely controlled and park；
Step S102 suspends in response to automatic parking and requests during executing automatic parking, suspends automatic parking, when
It detects that driver leaves driver seat, and meets remote control and park entry condition, then switch to remote control and park state, execute remote control
It parks；
Step S103 parks in response to remote control during execution remote control is parked and suspends request, and pause is parked, and detection is worked as
To driver on driver seat, and meet automatic parking entry condition, then switch to automatic parking state, executes automatic pool
Vehicle.
Specifically, when driver needs to stop, automatic parking function is opened, system can begin look for parking stall, find
Behind parking stall, driver can manually select " automatic parking " or " remote control is parked ".Step S101 is triggered after clicking selection.If driver
Automatic parking is selected, then clicks control panel, such as upper " starting to park " button is shielded in middle control, then releasing of brake can start to moor
Vehicle guidance, driver without controlling the systems such as steering wheel, throttle, brake, if during automatic parking, driver need using
Remote control is parked, then triggers step S102, suspends automatic parking, and is detecting that driver leaves driver seat, and meet remote control
It parks entry condition, switches to remote control and park state, execute remote control and park.If driver for example, by click " remote control is parked " or
Directly hanging the modes such as P grades selects remote control to park, then after connecting Bluetooth of mobile phone and opening interface of parking, can mention on middle control screen and mobile phone
Show that driver gets off, driver, which gets off, in hand hands- operation can start parking guidance after shutdown.Similarly, if driver is being remotely controlled
It parks and want when parking guidance being switched to automatic parking, can trigger step S103, then open car door and get on the bus, system detection
To driver on driver seat, and meet automatic parking entry condition, be switched to automatic parking, starts parking guidance until pool
Vehicle is completed.
Whether whether the present invention by driver's seat and meeting automatic parking or the entrance parked of remote control to driver
Condition is detected, and is made it possible to carry out bumpless transfer between automatic parking and remote control are parked, is increased substantially driver's body
Test sense.
Work as described in one of the embodiments, and detect that driver leaves driver seat, and meets and be remotely controlled entrance of parking
Condition then switches to remote control and parks state, executes remote control and parks, specifically includes:
When detecting that driver leaves driver seat, and the control instruction of mobile terminal is received, then switches to remote control pool
Car state executes remote control and parks.
The present embodiment detects that driver leaves driver seat, and when receiving the control instruction of mobile terminal, just switches
It parks state to remote control, receives this condition of the control instruction of mobile terminal by increasing, further increase what remote control was parked
Safety.
It is described when detecting that driver on driver seat, and meets automatic parking entrance in one of the embodiments,
Condition then switches to automatic parking state, executes automatic parking, specifically includes:
When detecting that driver on driver seat, and detects that automatic parking key is clicked, then automatic pool is switched to
Car state executes automatic parking.
The present embodiment detects that driver on driver seat, and when detecting that automatic parking key is clicked, just switches
To automatic parking state, detects that automatic parking key is clicked this condition by increasing, further increase automatic parking
Safety.
In one of the embodiments, when detecting that brake is operated or car door is opened, then it is described automatic to trigger generation
Pause of parking is requested.
The present embodiment suspends automatic parking when detecting that brake is operated or car door is opened, so that driver can be with
It gets off on this basis, and switches to remote control and park.
In one of the embodiments, when the terminal ongoing operation for being not received by mobile terminal transmission within a preset time
Behavior then triggers to generate the remote control and park and suspends request.
The present embodiment is not received by the terminal ongoing operation behavior of mobile terminal transmission, pause remote control within a preset time
It parks, allows driver by stopping the ongoing operation to mobile terminal, then get on the bus, and switch to automatic parking.
In one of the embodiments:
It is described to detect that driver leaves driver seat, it specifically includes: detecting that the gravity being arranged on driver seat passes
The gravitational cue of sensor is less than default gravity threshold value, and detects safety belt solution ON signal, then is judged as that driver leaves driving
Seat；
It is described to detect that driver on driver seat, specifically includes: to detect that the gravity being arranged on driver seat passes
The gravitational cue of sensor is greater than default gravity threshold value, and detects that safety belt buckles signal, then is judged as driver in driver's seat
On chair.
The present embodiment is based on gravity sensor and belt signal, accurate judgement driver whether on driver seat and be
No wear safety belt.
It is illustrated in figure 2 a kind of work flow diagram of automatic parking method for handover control of preferred embodiment, comprising:
Step S201 is pressed when driver presses automated parking system (Automated Parking Assistant, APA)
Button triggers step S202；
Step S202, APA enter automatic parking state；
Step S203, system start to look for parking stall；
Step S204, the narrow parking stall of system discovery prompt driver's parking, and prompt " find narrow parking stall, it is recommended to use
Remote control is parked "；
Step S205, driver select mode of parking by middle control screen, if selection automatic parking, triggers step S206,
If selection remote control is parked, step S213 is triggered；
Step S206 determines automatic parking driver on driver seat, and safety belt is fastened；
Step S207, driver's point hit control and shield upper " driving is parked ", and determination is parked；
Step S208, during parking guidance, driver wants to park using remote control；
Step S209, driver are parked by opening car door pause after touching on the brake, body electronics stabilizing control system
(Electronic Stability Controller, ESC) keeps pressure, and gear automatically switches N gear, and then driver can be with
It gets off；
Step S210, confirmation Bluetooth of mobile phone have connected, and are remotely controlled interface of parking and have opened；
Step S211, driver draw ring manipulation on mobile phone；
Step S212, system detection to bluetooth continue control instruction, start to park, and complete until parking；
Step S213 determines driver not on driver seat；
Step S214, confirmation Bluetooth of mobile phone have connected, and are remotely controlled interface of parking and have opened, user is prompted to get off；
Step S215, driver draw ring manipulation on mobile phone, start to be remotely controlled parking guidance；
Step S216, driver's pause stroke circle, pause of parking, the parking of ESC brake and pressure maintaining, N grades of gear automatic switchover；
Step S217, driver open car door and get on the bus, and closed door fastens one's safety belt, and point hits control screen and above " starts to moor
Vehicle " confirmation is parked；
Step S218, system detection on driver seat, and receive instruction of parking on middle control screen and start to park to driver
Guidance is completed until parking.
When user needs to stop, automatic parking function is opened, system can be currently searching for parking stall, after finding parking stall,
User can manually select " automatic parking " or " remote control is parked ", if user selects automatic parking, point hits control screen and above " starts to moor
Then releasing of brake can start parking guidance to vehicle " button, and user is without controlling the systems such as steering wheel, throttle, brake, if certainly
It is dynamic park during, user needs to park using remote control, then can be suspended by touching on the brake or open car door and be parked, then unlock peace
After full band is got off, opens mobile phone connection bluetooth and open interface of parking, in hand hands- operation, system detection to driver is not driven in master
It goes up and receives mobile phone control instruction i.e. and can switch to remote control and park and completed until parking.If user selects remote control to park, (selection is distant
Can be hung by click " remote control is parked " or directly by controlling the mode parked by P grades), then after connecting Bluetooth of mobile phone and opening interface of parking,
User can be prompted to get off on middle control screen and mobile phone, driver gets off after shutdown, and hand hands- operation can start parking guidance again.Together
Reason, if user wants to be switched to automatic parking when parking guidance is parked in remote control, can suspend mobile phone operation, then pause of parking, so
Car door is opened afterwards to get on the bus, is fastened seat belts, and point hits control and shields upper " starting to park " button, and system detection to driver is driven in master
(detecting by seat gravity sensor and belt signal) and detect that the instruction that starts to park on middle control screen can be switched to certainly
It is dynamic to park, start parking guidance and is completed until parking.
It is illustrated in figure 3 the system schematic of preferred embodiment, system includes 12 ultrasonic probes, 4 in total
Look around camera, automatic parking host, electric power steering, body stabilization system, car body controller, entire car controller, instrument
The interconnected systems such as table, stacked switch, rotary angle transmitter, telematics box (Telematics BOX, T-BOX), mobile phone pass
By privately owned communication and automatic parking main-machine communication, other associated systems pass through sensor cell (ultrasonic probe and camera)
Controller local area network (Controller Area Network, CAN) or adjustable data rate controller local area network (CAN
With Flexible Data-Rate, CAN-FD) and automatic parking main-machine communication.Wherein:
Parking and opening switch 1 is the Sofe Switch being arranged inside hard switching either HU, for opening automatic parking function.
Ultrasonic probe 2 (remote) generates square-wave signal, sends ultrasonic wave by amplifying circuit driving ultrasonic probe
Pulse signal, when ultrasonic wave is measured and is received by ultrasonic probe again after barrier emits, after MCU detects echo,
Temperature-compensating is carried out according to Current Temperatures, obstacle distance is calculated by formula d=1/2Ct (C=343m/s (20 DEG C)).
The fish-eye camera that camera 3 is wide-angle is looked around, parking space information and week can be captured with image algorithm operation in real time
Enclose environmental information.The barrier (such as: short and small object, mobile object) that can not be detected for ultrasonic wave carries out detection identification,
Length, depth, lane line and the parking stall peripheral obstacle type etc. of parking stall can be accurately identified.
Automatic parking host 4 is for looking for parking stall, planning that track of parking, sending control control instructions and the people such as lateral, longitudinal
Machine interactive command is given to corresponding ECU.
Body stabilization system 5 is used to receive the braking distance of automatic parking host transmission, the limitation of braking maximum speed and changes
Gear request and when whether may span across equal signals of automated parking system transmission send torque increase to entire car controller, drop is turned round and changed
Gear request, while feeding back current wheel speed, speed etc..
Electric power steering 6 is used to execute steering angle and the steering angle acceleration request of the sending of automatic parking host, control
Wheel steering processed to automatic parking host command angle, if EPS break down either driver's intervention park, need to
APA feedback exits control reason.
Entire car controller 7 is used to receive the torque increase of body stabilization system transmission, drop is turned round and shift request real-time response is turned round
Square increase and decrease, gear switch etc..
Instrument 8 is used for the display of in parking process prompt text and animation, buzzer warning sound etc..
Electronic parking 9 is used for when parking completion or parking system exits, and what body stabilization system was sent has set release
Request；
Signal of the T-BOX 10 for the control instruction of the bluetooth connection and parking system of mobile phone and vehicle transmits；
Mobile phone 11 has Bluetooth terminal, carries out signal transmission by bluetooth and T-BOX, detects mobile phone at a distance from vehicle
Information, APP operation interface are shown and user operation instruction is transmitted to T-BOX, and T-BOX is transmitted to vehicle others ECU progress
Relevant control.
It is illustrated in figure 4 a kind of hardware structural diagram of automatic parking switching control electronic equipment of the present invention, comprising:
At least one processor 401；And
With the memory 402 of at least one described processor 401 communication connection；Wherein,
The memory 402 is stored with the instruction that can be executed by one processor, and described instruction is by described at least one
A processor executes so that at least one described processor can:
It is requested in response to automatic parking, into automatic parking state, executes automatic parking, or park and ask in response to remote control
It asks, parks state into remote control, execute remote control and park；
During executing automatic parking, suspend in response to automatic parking and request, suspend automatic parking, is driven when detecting
Member leaves driver seat, and meets remote control and park entry condition, then switches to remote control and park state, execute remote control and park；
It during executing remote control and parking, parks pause request in response to remote control, pause parks, when detecting that driver exists
On driver seat, and meet automatic parking entry condition, then switch to automatic parking state, executes automatic parking.
Electronic equipment is preferably electronic controller unit (Electronic Control Unit, ECU), the electronic equipment
It can integrate in automatic parking host.In Fig. 4 by taking a processor 401 as an example.
Electronic equipment can also include: input unit 403 and display device 404.
Processor 401, memory 402, input unit 403 and display device 404 can pass through bus or other modes
It connects, in figure for being connected by bus.
Memory 402 is used as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software journey
Sequence, non-volatile computer executable program and module, such as the automatic parking method for handover control pair in the embodiment of the present application
Program instruction/the module answered, for example, method flow shown in FIG. 1.Processor 401 is stored in memory 402 by operation
Non-volatile software program, instruction and module realize above-mentioned implementation thereby executing various function application and data processing
Automatic parking method for handover control in example.
Memory 402 may include storing program area and storage data area, wherein storing program area can store operation system
Application program required for system, at least one function；Storage data area can be stored to be made according to automatic parking method for handover control
With the data etc. created.In addition, memory 402 may include high-speed random access memory, it can also include non-volatile
Memory, for example, at least a disk memory, flush memory device or other non-volatile solid state memory parts.In some realities
It applies in example, optional memory 402 includes the memory remotely located relative to processor 401, these remote memories can lead to
Network connection is crossed to the device for executing automatic parking method for handover control.The example of above-mentioned network include but is not limited to internet,
Intranet, local area network, mobile radio communication and combinations thereof.
The driver that input unit 403 can receive input clicks, and generates and drive with automatic parking method for handover control
The person's of sailing setting and the related signal input of function control.Display device 404 may include that display screen etc. shows equipment.
It is stored in the memory 402 in one or more of modules, when by one or more of processing
When device 401 is run, the automatic parking method for handover control in above-mentioned any means embodiment is executed.
Whether whether the present invention by driver's seat and meeting automatic parking or the entrance parked of remote control to driver
Condition is detected, and is made it possible to carry out bumpless transfer between automatic parking and remote control are parked, is increased substantially driver's body
Test sense.
Work as described in one of the embodiments, and detect that driver leaves driver seat, and meets and be remotely controlled entrance of parking
Condition then switches to remote control and parks state, executes remote control and parks, specifically includes:
When detecting that driver leaves driver seat, and the control instruction of mobile terminal is received, then switches to remote control pool
Car state executes remote control and parks.
The present embodiment detects that driver leaves driver seat, and when receiving the control instruction of mobile terminal, just switches
It parks state to remote control, receives this condition of the control instruction of mobile terminal by increasing, further increase what remote control was parked
Safety.
It is described when detecting that driver on driver seat, and meets automatic parking entrance in one of the embodiments,
Condition then switches to automatic parking state, executes automatic parking, specifically includes:
When detecting that driver on driver seat, and detects that automatic parking key is clicked, then automatic pool is switched to
Car state executes automatic parking.
The present embodiment detects that driver on driver seat, and when detecting that automatic parking key is clicked, just switches
To automatic parking state, detects that automatic parking key is clicked this condition by increasing, further increase automatic parking
Safety.
In one of the embodiments, when detecting that brake is operated or car door is opened, then it is described automatic to trigger generation
Pause of parking is requested.
The present embodiment suspends automatic parking when detecting that brake is operated or car door is opened, so that driver can be with
It gets off on this basis, and switches to remote control and park.
In one of the embodiments, when the terminal ongoing operation for being not received by mobile terminal transmission within a preset time
Behavior then triggers to generate the remote control and park and suspends request.
The present embodiment is not received by the terminal ongoing operation behavior of mobile terminal transmission, pause remote control within a preset time
It parks, allows driver by stopping the ongoing operation to mobile terminal, then get on the bus, and switch to automatic parking.
In one of the embodiments:
It is described to detect that driver leaves driver seat, it specifically includes: detecting that the gravity being arranged on driver seat passes
The gravitational cue of sensor is less than default gravity threshold value, and detects safety belt solution ON signal, then is judged as that driver leaves driving
Seat；
It is described to detect that driver on driver seat, specifically includes: to detect that the gravity being arranged on driver seat passes
The gravitational cue of sensor is greater than default gravity threshold value, and detects that safety belt buckles signal, then is judged as driver in driver's seat
On chair.
The present embodiment is based on gravity sensor and belt signal, accurate judgement driver whether on driver seat and be
No wear safety belt.
One embodiment of the invention provides a kind of automobile, including car body and foregoing electronic equipment, the electronics are set
The standby control car body is parked.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (13)
1. a kind of automatic parking method for handover control characterized by comprising
It is requested in response to automatic parking, into automatic parking state, executes automatic parking, or in response to being remotely controlled request of parking, into
Enter remote control to park state, executes remote control and park；
During executing automatic parking, in response to automatic parking suspend request, suspend automatic parking, when detect driver from
It opens driver seat, and meets remote control and park entry condition, then switch to remote control and park state, execute remote control and park；
It during executing remote control and parking, parks pause request in response to remote control, pause parks, when detecting that driver driving
On seat, and meet automatic parking entry condition, then switch to automatic parking state, executes automatic parking.
2. automatic parking method for handover control according to claim 1, which is characterized in that it is described when detect driver from
It opens driver seat, and meets remote control and park entry condition, then switch to remote control and park state, execute remote control and park, specifically include:
When detecting that driver leaves driver seat, and the control instruction of mobile terminal is received, then switches to remote control and park shape
State executes remote control and parks.
3. automatic parking method for handover control according to claim 1, which is characterized in that described to detect that driver exists
On driver seat, and meet automatic parking entry condition, then switch to automatic parking state, executes automatic parking, specifically include:
When detecting that driver on driver seat, and detects that automatic parking key is clicked, then automatic parking shape is switched to
State executes automatic parking.
4. automatic parking method for handover control according to claim 1, which is characterized in that when detect brake be operated or
Car door is opened, then triggers and generate the automatic parking pause request.
5. automatic parking method for handover control according to claim 1, which is characterized in that when not connecing within a preset time
The terminal ongoing operation behavior for receiving mobile terminal transmission then triggers to generate the remote control and park and suspends request.
6. automatic parking method for handover control according to any one of claims 1 to 5, it is characterised in that:
It is described to detect that driver leaves driver seat, it specifically includes: detecting the gravity sensor being arranged on driver seat
Gravitational cue be less than default gravity threshold value, and detect safety belt solution ON signal, be then judged as that driver leaves driver seat；
It is described to detect that driver on driver seat, specifically includes: to detect the gravity sensor being arranged on driver seat
Gravitational cue be greater than default gravity threshold value, and detect that safety belt buckles signal, be then judged as driver on driver seat.
7. a kind of automatic parking switching control electronic equipment characterized by comprising
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by one processor, and described instruction is by least one described processor
Execute so that at least one described processor can:
It is requested in response to automatic parking, into automatic parking state, executes automatic parking, or in response to being remotely controlled request of parking, into
Enter remote control to park state, executes remote control and park；
During executing automatic parking, in response to automatic parking suspend request, suspend automatic parking, when detect driver from
It opens driver seat, and meets remote control and park entry condition, then switch to remote control and park state, execute remote control and park；
It during executing remote control and parking, parks pause request in response to remote control, pause parks, when detecting that driver driving
On seat, and meet automatic parking entry condition, then switch to automatic parking state, executes automatic parking.
8. electronic equipment according to claim 7, which is characterized in that it is described to detect that driver leaves driver seat,
And meet remote control and park entry condition, then it switches to remote control and parks state, execute remote control and park, specifically include:
When detecting that driver leaves driver seat, and the control instruction of mobile terminal is received, then switches to remote control and park shape
State executes remote control and parks.
9. electronic equipment according to claim 7, which is characterized in that it is described when detect driver on driver seat,
And meet automatic parking entry condition, then automatic parking state is switched to, automatic parking is executed, specifically includes:
When detecting that driver on driver seat, and detects that automatic parking key is clicked, then automatic parking shape is switched to
State executes automatic parking.
10. electronic equipment according to claim 7, which is characterized in that when detecting that brake is operated or car door is opened,
It then triggers and generates the automatic parking pause request.
11. electronic equipment according to claim 7, which is characterized in that mobile whole when being not received by within a preset time
The terminal ongoing operation behavior sent is held, then triggers to generate the remote control and park and suspends request.
12. electronic equipment according to any one of claims 1 to 6, it is characterised in that:
It is described to detect that driver leaves driver seat, it specifically includes: detecting the gravity sensor being arranged on driver seat
Gravitational cue be less than default gravity threshold value, and detect safety belt solution ON signal, be then judged as that driver leaves driver seat；
It is described to detect that driver on driver seat, specifically includes: to detect the gravity sensor being arranged on driver seat
Gravitational cue be greater than default gravity threshold value, and detect that safety belt buckles signal, be then judged as driver on driver seat.
13. a kind of automobile, which is characterized in that including car body and such as the described in any item electronic equipments of claim 7 to 12,
The electronic equipment controls the car body and parks.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910750234.0A CN110435643A (en) | 2019-08-14 | 2019-08-14 | Automatic parking method for handover control, electronic equipment and automobile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910750234.0A CN110435643A (en) | 2019-08-14 | 2019-08-14 | Automatic parking method for handover control, electronic equipment and automobile |
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| CN201910750234.0A Pending CN110435643A (en) | 2019-08-14 | 2019-08-14 | Automatic parking method for handover control, electronic equipment and automobile |
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| CN111524347A (en) * | 2020-04-13 | 2020-08-11 | 东风柳州汽车有限公司 | Pre-intervention remote control parking control method |
| CN111532259A (en) * | 2020-05-09 | 2020-08-14 | 奇瑞汽车股份有限公司 | Remote control method and device for automobile and storage medium |
| CN112141089A (en) * | 2020-06-24 | 2020-12-29 | 上汽通用五菱汽车股份有限公司 | Intelligent parking system and method capable of switching parking modes |
| CN112162547A (en) * | 2020-06-24 | 2021-01-01 | 上汽通用五菱汽车股份有限公司 | Vehicle automatic parking method, system and readable storage medium |
| CN113386758A (en) * | 2020-03-11 | 2021-09-14 | 本田技研工业株式会社 | Vehicle and control device thereof |
| CN113472833A (en) * | 2020-03-31 | 2021-10-01 | 广州汽车集团股份有限公司 | Parking control method and system and cloud service platform |
| CN114115207A (en) * | 2021-11-23 | 2022-03-01 | 广州小鹏自动驾驶科技有限公司 | Remote driving control method, equipment and system |
| CN114834442A (en) * | 2022-05-19 | 2022-08-02 | 远峰科技股份有限公司 | Automatic parking/parking switching method and vehicle-mounted control equipment |
| CN113386758B (en) * | 2020-03-11 | 2024-05-07 | 本田技研工业株式会社 | Vehicle and control device thereof |
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| CN112141089A (en) * | 2020-06-24 | 2020-12-29 | 上汽通用五菱汽车股份有限公司 | Intelligent parking system and method capable of switching parking modes |
| CN114115207A (en) * | 2021-11-23 | 2022-03-01 | 广州小鹏自动驾驶科技有限公司 | Remote driving control method, equipment and system |
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